An adaptive robotic harvester for morel mushrooms oriented to diversified morchella configurations

Abstract

The present application relates to the technical field of morchella esculenta harvesting, and discloses a morchella esculenta adaptive harvesting robot for diversified ridge configurations, which comprises a harvesting robot support frame, a plurality of or at least one morchella esculenta harvesting assembly is arranged in the harvesting robot support frame, a liftable support leg assembly is arranged at each of the four end corners of the bottom of the harvesting robot support frame, a rotatable anti-skid wheel assembly is arranged at the bottom of the support leg assembly, a plurality of telescopic tooth-shaped inserts are arranged, when the harvesting robot travels on soft soil, wet and slippery fungus residue covering layer or ridge and furrow ground with a certain slope, the tooth-shaped inserts are extended and inserted into the surface layer of the soil, forming an anchor-like ground grabbing structure, combining friction adhesion and mechanical embedding adhesion, greatly increasing the adhesion between the wheels and the ground, effectively avoiding the phenomena of skidding, idling and wheel sinking, and ensuring that the harvesting robot can still travel stably in the uneven or inclined ridge and furrow.

Description

Technical Field

[0001] This invention relates to the field of morel mushroom harvesting technology, specifically to an adaptive morel mushroom harvesting robot for diverse ridge configurations. Background Technology

[0002] Morel mushrooms, as a high-value-added edible fungus, have created an urgent need for automated harvesting equipment due to their industrialized and large-scale cultivation. In recent years, with the development of technologies such as machine vision and robot control, automated harvesting robots for morel mushrooms have made initial progress.

[0003] Existing harvesting robots are typically equipped with vision systems and robotic arms, enabling them to identify, locate, and harvest targets. In terms of ridge adaptability, they can adapt to different ridge configurations by adjusting the leg spacing and support leg angles, which to some extent solves the problem of the harvesting platform moving in the furrow.

[0004] The inventors of this application discovered in their research that the core defect of the above-mentioned prior art is that the surface of the furrow is not absolutely flat, and there are often soil clods, residual mushroom sticks and unevenness in the furrow. The contact area between the wheels and the ground is limited. When driving on the surface of the furrow with a certain slope or slippery surface, the friction between the tires and the soil is seriously insufficient, and it is very easy to slip, spin, or even get stuck. This causes the harvesting robot to be unable to move steadily and the work efficiency is greatly reduced.

[0005] When encountering uneven transition sections of ridges, some wheels will completely lose traction due to being suspended in the air, further weakening the machine's driving ability and passability, affecting movement stability, making it difficult to ensure the horizontal stability of the working platform when stationary during harvesting, and reducing the harvesting success rate. Summary of the Invention

[0006] This invention provides an adaptive morel mushroom harvesting robot for diverse ridge configurations, which solves the problem that the limited contact area between the wheels and the ground results in insufficient friction between the tires and the soil when traveling on ridges with a certain slope or slippery furrow surfaces, making it easy for the wheels to slip, spin, or even get stuck.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solution: an adaptive morel harvesting robot for diverse ridge configurations, including a harvesting machine support frame, wherein multiple or at least one morel harvesting component is installed inside the harvesting machine support frame, and liftable support leg components are provided at the four corners of the bottom of the harvesting machine support frame, and rotatable anti-slip wheel components are provided at the bottom of the support leg components.

[0008] The anti-slip wheel assembly includes multiple anti-slip wheel housings, with multiple movable toothed inserts evenly distributed inside the anti-slip wheel housings, and a rubber anti-slip ring fitted on the outer side of the anti-slip wheel housings, with the toothed inserts slidably connected to the rubber anti-slip rings;

[0009] The support leg assembly includes a first vertical support leg, a vertical sliding column is slidably connected inside the first vertical support leg, a second vertical support leg is fixed to the bottom of the vertical sliding column, a rectangular mounting plate is fixed to one end of the second vertical support leg, a fourth drive motor is bolted to the bottom of the rectangular mounting plate, a vertical threaded rod is fixed to the output end of the fourth drive motor, a rectangular lifting plate is threaded to the outer side of the vertical threaded rod, and the rectangular lifting plate is close to one end of the first vertical support leg and fixedly connected to the first vertical support leg.

[0010] By adopting the above technical solutions, the independent adjustment of the support leg components can maintain the stability of the working platform and the stability and balance of the harvesting machine support frame under static operation. The movable toothed inserts penetrate the soil surface to form an anchor-like gripping structure, which greatly increases the adhesion between the anti-slip wheel components and the ground, effectively avoiding slippage, spinning, and wheel entrapment.

