A humanoid robot that automatically harvests mushrooms

Abstract

This invention provides an automated mushroom harvesting humanoid robot, comprising: a mobile operating platform and a picking module, a root-cutting module, and a collection module mounted on the mobile operating platform; the mobile operating platform is used to adjust the picking position; the picking module is used to identify and pick mushrooms and place them in the root-cutting module; the root-cutting module includes blades fixed to the mobile operating platform and a conveyor belt mounted on the mobile operating platform; the conveyor belt is provided with multiple mushroom receiving slots for receiving mushroom bodies picked by the picking module, and the bottom of the mushroom receiving slots has through holes for mushroom roots to pass through; the mushroom receiving slots move with the conveyor belt, causing the mushroom roots to be cut by the blades; the collection module is used to collect the mushroom bodies after root cutting. This invention realizes the integration of the entire mushroom harvesting process, greatly improving harvesting efficiency. Each robotic arm can work independently and efficiently pick mushrooms, and the mushroom receiving slots, in conjunction with the blades, perform uniform and efficient cutting of mushroom roots; the mushroom receiving slots can effectively protect the mushroom bodies and ensure the success rate of root cutting.

Description

Technical Field

[0001] This invention relates to the field of harvesting robot technology, and in particular to a humanoid robot for automatic mushroom harvesting. Background Technology

[0002] Edible fungi are important consumer products. Button mushrooms (Agaricus bisporus) are the most cultivated edible fungi in the world, with a market size of US$25 billion in 2023 and a compound annual growth rate of 6.6%. Consumers have extremely high requirements for the uniformity of fresh mushroom specifications and the absence of damage to their appearance, making the harvesting stage a key bottleneck that determines the value of the product.

[0003] In current industrialized production of edible fungi, modern mushroom houses generally adopt the "Dutch shelving system" structure. For example... Figure 1 As shown, the structure mainly consists of vertically arranged multi-layer bed frames, typically 6 to 8 layers. Figure 1 Only two layers are shown (the diagram only), with a spacing of approximately 28 to 40 centimeters between each layer. The width of the mushroom bed frame is generally 1.2 to 1.5 meters, and the length can reach 20 to 30 meters. The entire mushroom house environment needs to maintain a constant temperature (approximately 16 to 18 degrees Celsius), high humidity (90% to 95% relative humidity), and a high concentration of carbon dioxide (CO2 concentration is usually above 5000 ppm) to meet the optimal conditions for fungal growth. Both the floor and the bed frame are made of rust-proof steel or aluminum alloy to ensure long-term operational stability and cleanliness. In addition, to meet the needs of modern agricultural automation management, the mushroom house roof is usually equipped with micro-sprinklers for humidity control, and LED lights for supplemental lighting. A 0.8 to 1.4-meter-wide passageway for people and materials is set between the bed frames. Due to space limitations, large machinery cannot currently be accommodated in the work area, limiting the improvement of mechanization.

[0004] Under the current operating model, mushroom harvesting relies primarily on manual labor, which presents significant limitations. Firstly, the harvesting process is physically demanding, requiring workers to bend over or squat for extended periods, with each shift typically lasting 8 to 10 hours, easily leading to occupational rheumatism and arthritis. Secondly, relying on visual estimation of mushroom diameter introduces a measurement error of ±3 millimeters, resulting in 8% to 12% of mushrooms being over-harvested or missed, affecting the consistency of harvesting quality. Harvesting efficiency is also limited; even skilled workers can only harvest an average of approximately 2,000 mushrooms per shift, and labor costs increase significantly during night shifts. Furthermore, frequent personnel movement disrupts the environmental stability of the mushroom house's clean area, posing a risk of introducing external pathogens and causing 2% to 3% of product batches to become contaminated and unusable, impacting overall production stability and food safety.

