A picker and a mushroom picking device comprising the picker

Abstract

A picker and a mushroom picking device comprising the picker, the picker comprising an outer cylinder, an inner cylinder, sliding blades and a base. The outer cylinder is fixed with the base, the inner cylinder is coaxially arranged with the outer cylinder and can rotate around an axis. The sliding blades are uniformly distributed between the lower surface of the inner cylinder bottom and the upper surface of the outer cylinder bottom, and are driven by the inner cylinder to translate in the cylinder bottom plane relative to the outer cylinder. The mushroom picking device comprises the picker, a detection gantry, an execution gantry, a carrying platform, a controller and a storage box. The detection gantry and the execution gantry are successively erected above the carrying platform along the movement direction of the carrying platform. A row of infrared reflection units are arranged on the beam of the detection gantry. The shape and position information of the mushrooms on the carrying platform are collected through the infrared reflection units. The controller controls the movement of the execution gantry and the picker to pick the mushrooms from the carrying platform and place them in the storage box. The utility model can realize automatic detection, non-destructive picking and automatic storage of mushrooms, and has simple structure and high reliability.

Description

Technical Field

[0001] This utility model relates to the field of agricultural machinery automation technology, specifically to a harvester and a mushroom harvesting device including the harvester. Background Technology

[0002] Automated mushroom harvesting is a crucial part of the planned production process in mushroom factories. Automated mushroom harvesting requires accurately identifying the position of mushrooms in the tray, controlling the harvester to reach the mushrooms, and then picking and storing them from the tray.

[0003] Currently, automated mushroom harvesting mainly relies on machine vision-based harvesting robots. This method has three main problems: First, the damage rate of the robots is high. The mainstream equipment uses mechanical grippers, which can easily cause physical damage to the mushroom stems or caps due to uneven gripping force or positioning deviations, leading to a decrease in commercial value. Second, the positioning system is expensive. Existing technologies mostly rely on industrial cameras combined with image processing algorithms to locate mushrooms, resulting in high hardware costs. Third, automated harvesting robots often use six-degree-of-freedom industrial robots, which have complex structures, high failure rates, and are difficult to maintain, making them unsuitable for continuous operation in humid environments. Utility Model Content

[0004] The technical problem to be solved by this utility model is to overcome the shortcomings of the above-mentioned background technology and provide a simple and highly reliable mushroom picker and a mushroom picking device including the mushroom picker, which can automatically detect, pick without damage, and automatically collect mushrooms in a tray.

[0005] This utility model discloses a harvester comprising an inner cylinder, an outer cylinder, a sliding blade, and a base. The inner cylinder is an inverted empty cup structure with a closed upper end and an open lower end. The outer cylinder is an empty cup structure with an open upper end and a central hole at the lower end. The inner diameter of the outer cylinder is twice the outer diameter of the inner cylinder. The inner cylinder is placed inside the outer cylinder and arranged coaxially with it. The outer cylinder is fixed to the base. The upper surface of the sliding blade is provided with a cylindrical pin, and the lower surface is provided with a slider. The slider is cuboid in shape. The sliding blade is located between the lower bottom surface of the inner cylinder and the upper bottom surface of the outer cylinder. The sliding blade is slidably connected to the inner cylinder via the cylindrical pin and to the outer cylinder via the slider. The rotation of the inner cylinder drives the sliding blade to translate relative to the outer cylinder within the bottom plane of the cylinder.

[0006] Furthermore, the lower edge of the inner cylinder has radially distributed sliding grooves, each groove being a rectangular groove with semicircular ends. There are six sliding grooves, and the width of each groove is the same as the diameter of the cylindrical pin of the sliding blade.

[0007] Furthermore, the sliding blade is a quadrilateral structure with one edge sharpened, and the number of the sliding blades is the same as the number of the inner cylinder grooves.

[0008] Furthermore, the sliding blade has two working states: one is the separated release state, and the other is the closed cutting state.