[0011] Preferably, the anti-slip wheel assembly further includes a circular rotating component, which is installed inside the anti-slip wheel housing and rotatably connected to the anti-slip wheel housing via a bearing. The circular rotating component has an internal hexagonal groove, and a threaded post is fixed to one end of the circular rotating component. The threaded post is located inside the anti-slip wheel housing and rotatably connected to the anti-slip wheel housing via a bearing. A circular movable piece is threadedly connected to the outer side of the threaded post. Multiple oblique rotating rods are evenly distributed and rotatably connected to the outer side of the circular movable piece. A rectangular movable block is rotatably connected to the outer side of the oblique rotating rods via a pin. The end of the rectangular movable block away from the circular movable piece is fixedly connected to a toothed insert. The rectangular movable block is located inside the anti-slip wheel housing and slidably connected to the anti-slip wheel housing.

[0012] Preferably, the support leg assembly further includes a bottom support plate, one end of which is bolted to a fifth drive motor. Driven pulleys are provided on both sides of the bottom support plate away from the fifth drive motor. The driven pulleys are rotatably connected to the bottom support plate via bearings. A synchronous belt is fitted around the output end of the fifth drive motor and the outer sides of the two driven pulleys. The driven pulleys are fixedly connected to the anti-slip wheel housing at the end near the anti-slip wheel housing. A limit roller is also provided on the outer side of the synchronous belt at the end near the bottom support plate and rotatably connected to the bottom support plate via bearings.

[0013] Preferably, a horizontal rotating shaft is fixed at one end of the top of the bottom support plate. The horizontal rotating shaft passes through the interior of the second vertical support leg and is rotatably connected to the second vertical support leg through a bearing. A first horizontal connecting rod is fixed on both sides of one end of the bottom support plate, and a second horizontal connecting rod is fixed on both sides of the second vertical support leg. A hooked spring is provided between the first horizontal connecting rod and the second horizontal connecting rod on the same side.

[0014] Preferably, a U-shaped equipment frame is fixed to both sides of the harvesting machine support frame. A first drive motor is bolted to one end of the U-shaped equipment frame. A first transverse threaded rod is fixed to the output end of the first drive motor. A second transverse threaded rod is fixed to the end of the first transverse threaded rod away from the first drive motor. The threads of the first and second transverse threaded rods have opposite directions. A transverse connecting block is threaded to the outer side of both the first and second transverse threaded rods. A transverse sliding block is fixed to one side of the transverse connecting block. The transverse sliding block is located on the outer side of the harvesting machine support frame and is slidably connected to the harvesting machine support frame. The bottom of the transverse sliding block is rotatably connected to the first vertical support leg via a pin. A diagonal hydraulic cylinder is rotatably connected to one end of the bottom of the transverse sliding block. The output end of the diagonal hydraulic cylinder is rotatably connected to the first vertical support leg via a pin.

[0015] Preferably, a dovetail slider is fixed inside the transverse sliding block, and a dovetail groove is provided inside the harvesting machine support frame. The transverse sliding block and the harvesting machine support frame are slidably connected by the cooperation of the dovetail slider and the dovetail groove.

[0016] Preferably, one or more industrial cameras are provided on one side of the bottom of the harvesting machine support frame, and one of the industrial cameras is provided with a level detector at one end, and the top of the level detector is fixedly connected to the harvesting machine support frame.

[0017] Preferably, the morel mushroom harvesting assembly includes a U-shaped support column, which is mounted on top of the harvesting machine support frame. A longitudinal hydraulic cylinder is fixed inside the U-shaped support column, and a longitudinal sliding seat is fixed to the output end of the longitudinal hydraulic cylinder. The longitudinal sliding seat is located inside the U-shaped support column and is slidably connected to it. A vertical hydraulic cylinder is installed on the top of the longitudinal sliding seat, and a top mounting plate is fixed to the output end of the vertical hydraulic cylinder. A second drive motor is bolted to one end of the top of the top mounting plate, and a vertical rotating shaft is fixed to the output end of the second drive motor. An embedded rotating component is slidably connected to the outside of the vertical rotating shaft. The embedded rotating component is located inside the longitudinal sliding seat and is rotatably connected to it.

[0018] Preferably, a horizontal support plate is fixed to the bottom of the vertical rotation shaft, a morel mushroom harvesting tube is fixed to one end of the horizontal support plate, a third drive motor is bolted to one end of the top of the horizontal support plate, and a circular cutting blade is fixed to the output end of the third drive motor.

[0019] Preferably, the bottom of the harvesting machine support frame on the side away from the leveling instrument is also provided with multiple or at least one storage box for storing morel mushrooms.