[0005] In the current context of agricultural automation, automated mushroom harvesting technology has gradually become a hot topic in both research and commercial fields. For example, a typical automated harvesting robot uses a SCARA-configured robotic arm for harvesting. After harvesting, the arm grips the mushroom and moves it to a rotating blade to cut the root. This structure is difficult to adapt to mushroom roots of different lengths and shapes, resulting in a low success rate and a tendency to damage the mushroom. After root cutting, the robotic arm then transports the mushroom to a collection box. The large range of motion and long trajectory of the robotic arm throughout the process lead to a long movement time and reduced harvesting efficiency.

[0006] To address, or at least partially address, the shortcomings of existing technologies such as low mushroom harvesting efficiency, poor root-cutting effect, and easy damage to the mushroom body, this invention provides an automated mushroom harvesting humanoid robot. Summary of the Invention

[0007] This invention provides a humanoid robot for automatic mushroom harvesting, which solves or at least partially solves the defects of low mushroom harvesting efficiency, poor root cutting effect, and easy damage to mushroom bodies in the prior art.

[0008] This invention provides a humanoid robot for automatic mushroom harvesting, comprising: a mobile operating platform, and a picking module, a root-cutting module, and a collection module disposed on the mobile operating platform; The mobile control panel is used to adjust the picking position; The picking module is used to identify and pick mushrooms and place them in the root-cutting module; The root-cutting module includes a blade fixed on the mobile operating table and a conveyor belt set on the mobile operating table; the conveyor belt is provided with multiple mushroom receiving slots, which are used to receive the mushroom bodies harvested by the harvesting module, and the bottom of the mushroom receiving slots is provided with through holes for the mushroom roots to pass through; the mushroom receiving slots move with the conveyor belt, so that the mushroom roots are cut by the blade. The collection module is used to collect mushroom spores after the roots have been cut.

[0009] Optionally, the robot also includes a lifting module and a movable chassis disposed at the bottom of the lifting module; The lifting module is used to adjust the height of the mobile operating table and adjust the mobile operating table to the bed frame layer where data needs to be collected. The mobile chassis adjusts the position of the lifting module and the mobile operating platform.

[0010] Optionally, the robot also includes a frame-mounted movement module for adjusting the position of the mobile control panel on the bed frame.

[0011] Optionally, the picking module includes a robotic arm, a first depth camera disposed at the end of the robotic arm, and an end effector; The first depth camera is used to collect visual data and identify the location of the mushroom; The end effector can adsorb the mushroom body and cooperate with the robotic arm to achieve harvesting.

[0012] Furthermore, the end effector includes a flexible suction cup and a negative pressure suction port; After the soft suction cup comes into contact with the mushroom body, the negative pressure suction port provides negative pressure to adsorb the mushroom body.

[0013] Optionally, the mushroom receiving slot is horseshoe-shaped, with the horseshoe-shaped opening allowing the mushroom roots to pass through.

[0014] Optionally, a first guide groove and a first container for collecting mushroom roots are provided below the blade.

[0015] Optionally, the collection module includes an electric push rod and a second container for collecting mushroom bodies; The electric push rod is used to push the mushroom body after the root has been cut out through the through hole and let it fall into the second container.

[0016] Optionally, the top surface of the electric push rod is an inclined surface.

[0017] Optionally, the collection module further includes a sorting camera, and the second container includes multiple containers; The sorting camera is used to collect visual data of mushroom bodies after root cutting and to classify mushroom bodies. The electric pusher pushes the mushroom body into the corresponding classified container according to the classification results.

[0018] Furthermore, the sorting camera includes at least one camera positioned above a certain location after the mushroom receiving trough has passed the blade, and another camera positioned below that location.

[0019] Optionally, it also includes a navigation module for determining the location of the automated mushroom harvesting humanoid robot in the mushroom house.

[0020] Optionally, the navigation module further includes a main-view depth camera to determine the picking status of mushrooms at the current location and assist in determining whether to move to the next picking location.