[0009] Furthermore, the bottom of the outer cylinder is surrounded by elongated grooves evenly distributed around the central hole. These elongated grooves are interconnected, and the width of each groove is the same as the width of the sliding strip of the sliding blade. The number of these grooves is the same as the number of the sliding blades.

[0010] Furthermore, the harvester also includes a speed reducer, which is mounted on the base and whose output shaft is fixedly connected to the inner cylinder.

[0011] Furthermore, the harvester also includes a servo motor, the housing of which is fixedly connected to the housing of the reducer, and the output shaft of the servo motor is fixedly connected to the input shaft of the reducer.

[0012] A mushroom harvesting device includes the harvester, a detection gantry, an execution gantry, a transport platform, and a controller. The transport platform carries mushrooms and moves linearly in a horizontal plane. The detection gantry and the execution gantry are sequentially positioned above the transport platform along its direction of movement. The distance between the detection gantry and the harvester in the direction of movement is greater than the diameter of the mushroom cap. A row of infrared reflective units is provided on the crossbeam of the detection gantry. The infrared reflective units are equally spaced, have the same height, and their detection direction is perpendicular to the plane of the transport platform.

[0013] Furthermore, the execution gantry includes a Y-axis degree-of-freedom mechanism and a Z-axis degree-of-freedom mechanism;

[0014] The Y-axis degree-of-freedom mechanism is mounted on the crossbeam of the execution gantry. The Y-axis degree-of-freedom mechanism includes a Y-axis servo motor and a Y-axis linear module. The Y-axis linear module is parallel to the crossbeam of the execution gantry.

[0015] The Z-axis degree of freedom mechanism includes a Z-axis servo motor and a Z-axis linear module. The Z-axis linear module is perpendicular to the Y-axis linear module and fixed on the slide of the Y-axis linear module. The base of the harvester is fixed to the slide of the Z-axis linear module.

[0016] The Y-axis freedom mechanism, Z-axis freedom mechanism, and harvester are controlled by the controller.

[0017] Furthermore, the controller includes a signal acquisition module, a position calculation module, and a motion execution module. The input signal of the signal acquisition module is the output level of the infrared reflection unit of the detection gantry, and the output signal is an information matrix containing 0 and 1. The number of columns of the information matrix is ​​the same as the number of infrared reflection units, and the number of rows of the information matrix is ​​the same as the number of times the infrared reflection units are sampled at regular intervals.

[0018] The input signal of the position calculation module is the information matrix, and the output signal is the center position coordinates of the mushroom.

[0019] The input signal of the motion execution module is the center position coordinate of the mushroom, and the output signal is the pulse count of the servo motors of the Y-axis degree of freedom mechanism, the Z-axis degree of freedom mechanism and the harvester, as well as the start and stop signal of the transport platform.

[0020] Compared with the prior art, the advantages of this utility model are as follows:

[0021] The mushroom harvester of this invention uses two coaxially arranged hollow cylinders that rotate relative to each other to drive evenly distributed sliding blades to translate and cut the mushrooms. After the mushrooms are cut, the cylinders are closed to automatically collect them. Its structure is simple, the harvesting efficiency is high, and the damage to the mushrooms is minimal. The mushroom harvesting device of this invention uses an infrared reflection sensor to detect the mushrooms and maps the position and shape of the mushrooms in the tray into an information matrix. The identification and positioning cost is low, it is less affected by the environment, and it has high reliability. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the harvester according to an embodiment of the present utility model;

[0023] Figure 2 This is a front view of the inner cylinder of the harvester according to an embodiment of this utility model;

[0024] Figure 3 This is a top view of the inner cylinder of the harvester according to an embodiment of this utility model;

[0025] Figure 4 This is a front view of the outer cylinder of the harvester according to an embodiment of this utility model;

[0026] Figure 5 This is a top view of the outer cylinder of the harvester according to an embodiment of this utility model;

[0027] Figure 6 This is a top view of the sliding blade of the harvester according to an embodiment of the present utility model;