[0020] This invention provides an adaptive morel harvesting robot for diverse ridge configurations. It offers the following advantages:

[0021] 1. This invention, by setting multiple retractable toothed inserts, allows the harvesting robot to extend and penetrate the soil surface when traveling on soft soil, slippery mushroom residue covering layers, or ridges with a certain slope. This forms an anchor-like gripping structure, combining frictional adhesion with mechanical embedding adhesion, significantly increasing the adhesion between the wheels and the ground. This effectively avoids slippage, spinning, and wheel entrapment, ensuring that the harvesting robot can still travel stably on uneven or inclined ridges. Combined with the elastic pre-compression effect of the hook spring on the rubber anti-slip ring, the two anti-slip wheel shells can always float up and down with the undulations of the ground, maintaining continuous ground ballast and effectively reducing the suspension time of the anti-slip wheel shells caused by uneven ground. This solves the root cause problem of grip failure in existing technologies from the wheel-ground contact level.

[0022] 2. This invention enables independent lifting and lowering of each leg component, thereby maintaining the horizontal stability of the working platform. Through the cooperation of toothed inserts and hook springs, the wheels of the robot will not slip due to external disturbances when the robot is stationary, ensuring the stability of the working platform when it is stationary. This improves the accuracy of target identification and positioning and the success rate of harvesting. Attached Figure Description

[0023] Figure 1 This is a perspective view of the entire invention;

[0024] Figure 2 This is a schematic diagram of the harvesting machine support frame and U-shaped equipment frame of the present invention;

[0025] Figure 3 This is a schematic diagram of the transverse connecting block and the transverse sliding block of the present invention;

[0026] Figure 4 This is a schematic diagram of the first transverse threaded rod and the second transverse threaded rod of the present invention;

[0027] Figure 5 This is a cross-sectional view of the internal structure of the first vertical support leg of the present invention;

[0028] Figure 6 This is an exploded view of the leg support component of the present invention;

[0029] Figure 7 This is a cross-sectional view of the internal structure of the anti-slip wheel assembly of the present invention;

[0030] Figure 8 This is a schematic diagram of the industrial camera and level measuring instrument of the present invention;

[0031] Figure 9 This is a schematic diagram of the structure of the morel mushroom harvesting component of the present invention;

[0032] Figure 10 This is a schematic diagram of the longitudinal sliding seat and the embedded rotating component of the present invention.

[0033] Among them, 1. Harvesting machine support frame; 5. U-shaped equipment frame; 6. First drive motor; 7. First transverse threaded rod; 8. Second transverse threaded rod; 9. Transverse connecting block; 10. Transverse sliding block; 11. Inclined hydraulic system; 12. Industrial camera; 13. Level detector;

[0034] 2. Morel mushroom harvesting components; 201. U-shaped support column; 202. Longitudinal hydraulic cylinder; 203. Longitudinal sliding seat; 204. Vertical hydraulic cylinder; 205. Top mounting plate; 206. Second drive motor; 207. Vertical rotating shaft; 208. Embedded rotating component; 209. Horizontal support plate; 210. Third drive motor; 211. Morel mushroom harvesting tube; 212. Circular cutting blade; 213. Storage box;

[0035] 3. Support leg assembly; 301. First vertical support leg; 302. Vertical sliding column; 303. Second vertical support leg; 304. Rectangular mounting plate; 305. Fourth drive motor; 306. Rectangular lifting plate; 307. Vertical threaded rod; 308. Bottom support plate; 309. Driven pulley; 310. Synchronous belt; 311. Limiting roller; 312. First transverse connecting rod; 313. Second transverse connecting rod; 314. Hook spring; 315. Transverse rotating shaft; 316. Fifth drive motor;

[0036] 4. Anti-slip wheel assembly; 401. Anti-slip wheel housing; 402. Circular rotating component; 403. Threaded column; 404. Circular moving piece; 405. Angled rotating rod; 406. Rectangular moving block; 407. Toothed insert; 408. Rubber anti-slip ring. Detailed Implementation

[0037] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. 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.

[0038] Please see the appendix Figure 1 - Appendix Figure 10 This invention provides an adaptive morel mushroom harvesting robot for diverse ridge configurations, including a harvesting machine support frame 1, with multiple or at least one morel mushroom harvesting component 2 installed inside the harvesting machine support frame 1, and liftable support leg components 3 installed at the four corners of the bottom of the harvesting machine support frame 1, with rotatable anti-slip wheel components 4 installed at the bottom of the support leg components 3.