[0021] Furthermore, the navigation module is used to plan a harvesting path based on the mushroom house map, the location of the mushroom harvesting robot in the mushroom house, the harvesting status of each bed frame area, and the type of mushroom to be harvested. The navigation module is also used to plan the path for the mushroom harvesting robot to return to the designated area after the harvesting target is reached.

[0022] The humanoid robot for automatic mushroom harvesting provided by this invention has at least the following beneficial effects:

[0023] 1. The mushroom automatic harvesting humanoid robot of the present invention integrates the entire process of mushroom harvesting through a mobile operating platform, a picking module, a root cutting module, and a collection module, and greatly improves harvesting efficiency.

[0024] 2. The mushroom automatic harvesting humanoid robot of the present invention can be equipped with two or more robotic arms. Each robotic arm can work and harvest independently. After each robotic arm harvests a mushroom and puts it into an empty mushroom receiving slot, it can immediately start harvesting the next mushroom. The non-harvesting time of the robotic arms is less and the harvesting efficiency is higher. The multiple mushroom receiving slots on the conveyor belt, together with the blades, can uniformly and efficiently cut the mushroom roots.

[0025] 3. The mushroom receiving groove can effectively protect the mushroom body, avoid damage to the mushroom body during the root cutting process, and also ensure the success rate of root cutting. In some implementations, the mushroom receiving groove is set as a horseshoe shape, which makes it convenient for the robotic arm to easily put the mushroom root into the mushroom receiving groove from the opening side of the horseshoe shape, and also makes it easier to push the mushroom body out more smoothly after the root is cut.

[0026] 4. In this embodiment, a soft suction cup and a negative pressure suction port are used to adsorb the mushroom body after harvesting. The large and soft adsorption surface can greatly reduce damage to the mushroom.

[0027] 5. Using a sorting camera to identify and classify mushrooms, and in conjunction with an electric push rod and multiple containers for classified collection, product quality is managed automatically and efficiently.

[0028] 6. The navigation module automatically and intelligently plans routes, guiding the robot to perform tasks automatically and improving work efficiency.

[0029] 7. The second depth camera is used to identify the state of the mushroom bed under the current robot position in order to plan the grasping path and control the grasping order of the robotic arm; at the same time, it determines whether the mushrooms at the current position have been picked, thereby controlling the navigation movement to the next position. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of a multi-layered bed frame inside a mushroom house in existing technology; Figure 2 This is one of the structural schematic diagrams of an automatic mushroom harvesting robot provided by the present invention; Figure 3 This is the second structural schematic diagram of an automatic mushroom harvesting robot provided by the present invention; Figure 4 yes Figure 2 A partial structural diagram of the root-cutting module of a humanoid robot for automatic mushroom harvesting; Figure 5 yes Figure 2 One of the partial structural diagrams of the collection module of the humanoid robot that automatically harvests mushrooms; Figure 6 yes Figure 2 The second partial structural diagram of the collection module of the mushroom-harvesting humanoid robot.

[0032] Figure label: 11-Mobile operating platform, 12-Harvesting module, 13-Root cutting module, 14-Collection module; 15-Lifting module, 16-Mobile chassis, 120-Robotic arm, 121-First depth camera, 122-Soft suction cup; 131-Blade, 132-Conveyor belt, 133-Mushroom receiving trough, 134-First guide trough, 135-First container; 141-Electric push rod, 142-Second guide trough, 143-Sorting camera, 17-Second depth camera. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0034] The following is combined Figures 2-5 This invention describes a humanoid robot for automatically harvesting mushrooms.