[0028] Figure 7 This is a bottom view of the sliding blade of the harvester according to an embodiment of this utility model;

[0029] Figure 8This is a top view of the sliding blade of the harvester according to an embodiment of the present invention moving along the outer cylinder groove;

[0030] Figure 9 This is a schematic diagram of the structure of the mushroom harvesting device according to an embodiment of the present invention;

[0031] Figure 10 This is a schematic diagram of the detection device structure of the mushroom harvesting device according to an embodiment of the present utility model;

[0032] Figure 11 This is a control principle diagram of the mushroom harvesting device according to an embodiment of the present invention;

[0033] Figure 12 This is an information matrix diagram of a mushroom harvesting device according to an embodiment of this utility model.

[0034] Figure 13 This is a schematic diagram of mushroom identification using a mushroom picking device according to an embodiment of this utility model;

[0035] Figure 14 This is a schematic diagram of mushroom harvesting using the mushroom harvesting device according to an embodiment of this utility model;

[0036] Figure 15 This is a schematic diagram of the mushroom storage of the mushroom picking device according to an embodiment of the present invention.

[0037] In the diagram: 1—Actuating gantry, 2—Harvester, 3—Detecting gantry, 4—Pattern, 5—Transportation platform, 6—Support, 7—Controller, 8—Storage box, 9—Mushroom, 11—Z-axis freedom mechanism, 12—Y-axis freedom mechanism, 111—Z-axis servo motor, 112—Z-axis linear module, 121—Y-axis servo motor, 122—Y-axis linear module, 21—Servo motor, 22—Reducer, 221

[0038] —Reducer input shaft, 222—Reducer base, 223—Reducer output shaft, 23—Base, 24—Inner cylinder, 241—Inner cylinder sleeve, 242—Inner cylinder groove, 25—Sliding blade, 251—Cylindrical pin, 252—Slide bar, 253—Blade, 26—Outer cylinder, 261—Outer cylinder sleeve, 262—Outer cylinder groove, 31—Reflector unit bracket, 32—Infrared reflector unit. Detailed Implementation

[0039] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0040] Reference Figure 1 The harvester 2 in this embodiment includes a servo motor 21, a reducer 22, a base 23, an inner cylinder 24, a sliding blade 25, and an outer cylinder 26.

[0041] The reducer 22 includes a reducer input shaft 221, a reducer base 222, and a reducer output shaft 223.

[0042] The inner cylinder 24 includes an inner sleeve 241 and an inner cylinder groove 242. The inner sleeve 241 is a cylindrical structure with a closed top and an open bottom. The inner cylinder 24 has an inner cylinder groove 242 along its lower edge.

[0043] The outer cylinder 26 includes an outer sleeve 261 and an outer cylinder groove 262. The outer sleeve 261 is a cylindrical structure with openings at both ends. The diameter of the top opening of the outer sleeve 261 is larger than the diameter of the bottom center hole. The outer cylinder groove 262 is provided on the upper surface of the bottom of the outer sleeve 261.

[0044] The motor shaft of the servo motor 21 is fixed to the input shaft 221 of the reducer, the reducer base 222 is fixed to the base 23, and the reducer output shaft 223 is fixed to the inner cylinder 24.

[0045] The inner cylinder 24 and the outer cylinder 26 are arranged coaxially. The inner cylinder 24 is located inside the outer cylinder 26. The sliding blade 25 is located in the gap between the lower surface of the inner cylinder 24 and the upper surface of the outer cylinder 26. The upper surface of the sliding blade 25 is in contact with the lower surface of the inner cylinder 24 and the lower surface of the outer cylinder 26.

[0046] The sliding blade 25 includes a cylindrical pin 251, a slide bar 252, and a blade 253. The cylindrical pin 251 extends into the inner cylinder slide groove 242 and is slidably connected to the inner cylinder slide groove 242, and the slide bar 252 extends into the outer cylinder slide groove 262 and is slidably connected to the outer cylinder slide groove 262.