[0039] Please see the appendix Figure 7 The anti-slip wheel assembly 4 includes multiple anti-slip wheel housings 401. Multiple movable toothed inserts 407 are evenly distributed inside each anti-slip wheel housing 401. A rubber anti-slip ring 408 is fitted onto the outer side of each anti-slip wheel housing 401. The toothed inserts 407 are slidably connected to the rubber anti-slip ring 408.

[0040] Specifically, by moving multiple toothed inserts 407 out of the anti-slip wheel housing 401, the toothed inserts 407 come into contact with the ground of the furrow, which can significantly increase the adhesion between the anti-slip wheel assembly 4 and the furrow ground, thereby effectively preventing slippage.

[0041] The anti-slip wheel assembly 4 also includes a circular rotating component 402, which is installed inside the anti-slip wheel housing 401 and is rotatably connected to the anti-slip wheel housing 401 via a bearing. The circular rotating component 402 has an internal hexagonal groove, which can be rotated inside the anti-slip wheel housing 401 by using a hexagonal wrench. One end of the circular rotating component 402 is fixed with a threaded post 403, which is located inside the anti-slip wheel housing 401 and is rotatably connected to the anti-slip wheel housing 401 via a bearing. A circular movable piece 404 is threadedly connected to the outer side of the threaded post 403. Multiple oblique rotating rods 405 are evenly distributed and rotatably connected to the outer side of the circular movable piece 404. A rectangular movable block 406 is rotatably connected to the outer side of the oblique rotating rods 405 via a pin. The end of the rectangular movable block 406 away from the circular movable piece 404 is fixedly connected to a toothed insert 407. The rectangular movable block 406 is located inside the anti-slip wheel housing 401 and is slidably connected to the anti-slip wheel housing 401.

[0042] Specifically, the circular rotating part 402 is rotated by a hex wrench. The rotation of the circular rotating part 402 causes the threaded column 403 to rotate inside the anti-slip wheel housing 401. The rotation of the threaded column 403 allows the circular moving piece 404 to move inside the anti-slip wheel housing 401. The movement of the circular moving piece 404 causes the rectangular moving block 406 to move inside the anti-slip wheel housing 401 via the inclined rotating rod 405. The rectangular moving block 406 drives the toothed insert 407, causing the toothed insert 407 to exit the anti-slip wheel housing 401, making it easier for the toothed insert 407 to contact the ground. This allows the device to be adjusted according to the actual road conditions. When encountering wet or sloping furrow sections, the toothed insert 407 is brought into contact with the ground by the tool, effectively avoiding slippage, idle spinning, and wheel entrapment. This ensures that the harvesting robot can still move stably in uneven or inclined furrows.

[0043] Please see the appendix Figure 3 -Appendix Figure 6 The support leg assembly 3 includes a first vertical support leg 301, with a vertical sliding post 302 slidably connected inside the first vertical support leg 301. A second vertical support leg 303 is fixed to the bottom of the vertical sliding post 302. A vertical groove is formed inside the first vertical support leg 301, and the vertical sliding post 302 is located inside the vertical groove and slidably connected to the first vertical support leg 301 through the vertical groove. The sliding engagement between the vertical sliding post 302 and the first vertical support leg 301 allows the first vertical support leg 301 and the second vertical support leg 303 to move together. The spacing can be adjusted smoothly to prevent the first vertical support leg 301 and the second vertical support leg 303 from shaking during adjustment. A rectangular mounting plate 304 is fixed to one end of the second vertical support leg 303. A fourth drive motor 305 is fixed to the bottom of the rectangular mounting plate 304 by bolts. A vertical threaded rod 307 is fixed to the output end of the fourth drive motor 305. A rectangular lifting plate 306 is threaded to the outer side of the vertical threaded rod 307. The rectangular lifting plate 306 is close to one end of the first vertical support leg 301 and is fixedly connected to the first vertical support leg 301.

[0044] Specifically, the operation of the fourth drive motor 305 enables the vertical threaded rod 307 to rotate. The rotation of the vertical threaded rod 307, through the sliding connection between the first vertical support leg 301 and the vertical sliding column 302 and the threaded connection between the rectangular lifting plate 306 and the vertical threaded rod 307, allows the first vertical support leg 301 to slide vertically on the outside of the vertical sliding column 302, thereby adjusting the distance between the first vertical support leg 301 and the second vertical support leg 303, and thus adjusting the position and height of the anti-slip wheel assembly 4.