[0035] Figure 2 This is one of the structural schematic diagrams of a humanoid robot that automatically harvests mushrooms. Figure 3 yes Figure 2 A partial schematic diagram of the root-cutting module of a humanoid robot for automated mushroom harvesting, as shown below. Figure 2 , Figure 3 As shown, the robot includes: a mobile operating platform 11, and a picking module 12, a root cutting module, and a collection module 14 disposed on the mobile operating platform 11; The movable control panel 11 is used to adjust the picking position; The picking module 12 is used to identify and pick mushrooms and place them in the root-cutting module; The root-cutting module includes a blade 131 fixed on a movable operating table 11 and a conveyor belt 132 set on the movable operating table 11. The conveyor belt 132 is provided with a plurality of mushroom receiving slots 133, which are used to receive mushroom bodies picked by the picking module 12. The bottom of the mushroom receiving slot 133 is provided with a through hole for the mushroom root to pass through. The mushroom receiving slot 133 moves with the conveyor belt 132, so that the mushroom root is cut by the blade 131. The collection module 14 is used to collect the mushroom bodies after the roots have been cut.

[0036] Specifically, the mobile operating platform 11 of the automated mushroom harvesting humanoid robot integrates a picking module 12, a root-cutting module, and a collection module 14. These modules complete the tasks of mushroom picking, root cutting, sorting, and collection. In addition, the mobile operating platform 11 also has a movement function, allowing adjustment of the mushroom picking position. Therefore, the automated mushroom harvesting humanoid robot of this invention achieves full-process integration of mushroom harvesting.

[0037] The mobile operating platform 11 is a frame structure that provides installation positions for each module. The robotic arm 120 of the harvesting module 12 is preferably a three-axis or more axis robotic arm, more preferably a six-axis or more humanoid robotic arm, to provide sufficient degrees of freedom and facilitate harvesting actions. Multiple mushroom receiving slots 133 are provided on the conveyor belt 132. Each mushroom receiving slot 133 can hold mushrooms for root cutting. It is understood that the harvesting module 12 in this invention preferably includes two or more robotic arms to fully utilize the working efficiency of the root cutting module. Each robotic arm can work independently. After harvesting a mushroom and placing it into an empty mushroom receiving slot 133, each robotic arm can immediately begin harvesting the next mushroom, improving harvesting efficiency. The receiving slots protect the mushroom body and prevent damage during root cutting.

[0038] Figure 2 The illustration only shows one configuration of the conveyor belt 132, mushroom receiving trough 133, and blade 131. It is understood that many variations are possible within the scope of this invention. For example, Figure 2 The conveyor belt 132 in the design is a "racetrack-shaped" ring layout, with the conveyor belt arranged on the vertical outer wall of the ring track. It can also be other shapes, such as a circular ring layout where the conveyor belt is arranged on the vertical outer wall of a circular column, or a triangular layout, as shown in the reference section. Figure 3 The conveyor belt 132 rolls along the vertical outer wall of the triangular structure, causing the mushroom container 133 to move cyclically along its triangular outline. Figure 2The conveyor belt 132 is vertically arranged, but it can also be horizontally arranged (which can be understood as roller-like or track-like). In this case, the blade 131 can be positioned near one end of the upper surface of the conveyor belt 132. The mushroom receiving trough 133 moves along the surface of the conveyor belt. After the mushroom receiving trough 133 is cut at the blade 131, it continues to roll with the conveyor belt 132, "pouring" the mushroom body into the collection container. The number of mushroom receiving troughs 133 and blades 131 can also be flexibly adjusted, for example, in... Figure 2 Another blade 131 is provided on the opposite side of blade 131, dividing the conveyor belt 132 into two sections. Each section of the conveyor belt is equipped with a blade 131, a set of mushroom receiving slots 133, and a robotic arm 120 to complete the entire process of mushroom processing.

[0039] The humanoid robot for automatic mushroom harvesting provided by this invention integrates the entire mushroom harvesting process and greatly improves harvesting efficiency. Each robotic arm in the harvesting module can work independently and efficiently harvest mushrooms, performing only the actions of "harvesting and placing in the receiving trough." The robotic arms consume less time outside of harvesting and have a higher harvesting frequency. Multiple mushroom receiving troughs on the conveyor belt, in conjunction with blades, uniformly and efficiently cut the mushroom roots. The mushroom receiving troughs effectively protect the mushroom body, preventing damage during root cutting and ensuring a high success rate.

