Vision-guided mushroom picking device capable of automatic leveling

Abstract

The utility model discloses a kind of automatic leveling mushroom-picking equipment based on visual guidance, including chassis, multistage lifting device, mushroom-picking manipulator and leveling mechanism, the bottom of chassis is provided with multiple casters, multistage lifting device is installed on chassis, mushroom-picking manipulator is installed on multistage lifting device, multistage lifting device is used to drive mushroom-picking manipulator to do lifting movement;Visual detection module and attitude sensor are provided on mushroom-picking manipulator, visual detection module is used to provide visual guidance for mushroom-picking manipulator, so that mushroom-picking manipulator can accurately move to target mushroom-picking position, attitude sensor is used to detect the attitude of mushroom-picking manipulator, leveling mechanism is used to automatically adjust the height of caster according to the detection signal fed back by attitude sensor, so that equipment keeps level.The utility model can realize efficient automatic mushroom-picking operation, can cover the different height requirements of multiple layers of mushroom bed, while the body inclination caused by uneven workshop ground can be corrected, ensure mushroom-picking precision.

Description

Technical Field

[0001] This utility model relates to the field of automated harvesting equipment technology, and in particular to a vision-guided, automatically leveling mushroom harvesting device. Background Technology

[0002] The mushroom industry is currently accelerating its transformation towards a factory-style model, with multi-layer mushroom bed cultivation becoming the core method for large-scale production of mushrooms such as white mushrooms and shiitake mushrooms. Most mainstream factory-style mushroom houses utilize multi-layer steel-structured mushroom beds, with the spacing between layers and the total height tailored to the needs of mushroom growth and production operations.

[0003] However, the harvesting process in multi-layer mushroom bed cultivation still faces significant technical bottlenecks. The primary problem lies in the difficulty of matching the efficiency of manual harvesting with the demands of large-scale production. Manual harvesting requires the use of auxiliary tools to move between multiple layers of mushroom beds, limiting the number of layers that can be covered at a time, resulting in a low average daily harvest. A large number of harvesting personnel are needed to meet production capacity requirements, leading to a high proportion of labor costs in production costs. Besides the efficiency issues of manual harvesting, existing simple mushroom-harvesting equipment is also ill-suited to the core requirements of multi-layer mushroom bed scenarios. On one hand, traditional mushroom-harvesting equipment often employs a single-stage lifting design with limited adjustment range, covering only a small number of mushroom bed layers. This necessitates frequent manual relocation or adjustment of the mushroom bed structure to expand the working area, a time-consuming process that further reduces harvesting efficiency. Some equipment also lacks the ability to move flexibly within the mushroom house, directly compromising its adaptability to different scenarios. On the other hand, uneven factory floors are common, and existing equipment lacks effective countermeasures, relying solely on casters for rigid support without posture detection and leveling functions. If leveling is not performed before the mushroom bed, the machine is prone to tilting, directly causing a deviation in the harvesting robot's reference point. This can lead to missing target mushrooms and, due to the robot's inability to maintain a horizontal reference point, affecting harvesting accuracy and product quality. Therefore, there is an urgent need to develop a mushroom harvesting device that can adapt to the height of multi-layer mushroom beds, automatically level itself before walking to the mushroom bed to ensure the reference of the robotic arm, and effectively improve harvesting efficiency, so as to break through the current technical limitations and promote the automation upgrade of industrialized mushroom production. Utility Model Content

[0004] The problem this invention aims to solve is to provide a vision-guided, automatically leveling mushroom harvesting device to overcome the shortcomings of low efficiency in manual harvesting, the limitations of existing equipment in terms of lifting and covering capabilities, and the inability to solve the problem of the impact of uneven ground on the accuracy of harvesting and product quality due to the reference deviation of the robotic arm.

[0005] The technical solution adopted by this utility model to solve its technical problem is: a vision-guided, automatically leveling mushroom harvesting device, comprising: The base frame has multiple casters at its bottom; A multi-stage lifting device is installed on the base frame; A mushroom-picking robot is mounted on the multi-stage lifting device, which drives the robot to perform lifting movements. The robot is equipped with a vision detection module and an attitude sensor. The vision detection module provides visual guidance to the robot, enabling it to move precisely to the target mushroom-picking position. The attitude sensor detects the attitude of the robot. And a leveling mechanism, used to automatically adjust the height of the casters according to the detection signal fed back by the posture sensor, so as to keep the mushroom picking robot in a horizontal state.

[0006] As a further improvement of this utility model, the multi-stage lifting device includes a lifting frame, a primary lifting drive device, and a secondary lifting drive device. The lifting frame is slidably mounted on the base frame in the vertical direction. The primary lifting drive device is fixedly mounted on the base frame and driven to the lifting frame to drive the lifting frame to perform lifting movements. The mushroom-picking robot is slidably mounted on the lifting frame in the vertical direction. The secondary lifting drive device is fixedly mounted on the lifting frame and driven to the mushroom-picking robot to drive the mushroom-picking robot to perform lifting movements.

[0007] As a further improvement of this utility model, the mushroom picking robot includes a lifting plate, a large arm mechanism mounted on the lifting plate and capable of rotation, a small arm mechanism mounted at the end of the large arm mechanism and also capable of rotation, and a clamping mechanism mounted at the end of the small arm mechanism, the clamping mechanism being used to clamp the mushroom body.

[0008] As a further improvement of this utility model, the boom mechanism includes a boom drive motor, a reducer and a boom. The boom drive motor is fixedly mounted on the lifting plate in the vertical direction, and the boom drive motor is driven and connected to the rotation center end of the boom through the reducer.