[0045] The support leg assembly 3 also includes a bottom support plate 308. A fifth drive motor 316 is bolted to one end of the bottom support plate 308. Driven pulleys 309 are provided on both sides of the bottom support plate 308 away from the fifth drive motor 316. The driven pulleys 309 are rotatably connected to the bottom support plate 308 through bearings. A synchronous belt 310 is sleeved on the output end of the fifth drive motor 316 and the outer side of the two driven pulleys 309. The driven pulleys 309 are fixedly connected to the anti-slip wheel housing 401 at the end near the anti-slip wheel housing 401. A limit roller 311 is also provided on the outer side of the synchronous belt 310. The limit roller 311 is rotatably connected to the bottom support plate 308 at the end near the bottom support plate 308 through bearings.

[0046] Specifically, after the fifth drive motor 316 starts, the two driven pulleys 309 can rotate synchronously through the synchronous belt 310, thereby providing driving force for the rotation of the anti-slip wheel housing 401;

[0047] A horizontal rotating shaft 315 is fixed at one end of the top of the bottom support plate 308. The horizontal rotating shaft 315 passes through the interior of the second vertical support leg 303 and is rotatably connected to the second vertical support leg 303 through a bearing. A first horizontal connecting rod 312 is fixed on both sides of one end of the bottom support plate 308, and a second horizontal connecting rod 313 is fixed on both sides of the second vertical support leg 303. A hook spring 314 is provided between the first horizontal connecting rod 312 and the second horizontal connecting rod 313 on the same side.

[0048] Specifically, the elastic characteristics of the two hook springs 314 enable the two anti-slip wheel housings 401 to adhere to the ground, preventing the anti-slip wheel housings 401 from being suspended or spinning freely.

[0049] Please see the appendix Figure 2 -Appendix Figure 4 Both sides of the harvesting machine support frame 1 are fixed with U-shaped equipment frames 5. One end of the U-shaped equipment frame 5 is bolted to a first drive motor 6. The output end of the first drive motor 6 is fixed with a first transverse threaded rod 7. The end of the first transverse threaded rod 7 away from the first drive motor 6 is fixed with a second transverse threaded rod 8. The threads of the first transverse threaded rod 7 and the second transverse threaded rod 8 are opposite in direction. The outer sides of the first transverse threaded rod 7 and the second transverse threaded rod 8 are threaded with transverse connecting blocks 9. One side of the transverse connecting block 9 is fixed with a transverse sliding block 10. The transverse sliding block 10 is located on the outer side of the harvesting machine support frame 1 and is slidably connected to the harvesting machine support frame 1. The bottom of the transverse sliding block 10 is rotatably connected to the first vertical support leg 301 through a pin. One end of the bottom of the transverse sliding block 10 is rotatably connected to an inclined hydraulic 11. The output end of the inclined hydraulic 11 is rotatably connected to the first vertical support leg 301 through a pin.

[0050] The transverse sliding block 10 has a dovetail slider fixed inside, and the harvesting machine support frame 1 has a dovetail groove inside. The transverse sliding block 10 and the harvesting machine support frame 1 are slidably connected through the cooperation of the dovetail slider and the dovetail groove. Through the cooperation of the dovetail slider and the dovetail groove, the transverse sliding block 10 can slide laterally on the outside of the harvesting machine support frame 1.

[0051] Specifically, the starting of the first drive motor 6 enables the first transverse threaded rod 7 and the second transverse threaded rod 8 to rotate. The rotation of the first transverse threaded rod 7 and the second transverse threaded rod 8 enables the transverse connecting block 9 to move inside the U-shaped equipment frame 5. The movement of the transverse connecting block 9 drives the transverse sliding block 10 to move. The movement of the transverse sliding block 10 enables the spacing between the two first vertical support legs 301 to be adjusted, thereby enabling the anti-slip wheel housing 401 to adapt to ridges with different spacing. Through the operation of the inclined hydraulic system 11, the first vertical support leg 301 can rotate around the connection point between the first vertical support leg 301 and the transverse sliding block 10 as the center, thereby enabling the first vertical support leg 301 to adapt to ridges with different slopes, thus improving the applicability of the device and enabling the device to move on ridges with different configurations.

[0052] Please see the appendix Figure 8 One or more industrial cameras 12 are provided on one side of the bottom of the harvesting machine support frame 1. One end of one of the industrial cameras 12 is provided with a level detector 13. The top of the level detector 13 is fixedly connected to the harvesting machine support frame 1. Through the setting of the industrial camera 12, the position of morel mushrooms can be monitored in real time. It has high resolution and can complete clear capture in motion, meeting the needs of efficient production. The industrial camera 12 is existing technology and will not be described in detail in this embodiment.