[0040] Compared to the most advanced domestic automated mushroom harvesting robots, the solution of this invention employs a conveyor belt-type parallel mushroom processing device, resulting in higher processing efficiency. For example, in the dual-arm robot example, it can process up to 30 mushrooms per minute, equivalent to twice the processing speed of a skilled worker. Furthermore, the modular design allows the harvesting module, along with subsequent root-cutting and collection modules, to be used individually or in combination.

[0041] Furthermore, existing humanoid robots for automatic mushroom harvesting are mainly divided into two structural categories: "scaffolded sliding rail type" and "ground mobile type".

[0042] In some embodiments, the mushroom-harvesting humanoid robot of the present invention is embodied as a "ground-mobile" mushroom-harvesting humanoid robot, which can carry a robotic arm 120 to work outside the bed frame and can access multiple bed frame layers. Specifically, referring to... Figure 2 Based on the aforementioned embodiments, the robot also includes a lifting module 15 and a mobile chassis 16 disposed at the bottom of the lifting module 15; the lifting module 15 is used to adjust the height of the mobile operating table 11 and adjust the mobile operating table 11 to the bed frame layer to be collected. Specifically, the lifting module 15 can be a lead screw lifting column, and the mobile operating table 11 is connected to the lifting module 15 through the adapter on the back; the mobile chassis 16 adjusts the position (corresponding ground position) of the lifting module 15 and the mobile operating table 11.

[0043] In some embodiments, the mushroom automatic harvesting humanoid robot of the present invention is embodied as a "scaffold-mounted sliding rail type" mushroom automatic harvesting humanoid robot. Specifically, the "scaffold-mounted sliding rail type" mushroom automatic harvesting humanoid robot relies on a scaffold track to achieve horizontal movement of the mushroom bed. It is large in size and requires large supporting equipment to complete the mounting of the harvesting device. It also includes a scaffold moving module, which can carry a mobile operating table to move on the scaffold sliding rail and adjust the position of the mobile operating table on the bed frame.

[0044] One difference between the two embodiments is that the "scaffold-mounted sliding rail" mushroom automatic harvesting humanoid robot can use a line laser on the top of the bed frame to scan the depth information of the bed frame, thereby calculating the location of each mushroom in the bed frame, while the "ground-moving" mushroom automatic harvesting humanoid robot uses a wrist depth camera and a head depth camera to collect depth information and identify the location of the mushrooms.

[0045] Reference Figure 4 Based on the foregoing embodiments, in some embodiments, the picking module 12 includes a robotic arm 120, a first depth camera 121 disposed at the end of the robotic arm 120, and an end effector. The first depth camera 121 is used to collect visual data and identify the location of the mushroom; The end effector can adhere to the mushroom body and work in conjunction with the robotic arm to harvest the mushrooms.

[0046] Specifically, the first depth camera 121, such as an RGB-D camera, can acquire color images, extract color and texture features, and segment the "mushroom area" in the image. At the same time, the RGB-D camera can also acquire depth information and obtain the shape and position information of the mushroom. The combination of the two can accurately identify the shape and position of the mushroom, and then the robotic arm 120 drives the end effector to pick up the identified mushroom.

[0047] Based on the previous embodiment, in some embodiments, the end effector includes a soft suction cup 122 and a negative pressure suction port; after the soft suction cup 122 contacts the mushroom body, the negative pressure suction port provides negative pressure to adsorb the mushroom body.

[0048] Specifically, the soft suction cup 122 is made of soft materials, such as sponge or silicone, to avoid damaging the mushroom body. The diameter and curvature of the suction surface of the soft suction cup 122 are adapted to the shape of the mushroom body to ensure the suction effect. A negative pressure suction port is provided inside the suction cup, which is connected to a negative pressure source through a pipeline to provide suction power. Further, the diameter of the soft suction cup is preferably in the range of 2 to 4 cm, more preferably 3 cm in diameter, which can harvest relatively mature mushrooms. The material of the soft suction cup is preferably 3 mm thick black sponge.