[0047] like Figure 2 , 3 The images shown are the front view and top view of the inner cylinder 24. The inner cylinder 24 is an inverted empty cup structure with a closed upper end and an open lower end. The lower edge of the inner cylinder sleeve 241 has radially distributed inner cylinder grooves 242. The grooves are rectangular grooves with semicircles at both ends. The number of inner cylinder grooves 242 is 6.

[0048] like Figure 4 , 5 The figures shown are the front view and top view of the outer cylinder 26. The outer cylinder 26 is an open cup structure with a central hole at the bottom. The bottom of the outer cylinder 26 has evenly distributed outer cylinder grooves 262 around the central hole. These grooves are elongated and interconnected, with the width matching the width of the sliding strip of the sliding blade 25. The number of outer cylinder grooves 262 is the same as the number of inner cylinder grooves 242. The inner diameter of the outer cylinder 26 is twice the outer diameter of the inner cylinder 24.

[0049] like Figure 6 , 7The figures shown are a top view and a bottom view of the sliding blade 25. The number of sliding blades 25 is the same as the number of inner cylinder grooves 242. Each blade 253 is a quadrilateral structure with one edge sharpened. A cylindrical pin 251 is located on the upper surface of the sliding blade 25, and a slide bar 252 is located on the lower surface of the sliding blade 25. The slide bar 252 is cuboid in shape, and its thickness is the same as the depth of the outer cylinder groove 262. The diameter of the cylindrical pin 251 of the sliding blade 25 is the same as the width of the inner cylinder groove 242, and the height of the cylindrical pin 251 is the same as the depth of the inner cylinder groove 242.

[0050] like Figure 8 The image shown is a top view of the sliding blade 25 moving along the outer cylinder groove 262. The sliding blade 25 has two states: a closed cutting state and an open releasing state.

[0051] Driven by the clockwise rotation of the inner cylinder 24, the sliding blade 25 moves along the outer cylinder groove 262 toward the outer sleeve 261 wall until the cutting edge of the blade 253 reaches the edge of the bottom center hole of the outer sleeve 261. The envelope area surrounded by the cutting edge of the sliding blade 25 is the bottom center hole of the outer sleeve 261, and the six evenly distributed sliding blades 25 are in the open and released state. Driven by the counterclockwise rotation of the inner cylinder 24, the sliding blade 25 moves along the outer cylinder groove 262 toward the bottom center hole of the outer sleeve 261 until the tips of all the blades 253 coincide at one point, and the six evenly distributed sliding blades 25 are in the closed cutting state.

[0052] After the sliding blade 25 is closed, the inner cylinder 24 and the sliding blade 25 form a closed space to accommodate the cut mushroom 9; after the sliding blade 25 is opened, the mushroom 9 in the inner cylinder 24 falls down from the bottom center hole of the outer sleeve 261 under the action of gravity.

[0053] like Figure 9 The diagram shown is a schematic representation of the mushroom harvesting device in an embodiment.

[0054] Reference Figure 9 The mushroom picking device in this embodiment consists of an execution gantry 1, a picker 2, a detection gantry 3, a tray 4, a transport platform 5, a support 6, a controller 7, and a storage box 8.

[0055] The execution gantry 1 includes a Z-axis degree-of-freedom mechanism 11 and a Y-axis degree-of-freedom mechanism 12. The Z-axis degree-of-freedom mechanism 11 includes a Z-axis servo motor 111 and a Z-axis linear module 112. The Z-axis servo motor 111 drives the Z-axis linear module 112 to move linearly in the vertical direction. The Y-axis degree-of-freedom mechanism 12 includes a Y-axis servo motor 121 and a Y-axis linear module 122. The Y-axis linear module 122 is mounted parallel to the crossbeam of the execution gantry 1. The Y-axis servo motor 121 drives the Y-axis linear module 122 to move linearly in the horizontal direction. The Z-axis linear module 112 is perpendicular to and fixed to the slide of the Y-axis linear module 122, and a harvester 2 is fixed to the slide of the Z-axis linear module 112.