[0053] The level detector 13 is a precision instrument used to measure the angle of inclination between the surface of an object and the horizontal plane. It is used to monitor the horizontal state of the harvesting machine support frame 1 in real time. By monitoring the level detector 13, the position and height of the first vertical support leg 301 are adjusted so that the anti-slip wheel assembly 4 can contact the ground, thereby improving the stability of the device in motion or when it is stationary. The level detector 13 is existing technology and will not be described in detail in this embodiment.

[0054] Please see the appendix Figure 7 -Appendix Figure 10The morel mushroom harvesting assembly 2 includes a U-shaped support column 201, which is mounted on the top of the harvesting machine support frame 1. A longitudinal hydraulic cylinder 202 is fixed inside the U-shaped support column 201. A longitudinal sliding seat 203 is fixed to the output end of the longitudinal hydraulic cylinder 202. The longitudinal sliding seat 203 is located inside the U-shaped support column 201 and is slidably connected to the U-shaped support column 201. A vertical hydraulic cylinder 204 is installed on the top of the longitudinal sliding seat 203. A top mounting plate 205 is fixed to the output end of the vertical hydraulic cylinder 204. A second drive motor 206 is bolted to one end of the top of the top mounting plate 205. A vertical rotating shaft 207 is fixed to the output end of the second drive motor 206. An embedded rotating component 208 is slidably connected to the outside of the vertical rotating shaft 207. The embedded rotating component 208 is located inside the longitudinal sliding seat 203 and is rotatably connected to the longitudinal sliding seat 203.

[0055] Specifically, the operation of the longitudinal hydraulic cylinder 202 enables the longitudinal sliding seat 203 to move laterally inside the U-shaped support column 201, thereby adjusting the lateral position of the longitudinal sliding seat 203. The operation of the vertical hydraulic cylinder 204 adjusts the position and height of the vertical rotating shaft 207. The operation of the second drive motor 206 causes the vertical rotating shaft 207 to rotate.

[0056] A horizontal support plate 209 is fixed to the bottom of the vertical rotating shaft 207. A morel mushroom harvesting tube 211 is fixed to one end of the horizontal support plate 209. A third drive motor 210 is bolted to one end of the top of the horizontal support plate 209. A circular cutting blade 212 is fixed to the output end of the third drive motor 210. Through the operation of the third drive motor 210, the circular cutting blade 212 can rotate at the bottom of the morel mushroom harvesting tube 211. When the morel mushroom harvesting tube 211 moves to the morel mushroom to be harvested, the circular cutting blade 212 can cut the morel mushroom stem through the operation of the third drive motor 210, so that the morel mushroom can be harvested. The height and horizontal position of the morel mushroom harvesting tube 211 can be adjusted through the operation of the longitudinal hydraulic cylinder 202 and the vertical hydraulic cylinder 204.

[0057] The bottom of the harvesting machine support frame 1, away from the level detector 13, is also equipped with a plurality of storage boxes 213 for storing morel mushrooms. Through the operation of the second drive motor 206, the morel mushroom harvesting tube 211 can be rotated to the top of the storage box 213. Through the operation of the third drive motor 210, the morel mushrooms inside the morel mushroom harvesting tube 211 can fall into the storage box 213, thereby enabling the collection of harvested morel mushrooms.

[0058] Workflow: Place the device at the morel mushroom cultivation site. Start the first drive motor 6 to rotate the first transverse threaded rod 7 and the second transverse threaded rod 8. The rotation of the first transverse threaded rod 7 and the second transverse threaded rod 8 causes the transverse connecting block 9 to drive the transverse sliding block 10 to move, so that the distance between the anti-slip wheel assemblies 4 at both ends on the same side can be adjusted. Through the operation of the oblique hydraulic 11, the first vertical support leg 301 can rotate around the connection between the first vertical support leg 301 and the transverse sliding block 10 as the center, so that the first vertical support leg 301 can adapt to the ridges with different slopes.

[0059] After the fifth drive motor 316 starts, the two driven pulleys 309 can rotate synchronously through the synchronous belt 310, thereby providing driving force for the rotation of the anti-slip wheel housing 401. When the device moves on a bumpy road, the operation of the fourth drive motor 305 causes the vertical threaded rod 307 to rotate. The rotation of the vertical threaded rod 307 causes the rectangular lifting plate 306 to drive the first vertical support leg 301 to slide on the outside of the vertical sliding column 302. The independent adjustment of multiple support leg components 3 is monitored in real time by the level detector 13, so that the anti-slip wheel housing 401 is in contact with the ground and can be adjusted according to the actual road conditions to ensure the stability of the robot in motion or when stationary.

[0060] The elastic characteristics of the two hook springs 314 enable the two anti-slip wheel housings 401 to adhere to the ground, preventing the anti-slip wheel housings 401 from being suspended or spinning freely.