[0049] This embodiment uses a soft suction cup and a negative pressure suction port to adsorb the harvested mushroom body. The large and soft adsorption surface can greatly reduce damage to the mushroom.

[0050] Based on the foregoing embodiments, in some embodiments, the mushroom receiving trough 133 is horseshoe-shaped, with the horseshoe-shaped opening allowing the mushroom roots to pass through.

[0051] Specifically, refer to Figure 2 In this embodiment, the mushroom receiving slot 133 is horseshoe-shaped. The robotic arm 120 can conveniently insert the mushroom root from the opening side of the horseshoe shape, and hold the mushroom body in the mushroom receiving slot 133. It also makes it easier to push the mushroom body out after cutting the root.

[0052] Based on the foregoing embodiments, in some embodiments, the mushroom receiving trough 133 is driven by the conveyor belt 132 to bring the mushroom roots toward the blade 131.

[0053] Specifically, it can be understood that the rotation direction of the conveyor belt 132 is set according to the placement position of the mushrooms and the setting position of the blades 131. For example Figure 4 In the middle, the robotic arm puts a mushroom into the mushroom receiving slot 133 on the left side of the blade 131, so that the mushroom root faces the blade 131.

[0054] Based on the foregoing embodiments, in some embodiments, a first guide groove 134 and a first container 135 for collecting mushroom roots are provided below the blade 131. Specifically, the fallen mushroom roots slide into the first container 135 through the first guide groove 134. The first container is a collection container set in the movable operating table 11, which can be removable or a rotatable part on the movable operating table 11, so that the mushroom roots can be poured out after collection is completed.

[0055] Reference Figure 5 Based on the foregoing embodiments, in some embodiments, the collection module 14 includes an electric push rod 141 and a second container for collecting mushroom bodies; the electric push rod 141 is used to push the mushroom bodies after root cutting through the through hole and let them fall into the second container.

[0056] Specifically, one end of the electric push rod 141 is fixed to the movable operating table 11. When the mushroom receiving trough 133 containing mushrooms moves above the electric push rod 141, the electric push rod 141 is controlled to push the mushroom bodies out of the trough through the through hole of the mushroom receiving trough 133 and fall into the second container. Similarly, the second container can be removable or a rotatable part on the movable operating table 11, so that the mushroom roots can be poured out after collection.

[0057] It should also be noted that the conveyor belt 132 can pause for a short period of time, such as 0.5s or 0.3s, when it brings the mushroom receiving trough 133 above the electric push rod 141, to facilitate the electric push rod 141 to push the mushroom bodies out of the trough. Of course, the conveyor belt 132 can move continuously, in which case the electric push rod 141 needs to push the mushroom bodies out of the trough in a shorter time.

[0058] Still refer to Figure 5 Based on the previous embodiment, in some embodiments, the ejector surface of the electric push rod 141 is inclined, which can eject the mushroom body more smoothly.

[0059] Based on the foregoing embodiments, in some embodiments, the collection module 14 further includes a sorting camera 143, and the second container includes multiple containers; the sorting camera 143 is used to collect visual data of the mushroom bodies after root cutting and to classify the mushroom bodies; the electric push rod 141 pushes the mushroom bodies into the corresponding classified containers according to the classification results.

[0060] Specifically, the sorting camera 143 is used to collect visual data of the mushroom bodies after the roots are cut. Using a pre-trained classification model, the mushrooms are classified, for example, by size and color. Each category corresponds to a collection container, and the electric pusher 141 pushes each mushroom into its corresponding container. Similarly, a second guide groove 142 can be provided below the electric pusher 141 to guide the mushroom bodies into the second container, preventing them from falling onto the movable operating table 11.