[0056] The motion of the harvester 2 is a composite motion of the sliding table motion of the Y-axis linear module 122 and the sliding table motion of the Z-axis linear module 112.

[0057] The detection gantry 3 includes an infrared reflective unit 32 and a reflective unit support 31. The distance between the detection gantry 3 and the harvester 2 in the direction of movement of the transport platform 5 is greater than the diameter of the mushroom cap.

[0058] The transport platform 5 is preferably a conveyor belt. The tray 4 is located on the transport platform 5. The tray 4 carries the mushrooms 9 and passes them sequentially and uniformly below the detection gantry 3 and the execution gantry 1.

[0059] The execution gantry 1, detection gantry 3, and transport platform 5 are fixed above the support 6. The detection gantry 3 spans above the transport platform 5, and the height of the infrared reflective unit 32 from the transport platform 5 is greater than the height of the mushroom 9 in the tray 4. The transport platform 5 drives the tray 4 through the detection gantry 3 to the area below the execution gantry 1.

[0060] The controller 7 samples the output level of the infrared reflection unit 32 at fixed time intervals to form an information matrix, and controls the movement of the Y-axis degree of freedom mechanism 12, the Z-axis degree of freedom mechanism 11, the picker 2 and the transport platform 5, so that the picker 2 fixed on the slide of the Z-axis linear module 112 can move in the YOZ plane.

[0061] Reference Figure 10 In this embodiment, the reflective unit support 31 of the detection gantry frame 3 of the mushroom picking device is a gantry structure. A row of infrared reflective units 32 is fixed on the crossbeam of the reflective unit support 31. The infrared reflective units 32 are equally spaced, have the same height, and are detected vertically downwards and perpendicular to the tray 4.

[0062] When there are no mushrooms below the infrared reflector unit 32, the infrared light emitted by the infrared reflector unit 32 cannot be reflected back to the infrared reflector unit 32, and the controller 7 periodically reads the array of all 0s in the output level of the infrared reflector unit 32; when a mushroom passes between the infrared reflector unit 32 and the tray 4, the mushroom reflects the infrared light emitted by the infrared reflector unit 32 back to the infrared reflector unit 32, the output level of the infrared reflector unit 32 is reversed, and the controller 7 periodically reads the array of 0s and 1s in the output level of the infrared reflector unit 32.

[0063] Reference Figure 11 The controller 7 includes a signal acquisition module, a position calculation module, and a motion execution module.

[0064] The signal acquisition module uses timed sampling to sample the output levels of a row of infrared reflective units 32 mounted on the crossbeam of the detection gantry 3. The input signal to the signal acquisition module is the output level of the infrared reflective units 32, and the output signal is an information matrix containing 0s and 1s. The controller 7 pre-calculates the working time of the signal acquisition module based on the size of the tray 4 and the movement speed of the transport platform 5. When the front edge of the tray 4 passes under the detection gantry 3, the signal acquisition module begins timed sampling of the output levels of the infrared reflective units 32; when the rear edge of the tray 4 passes under the detection gantry 3, the signal acquisition module stops sampling the output levels of the infrared reflective units 32. The signal acquisition module discretizes the tray 4 under the detection gantry 3 into an information matrix and updates the row data of the information matrix by timed sampling of the output levels of the infrared reflective units 32.

[0065] The distance between the harvester 2 and the detection gantry 3 in the direction of movement of the transport platform 5 is greater than the diameter of the largest mushroom in the tray 4. When the signal acquisition module sequentially acquires information on multiple mushrooms in the tray 4 along the direction of movement of the transport platform 5, the row data corresponding to two adjacent mushrooms in the output information matrix contains at least one row of all-zero data.