[0061] When driving on a sloped or slippery ditch surface, the circular rotating part 402 is rotated by using a hex wrench. The rotation of the circular rotating part 402 causes the threaded column 403 to rotate inside the anti-slip wheel housing 401. The rotation of the threaded column 403 causes the circular moving piece 404 to move inside the anti-slip wheel housing 401. The movement of the circular moving piece 404 causes the rectangular moving block 406 to move inside the anti-slip wheel housing 401 through the inclined rotating rod 405. The rectangular moving block 406 drives the toothed insert 407, causing the toothed insert 407 to exit the anti-slip wheel housing 401 and make contact with the ground, increasing friction and grip.

[0062] The operation of the longitudinal hydraulic cylinder 202 allows the longitudinal sliding seat 203 to move laterally inside the U-shaped support column 201. The operation of the vertical hydraulic cylinder 204 adjusts the position and height of the vertical rotation shaft 207. The operation of the industrial camera 12 moves the morel mushroom harvesting tube 211 to the location of the morel mushrooms to be harvested. The operation of the third drive motor 210 causes the circular cutting blade 212 to cut the morel mushroom stem, allowing the morel mushrooms to be harvested.

[0063] The operation of the second drive motor 206 enables the morel mushroom harvesting tube 211 to rotate to the top of the storage box 213. The operation of the third drive motor 210 enables the morel mushrooms inside the morel mushroom harvesting tube 211 to fall into the storage box 213, thereby enabling the collection of the harvested morel mushrooms.

[0064] 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. An adaptive morel harvesting robot for diverse ridge configurations, comprising a harvesting machine support frame (1), characterized in that, The harvesting machine support frame (1) is equipped with multiple or at least one morel mushroom harvesting component (2). The four corners of the bottom of the harvesting machine support frame (1) are provided with liftable support leg components (3). The bottom of the support leg components (3) is provided with rotatable anti-slip wheel components (4). The anti-slip wheel assembly (4) includes multiple anti-slip wheel housings (401), and multiple movable toothed inserts (407) are evenly distributed inside the anti-slip wheel housing (401). A rubber anti-slip ring (408) is sleeved on the outside of the anti-slip wheel housing (401), and the toothed inserts (407) are slidably connected to the rubber anti-slip ring (408). The support leg assembly (3) includes a first vertical support leg (301), a vertical sliding column (302) is slidably connected inside the first vertical support leg (301), a second vertical support leg (303) is fixed to the bottom of the vertical sliding column (302), a rectangular mounting plate (304) is fixed to one end of the second vertical support leg (303), a fourth drive motor (305) is bolted to the bottom of the rectangular mounting plate (304), a vertical threaded rod (307) is fixed to the output end of the fourth drive motor (305), a rectangular lifting plate (306) is threaded to the outer side of the vertical threaded rod (307), and the rectangular lifting plate (306) is close to one end of the first vertical support leg (301) and fixedly connected to the first vertical support leg (301).

2. The morel mushroom adaptive harvesting robot for diverse ridge configurations according to claim 1, characterized in that, The anti-slip wheel assembly (4) further includes a circular rotating component (402), which is installed inside the anti-slip wheel housing (401) and rotatably connected to the anti-slip wheel housing (401) via a bearing. The circular rotating component (402) has an internal hexagonal groove. One end of the circular rotating component (402) is fixed with a threaded post (403), which is located inside the anti-slip wheel housing (401) and rotatably connected to the anti-slip wheel housing (401) via a bearing. 3) A circular movable piece (404) is threadedly connected to the outside of the circular movable piece (404). Multiple oblique rotating rods (405) are evenly distributed and rotatably connected to the outside of the circular movable piece (404). A rectangular movable block (406) is rotatably connected to the outside of the oblique rotating rod (405) through a pin. The end of the rectangular movable block (406) away from the circular movable piece (404) is fixedly connected to the toothed insert (407). The rectangular movable block (406) is located inside the anti-slip wheel housing (401) and is slidably connected to the anti-slip wheel housing (401).

3. The morel mushroom adaptive harvesting robot for diverse ridge configurations according to claim 2, characterized in that, The supporting leg assembly (3) also includes a bottom support plate (308). A fifth drive motor (316) is bolted to one end of the bottom support plate (308). Driven pulleys (309) are provided on both sides of the bottom support plate (308) away from the fifth drive motor (316). The driven pulleys (309) are rotatably connected to the bottom support plate (308) through bearings. A synchronous belt (310) is sleeved on the outer side of the output end of the fifth drive motor (316) and the two driven pulleys (309). The driven pulleys (309) are located near the anti-slip wheel housing (401) and are fixedly connected to the anti-slip wheel housing (401). A limit roller (311) is also provided on the outer side of the synchronous belt (310). The limit roller (311) is located near the bottom support plate (308) and is rotatably connected to the bottom support plate (308) through bearings.