[0061] Furthermore, the classified collection can be implemented by sequentially arranging multiple electric push rods 141 below multiple positions after the blades 131 of the conveyor belt 132. Each electric push rod 141 is used to push a type of mushroom into the container of that type. When the mushroom receiving trough 133 moves to the electric push rod 141 corresponding to the type of mushroom in the trough, the electric push rod 141 of that type is controlled to push the mushroom out of the trough and fall into the container of the corresponding type. Alternatively, multiple containers of different types can be arranged around an electric push rod 141. The top surface of the electric push rod 141 is inclined, and the mushroom receiving trough 133 is horseshoe-shaped. After detecting the type of mushroom, the mushroom receiving trough 133 is rotated so that its horseshoe-shaped opening faces the container of the corresponding type. The inclined top surface of the electric push rod 141 is controlled to face the container of that type, and then the electric push rod 141 is controlled to push the mushroom out of the trough and fall into the container of that type.

[0062] Based on the foregoing embodiments, in some embodiments, a weighing module is also provided below the second container, which can detect the weight of the mushrooms currently collected.

[0063] Understandably, for the case of categorized collection, a weighing module can be installed under each container to detect the weight of the corresponding category of mushrooms.

[0064] Reference Figure 6 Based on the foregoing embodiments, in some embodiments, the sorting camera 143 includes at least one camera positioned above a certain location after the mushroom receiving trough 133 has passed the blade, and another camera positioned below that location.

[0065] Specifically, a model for classifying mushroom quality grades is pre-trained. Images of the mushroom bodies after root cutting are captured from both top and bottom views by a sorting camera 143 and input into the model to classify the mushroom quality. This embodiment utilizes top and bottom view images to more comprehensively and accurately evaluate mushroom quality.

[0066] Based on the foregoing embodiments, in some embodiments, a navigation module is further included, which is used to determine the position of the humanoid robot for automatic mushroom harvesting in the mushroom house.

[0067] Specifically, the navigation module may include LiDAR, which pre-builds a map of the mushroom house and performs global path planning. During harvesting, LiDAR provides real-time obstacle avoidance and navigation, assisting the humanoid robot for automated mushroom harvesting to move to the required location. (Referring to...) Figure 2 The navigation module may also include a second depth camera 17 (main view camera) set on the central column of the mobile operating platform 11. The second depth camera 17 is used to determine whether the mushrooms at the current point have been picked, thereby controlling the navigation to move to the next point. The second depth camera can be a depth camera, such as a structured light camera, a binocular GRB-D depth camera, or a ToF camera.

[0068] Based on the foregoing embodiments, in some embodiments, the navigation module is used to plan a harvesting path based on the mushroom house map, the location of the mushroom harvesting robot in the mushroom house, the harvesting status of each bed frame area, and the type of mushroom to be harvested. The navigation module is also used to plan the path for the mushroom harvesting robot to return to the designated area after the harvesting target is reached.

[0069] Specifically, an exemplary workflow of the robot system is as follows: After the system powers on, it loads a mushroom house map, sets the area to be harvested, and specifies the size, type, and quantity of mushrooms to be harvested. The harvesting area's status can be managed uniformly by a shared database and updated in real time. If harvesting in the designated area is complete, the current harvesting task ends; otherwise, the robot navigates and plans its path to the nearest harvestable area. Upon reaching the designated location, the second depth camera 17 determines whether there are harvestable mushrooms at the current location. If not, the robot reports the location status and moves to the next nearest harvestable area. If there are harvestable mushrooms, the harvesting module 12, root-cutting module 13, and collection module 14 are activated to automatically harvest the mushrooms in that area. After each processing, it determines whether the current harvested mushroom quantity has met the requirements or whether the collection container is full. If not, the second depth camera 17 continues to determine the current location status to decide whether to continue harvesting. If the harvested quantity has met the requirements, the robot returns to its parking position, ending the current task.