[0066] The input signal to the position calculation module is the information matrix output by the signal acquisition module, and the output signal is the center position coordinates of the mushroom in tray 4. The position calculation module sequentially reads the row data of the information matrix. When the row data is all zeros, it continues to read the next row data; when the row data is not all zeros, it stores the row data into matrix M, until the row data is all zeros, at which point it stops storing the row data into matrix M. An arithmetic sequence A is taken, where the common difference of sequence A is the spacing of the infrared reflective units 32, and the number of terms in sequence A is the number of infrared reflective units 32. The row data of matrix M is multiplied by the arithmetic sequence A to obtain the position array C. The average value of the position array C is taken as the row center, and all row centers are combined into a row center array E. The average value of the row center array E is taken as the Y-coordinate of the mushroom's center position. The average value of the row number corresponding to matrix M in the information matrix is ​​taken as the row midpoint B. The product of the timing sampling time and the speed of the transport platform 5 is taken as D. The product of the row midpoint B and D is taken as the X-coordinate of the mushroom's center position.

[0067] The matrices M corresponding to the mushrooms distributed along the movement direction of the transport platform 5 in the tray 4 do not overlap. The position calculation module calculates the center position coordinates of the mushrooms for the position matrices M of different mushrooms.

[0068] The input signal of the motion execution module is the center position coordinate of the mushroom, and the output signals include control pulses for the Y-axis degree-of-freedom mechanism 12, the Z-axis degree-of-freedom mechanism 11, and the servo motor 21 of the harvester 2, as well as the start / stop signal of the transport platform 5. Based on the X-axis coordinate of the mushroom's center position and the movement speed of the transport platform 5, the time it takes for the mushroom in the tray 4 to reach the harvester 2 along with the transport platform 5 is calculated; this is also the start time of the Y-axis servo motor 121. Based on the Y-axis coordinate of the mushroom's center position and the current position of the Y-axis servo motor 121, the difference between the two is calculated to obtain the movement distance of the Y-axis degree-of-freedom mechanism 12. Based on the movement distance of the Y-axis degree-of-freedom mechanism 12 and the step angle of the Y-axis servo motor 121, the number of control pulses for the Y-axis servo motor 121 is obtained.

[0069] Reference Figure 12 The information matrix uses the number of infrared reflective units 32 on the crossbeam of the gantry 3 as the number of columns and the number of times the infrared reflective units 32 are sampled at regular intervals as the number of rows. The initial value of the information matrix is ​​an all-zero matrix. When the infrared reflective unit 32 does not receive an infrared reflection signal, the output level is 0; when the infrared reflective unit 32 receives an infrared reflection signal, the output level is 1. The controller 7 samples the output level of the infrared reflective unit 32 at regular intervals and fills it into the corresponding row of the information matrix.

[0070] In the information matrix, the shape of the set of points equal to 1 describes the shape of the mushroom cap under discrete conditions, and the position of the set of points equal to 1 in the information matrix describes the position of the mushroom in tray 4. When the infrared reflection unit 32 receives the infrared light signal reflected by the mushroom cap, the controller 7 changes the value of the corresponding position in the information matrix from 0 to 1 according to the reflection signal. Multiple sets of points equal to 1 in the information matrix correspond to multiple mushrooms in tray 4, and the center coordinates of the set of points equal to 1 are the position coordinates of the mushroom center relative to tray 4.

[0071] Reference Figure 13 Initially, the mushroom picking device is reset, the slide of the Y-axis linear module 122 is located at the rightmost end of the Y-axis linear module, the slide of the Z-axis linear module 112 is located at the top of the Z-axis linear module, the picker 2 is located at the highest point of its stroke, and the sliding blade 25 is in the open and released state.

[0072] Mushroom 9 is placed on tray 4, and tray 4 is placed on transport platform 5; the mushroom picking device is started, and transport platform 5 drives tray 4 to carry mushroom 9 at a constant speed; the information matrix of controller 7 is initially a matrix of all zeros.

[0073] When tray 4 passes through the detection gantry 3, the signal acquisition module of controller 7 periodically samples and detects the output level of the infrared reflection unit 32 on the gantry 3, and fills it into the corresponding row of the information matrix in sequence, thus discretizing tray 4 and the mushroom 9 in tray 4 into an infrared reflection information matrix with the number of infrared reflection units 32 as the number of columns and the number of timed samplings as the number of rows.