4. The morel mushroom adaptive harvesting robot for diverse ridge configurations according to claim 3, characterized in that, A transverse rotating shaft (315) is fixed at one end of the top of the bottom support plate (308). The transverse rotating shaft (315) passes through the interior of the second vertical support leg (303) and is rotatably connected to the second vertical support leg (303) through a bearing. A first transverse connecting rod (312) is fixed on both sides of one end of the bottom support plate (308), and a second transverse connecting rod (313) is fixed on both sides of the second vertical support leg (303). A hook spring (314) is provided between the first transverse connecting rod (312) and the second transverse connecting rod (313) on the same side.

5. The morel mushroom adaptive harvesting robot for diverse ridge configurations according to claim 1, characterized in that, Both sides of the harvesting machine support frame (1) are fixed with U-shaped equipment frames (5). A first drive motor (6) is bolted to one end of the U-shaped equipment frame (5). A first transverse threaded rod (7) is fixed to the output end of the first drive motor (6). A second transverse threaded rod (8) is fixed to the end of the first transverse threaded rod (7) away from the first drive motor (6). The threads of the first transverse threaded rod (7) and the second transverse threaded rod (8) have opposite directions. The outer sides of the first transverse threaded rod (7) and the second transverse threaded rod (8) are both A transverse connecting block (9) is threaded on one side of the transverse connecting block (9) and a transverse sliding block (10) is fixed on one side. The transverse sliding block (10) is located on the outside of the harvesting machine support frame (1) and is slidably connected to the harvesting machine support frame (1). The bottom of the transverse sliding block (10) is rotatably connected to the first vertical support leg (301) through a pin. One end of the bottom of the transverse sliding block (10) is rotatably connected to an oblique hydraulic pressure (11). The output end of the oblique hydraulic pressure (11) is rotatably connected to the first vertical support leg (301) through a pin.

6. The morel mushroom adaptive harvesting robot for diverse ridge configurations according to claim 5, characterized in that, The transverse sliding block (10) has a dovetail slider fixed inside, and the harvesting machine support frame (1) has a dovetail groove inside. The transverse sliding block (10) and the harvesting machine support frame (1) are slidably connected by the cooperation of the dovetail slider and the dovetail groove.

7. The morel mushroom adaptive harvesting robot for diverse ridge configurations according to claim 5, characterized in that, The bottom side of the harvesting machine support frame (1) is provided with a plurality of or at least one industrial camera (12), one end of which is provided with a level detector (13), and the top of the level detector (13) is fixedly connected to the harvesting machine support frame (1).

8. The morel mushroom adaptive harvesting robot for diverse ridge configurations according to claim 1, characterized in that, The morel mushroom harvesting assembly (2) includes a U-shaped support column (201), which is mounted on top of the harvesting machine support frame (1). A longitudinal hydraulic cylinder (202) is fixed inside the U-shaped support column (201), and a longitudinal sliding seat (203) is fixed at the output end of the longitudinal hydraulic cylinder (202). The longitudinal sliding seat (203) is located inside the U-shaped support column (201) and is slidably connected to the U-shaped support column (201). A vertical hydraulic cylinder is installed on the top of the longitudinal sliding seat (203). The vertical hydraulic cylinder (204) has a top mounting plate (205) fixed to its output end. A second drive motor (206) is bolted to one end of the top of the top mounting plate (205). A vertical rotating shaft (207) is fixed to the output end of the second drive motor (206). An embedded rotating component (208) is slidably connected to the outside of the vertical rotating shaft (207). The embedded rotating component (208) is located inside the longitudinal sliding seat (203) and is rotatably connected to the longitudinal sliding seat (203).

9. The morel mushroom adaptive harvesting robot for diverse ridge configurations according to claim 8, characterized in that, The bottom of the vertical rotating shaft (207) is fixed with a horizontal support plate (209), one end of the horizontal support plate (209) is fixed with a morel mushroom harvesting tube (211), one end of the top of the horizontal support plate (209) is bolted with a third drive motor (210), and the output end of the third drive motor (210) is fixed with a circular cutting blade (212).

10. The morel mushroom adaptive harvesting robot for diverse ridge configurations according to claim 8, characterized in that, The bottom of the harvesting machine support frame (1) on the side away from the level detector (13) is also provided with multiple or at least one storage box (213) for storing morel mushrooms.

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