[0070] 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 of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A mushroom automatic harvesting humanoid robot, characterized by, include: A mobile operating platform, and a picking module, a root cutting module, and a collection module installed on the mobile operating platform; The mobile control panel is used to adjust the picking position; The picking module is used to identify and pick mushrooms and place them in the root-cutting module; The root-cutting module includes a blade fixed on the mobile operating table and a conveyor belt set on the mobile operating table; the conveyor belt is provided with multiple mushroom receiving slots, which are used to receive the mushroom bodies harvested by the harvesting module, and the bottom of the mushroom receiving slots is provided with through holes for the mushroom roots to pass through; the mushroom receiving slots move with the conveyor belt, so that the mushroom roots are cut by the blade. The collection module is used to collect mushroom spores after the roots have been cut.

2. The mushroom automatic harvesting humanoid robot according to claim 1, characterized in that, It also includes a lifting module and a movable chassis located at the bottom of the lifting module; The lifting module is used to adjust the height of the mobile operating table and adjust the mobile operating table to the bed frame layer where data needs to be collected. The mobile chassis adjusts the position of the lifting module and the mobile operating platform.

3. The mushroom-picking humanoid robot according to claim 1, wherein It also includes a frame-mounted moving module, which is used to adjust the position of the mobile operating table on the bed frame.

4. The mushroom-harvesting humanoid robot according to claim 1, wherein The harvesting module includes a robotic arm, a first depth camera located at the end of the robotic arm, and an end effector. The first depth camera is used to collect visual data and identify the location of the mushroom; The end effector can adsorb the mushroom body and cooperate with the robotic arm to achieve harvesting.

5. The mushroom-harvesting humanoid robot according to claim 4, wherein The end effector includes a flexible suction cup and a negative pressure suction port; After the soft suction cup comes into contact with the mushroom body, the negative pressure suction port provides negative pressure to adsorb the mushroom body.

6. The mushroom-harvesting humanoid robot according to claim 1, wherein The mushroom container is horseshoe-shaped, with an opening for the mushroom roots to pass through.

7. The mushroom-picking humanoid robot according to claim 1, wherein Below the blade is a first guide groove and a first container for collecting mushroom roots.

8. The mushroom-harvesting humanoid robot according to claim 1, wherein The collection module includes an electric push rod and a second container for collecting mushroom bodies; The electric push rod is used to push the mushroom body after the root has been cut out through the through hole and let it fall into the second container.

9. The mushroom-harvesting humanoid robot according to claim 8, characterized in that, The top surface of the electric push rod is an inclined plane.

10. The mushroom-harvesting humanoid robot according to claim 8, wherein The collection module also includes a sorting camera, and the second container includes multiple containers; The sorting camera is used to collect visual data of mushroom bodies after root cutting and to classify mushroom bodies. The electric pusher pushes the mushroom body into the corresponding classified container according to the classification results.

11. The mushroom-harvesting humanoid robot according to claim 10, wherein The sorting camera includes at least one camera positioned above a certain point after the mushroom receiving trough has passed the blade, and another camera positioned below that point.

12. The mushroom-picking humanoid robot according to claim 1, wherein It also includes a navigation module, which is used to determine the position of the humanoid robot that automatically harvests mushrooms in the mushroom house.

13. The mushroom-picking humanoid robot according to claim 1, wherein The navigation module also includes a second depth camera, used to determine the picking status of mushrooms at the current location and to help determine whether to move to the next picking location.

14. A mushroom-picking humanoid robot according to any of claims 12 or 13, characterized in that, The navigation module is used to plan the harvesting path based on the mushroom house map, the location of the mushroom harvesting robot in the mushroom house, the harvesting status of each bed frame area, and the type of mushroom to be harvested. The navigation module is also used to plan the path for the mushroom harvesting robot to return to the designated area after the harvesting target is reached.

Images