[0074] After all trays 4 have passed through the detection gantry 3, the controller 7 generates an information matrix. Based on this matrix, the position calculation module of the controller 7 calculates the X and Y coordinates of the center position of the mushroom 9. The mushroom harvesting device then completes the mushroom position identification.

[0075] Reference Figure 14The pallet 4 continues to move toward the execution gantry 1 along with the transport platform 5. The motion execution module of the controller 7 calculates the start time and pulse number of the Y-axis servo motor 121 based on the X-axis coordinate of the mushroom center position. When the start time of the Y-axis servo motor 121 is reached, the transport platform 5 stops moving; the controller 7 outputs control pulses to the Y-axis servo motor 121, and the Y-axis servo motor 121 drives the Y-axis linear module 122 to move the harvester 2 above the mushroom 9, and the Y-axis servo motor 121 stops moving; the Z-axis servo motor 111 starts, and drives the Z-axis linear module 112 to move the harvester 2 downward to the lowest point of its stroke, and the outer cylinder 26 covers the mushroom 9, and the Z-axis servo motor 111 stops moving; the servo motor 21 starts, and drives the reducer 22 to rotate, and the reducer 22 drives the inner cylinder 24 to rotate counterclockwise relative to the outer cylinder 26 around the axis of the inner cylinder 24, and the inner cylinder 24 drives the sliding blade 25 to move rapidly along the outer cylinder slide groove 262 in the plane of the blade 253 towards the center of the outer cylinder 26, until the cutting edge of the sliding blade 25 intersects the center of the outer cylinder sleeve 261 and completely covers the center hole at the bottom of the outer cylinder sleeve 261. The six sliding blades 25 close together to cut, and the cut mushroom 9 remains inside the inner sleeve 241. The mushroom harvesting device completes the harvesting of the mushroom 9.

[0076] Reference Figure 15 The Z-axis servo motor 111 starts, driving the Z-axis linear module 112 to move the harvester 2 upwards until the Z-axis linear module 112 moves the harvester 2 upwards to its highest stroke position, at which point the Z-axis servo motor 111 stops. The Y-axis servo motor 121 starts and controls the Y-axis linear module 122 to drive the Z-axis degree-of-freedom mechanism 11 to move to the left, moving the harvester 2 to the left limit position of the Y-axis linear module 122, with the harvester 2 positioned above the storage box 8. The servo motor 21 reverses, driving the reducer 22 to rotate. The reducer 22 drives the inner cylinder 24 to rotate clockwise relative to the outer cylinder 26 around the axis of the inner cylinder 24. The inner cylinder 24 drives the sliding blade 25 to expand radially along the outer cylinder groove 262 towards the outer wall of the outer cylinder 26. The sliding blade 25 reaches the separated and released state, and the center hole at the bottom of the outer cylinder sleeve 261 opens. Under the action of gravity, the mushroom 9 falls from the harvester 2 into the storage box 8. The mushroom harvesting device completes the collection of the mushroom 9.

[0077] It is understandable that the transport platform 5 can also be a linear module driven by a servo motor.

[0078] It is understandable that the inner cylinder groove 242 can also be an arc-shaped groove to reduce the friction between the cylindrical pin 251 and the inner cylinder groove 242.

[0079] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0080] The above-described embodiments are merely one implementation of this utility model, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A harvester, characterized in that: The harvester includes an inner cylinder, an outer cylinder, a sliding blade, and a base. The inner cylinder is an inverted empty cup structure with a closed upper end and an open lower end. The outer cylinder is an empty cup structure with an open upper end and a central hole at the lower end. The inner diameter of the outer cylinder is twice the outer diameter of the inner cylinder. The inner cylinder is placed inside the outer cylinder and arranged coaxially with it. The outer cylinder is fixed to the base. The upper surface of the sliding blade is provided with a cylindrical pin, and the lower surface is provided with a slider. The slider is cuboid in shape. The sliding blade is located between the lower bottom surface of the inner cylinder and the upper bottom surface of the outer cylinder. The sliding blade is slidably connected to the inner cylinder through the cylindrical pin and to the outer cylinder through the slider. The rotation of the inner cylinder drives the sliding blade to translate relative to the outer cylinder in the bottom plane.

2. The harvester as described in claim 1, characterized in that: The lower edge of the inner cylinder has radially distributed sliding grooves. Each sliding groove is a rectangular groove with semicircular ends. There are 6 sliding grooves in total, and the width of each sliding groove is the same as the diameter of the cylindrical pin of the sliding blade.

3. The harvester as described in claim 2, characterized in that: The sliding blade is a quadrilateral structure with one edge sharpened, and the number of the sliding blades is the same as the number of the inner cylinder grooves.

4. The harvester as described in claim 3, characterized in that: The sliding blade has two working positions: one is the separated release position, and the other is the closed cutting position.

5. The harvester as described in claim 1, characterized in that: The bottom of the outer cylinder is surrounded by a central hole with evenly distributed elongated grooves. These elongated grooves are interconnected, and the width of each groove is the same as the width of the sliding strip of the sliding blade. The number of these grooves is the same as the number of the sliding blades.

6. The harvester as described in claim 1, characterized in that: The harvester also includes a speed reducer, which is mounted on the base and whose output shaft is fixedly connected to the inner cylinder.

7. The harvester as described in claim 6, characterized in that: The harvester also includes a servo motor, the housing of which is fixedly connected to the housing of the reducer, and the output shaft of the servo motor is fixedly connected to the input shaft of the reducer.

8. A mushroom harvesting device, characterized in that: The harvester, as described in any one of claims 1-7, further includes a detection gantry, an execution gantry, a transport platform, and a controller. The transport platform carries mushrooms and moves linearly in a horizontal plane. The detection gantry and the execution gantry are sequentially positioned above the transport platform along its direction of movement. The distance between the detection gantry and the harvester in the direction of movement of the transport platform is greater than the diameter of the mushroom cap. A row of infrared reflective units is provided on the crossbeam of the detection gantry. The infrared reflective units are spaced equally, have the same height, and their detection direction is perpendicular to the plane of the transport platform.

9. The mushroom harvesting device as described in claim 8, characterized in that: The execution gantry includes a Y-axis degree-of-freedom mechanism and a Z-axis degree-of-freedom mechanism; The Y-axis degree-of-freedom mechanism is mounted on the crossbeam of the execution gantry. The Y-axis degree-of-freedom mechanism includes a Y-axis servo motor and a Y-axis linear module. The Y-axis linear module is parallel to the crossbeam of the execution gantry. The Z-axis degree of freedom mechanism includes a Z-axis servo motor and a Z-axis linear module. The Z-axis linear module is perpendicular to the Y-axis linear module and fixed on the slide of the Y-axis linear module. The base of the harvester is fixed to the slide of the Z-axis linear module. The Y-axis freedom mechanism, Z-axis freedom mechanism, and harvester are controlled by the controller.

10. The mushroom harvesting device as described in claim 9, characterized in that: The controller includes a signal acquisition module, a position calculation module, and a motion execution module. The input signal of the signal acquisition module is the output level of the infrared reflection unit of the detection gantry, and the output signal is an information matrix containing 0 and 1. The number of columns of the information matrix is ​​the same as the number of infrared reflection units, and the number of rows of the information matrix is ​​the same as the number of times the infrared reflection units are sampled at regular intervals. The input signal of the position calculation module is the information matrix, and the output signal is the center position coordinates of the mushroom. The input signal of the motion execution module is the center position coordinate of the mushroom, and the output signal is the pulse count of the servo motors of the Y-axis degree of freedom mechanism, the Z-axis degree of freedom mechanism and the harvester, as well as the start and stop signal of the transport platform.

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