[0009] As a further improvement of this utility model, the forearm mechanism includes a forearm drive motor, a forearm transmission mechanism and a forearm. The rotation center end of the forearm is rotatably connected to the end of the upper arm through a first rotating shaft. The forearm drive motor is fixedly mounted on the lifting plate in the vertical direction, and the forearm drive motor is connected to the first rotating shaft through the forearm transmission mechanism.

[0010] As a further improvement of this utility model, the clamping mechanism is rotatably mounted on the end of the forearm via a second rotating shaft. The mushroom picking robot also includes a clamping rotation drive device, which is connected to the second rotating shaft to drive the second rotating shaft to rotate the clamping mechanism.

[0011] As a further improvement of this utility model, the clamping mechanism includes a clamping cylinder and two clamping jaws. The two clamping jaws are symmetrically mounted on the clamping cylinder and are both vertically downward distributed. The clamping cylinder is used to drive the two clamping jaws to move closer to each other or further away from each other.

[0012] As a further improvement of this utility model, the mushroom picking robot also includes a root cutting device, which includes a root cutting motor and a cutting blade. The root cutting motor is fixedly mounted on the lifting plate in the vertical direction, and the cutting blade is fixedly mounted on the motor shaft of the root cutting motor.

[0013] As a further improvement of this utility model, the vision-guided automatic leveling mushroom picking equipment also includes a walking mechanism set at the bottom of the base frame. The walking mechanism includes a drive shaft, a walking motor and a walking transmission mechanism. Both ends of the drive shaft are equipped with casters. The walking motor is fixedly installed on the base frame and is connected to the drive shaft through the walking transmission mechanism.

[0014] As a further improvement of this utility model, a support plate is provided in the middle of the drive shaft, and the support plate is rotatably connected to the base frame; the leveling mechanism includes an electric push rod, which is fixedly installed on the base frame in the vertical direction, and the output end of the electric push rod is hinged to the drive shaft.

[0015] The beneficial effects of this utility model are as follows: This utility model provides a vision-guided, automatically leveling mushroom harvesting device. Through an integrated structure comprising a caster-equipped base, a multi-stage lifting device, a mushroom harvesting robot with a vision detection module and posture sensor, and a leveling mechanism, the multi-stage lifting device drives the mushroom harvesting robot to perform lifting movements, covering the different height requirements of multi-layered mushroom beds, avoiding frequent equipment relocation or adjustment of the mushroom bed structure, and significantly improving work efficiency. The vision detection module provides precise visual guidance for the mushroom harvesting robot, enabling efficient and automated mushroom harvesting. The posture sensor and leveling mechanism form a linkage control, automatically correcting machine tilt caused by uneven factory floors, ensuring the mushroom harvesting robot always maintains a horizontal working benchmark, guaranteeing harvesting accuracy and product quality. Ultimately, it achieves a mobile, flexible, height-adaptable, precisely positioned, and posture-stable automated harvesting effect, greatly improving harvesting efficiency, reducing labor costs and mushroom loss rate, and meeting the needs of large-scale factory production. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a three-dimensional view of the vision-guided, automatically leveling mushroom harvesting device of this utility model. Figure 2 This is a perspective view of the base frame, walking mechanism, and primary lifting drive device of this utility model. Figure 3 This is a perspective view of the lifting frame, the two-stage lifting drive device, and the mushroom-picking robot in this utility model. Figure 4 This is a perspective view of the mushroom-picking robotic arm of this utility model; Figure 5 A perspective view of the mushroom-picking robot arm of this utility model after the upper arm has been removed; Figure 6 This is a three-dimensional view of the vision-guided, automatically leveling mushroom harvesting device of this utility model from another perspective. Figure 7 This is a perspective view of the walking mechanism and electric push rod in this utility model.

[0018] Referring to the accompanying drawings, the following explanations are provided: 1. Base frame; 2. Multi-stage lifting device; 201. Lifting frame; 202. First-stage lifting drive device; 203. Second-stage lifting drive device; 3. Mushroom picking robot; 301. Lifting plate; 302. Arm drive motor; 303. Reducer; 304. Arm; 305. Arm drive motor; 306. Arm transmission mechanism; 307. Arm; 308. First rotating shaft; 309. Second rotating shaft; 310. Clamping rotation drive device; 311. Grip cylinder; 312. Grip; 313. Root cutting motor; 314. Cutter; 4. Walking mechanism; 401. Casters; 402. Drive shaft; 4021. Support plate; 403. Walking motor; 404. Walking transmission mechanism; 5. Electric push rod. Detailed Implementation

[0019] The present application will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0020] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. This application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, in the absence of conflict, the following embodiments and features in the embodiments can be combined with each other. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0021] It should be noted that various aspects of embodiments within the scope of the appended claims are described below. It will be apparent that the aspects described herein can be embodied in a wide variety of forms, and any particular structure and / or function described herein is merely illustrative. Based on this application, those skilled in the art will understand that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number and aspects set forth herein can be used to implement the device and / or practice the method. Additionally, this device and / or method can be implemented using structures and / or functionalities other than one or more of the aspects set forth herein.

[0022] It should also be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this application. The illustrations only show the components related to this application and are not drawn according to the number, shape and size of the components in actual implementation. In actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0023] Additionally, specific details are provided in the following description to facilitate a thorough understanding of the examples. However, those skilled in the art will understand that practice can be carried out without these specific details.

[0024] The technical solutions provided by the various embodiments of this application are described below with reference to the accompanying drawings.

[0025] See Figures 1 to 7This utility model provides a vision-guided, automatically leveling mushroom harvesting device, including a base frame 1, a multi-stage lifting device 2, a mushroom harvesting robot 3, and a leveling mechanism. The base frame 1 is equipped with multiple casters 401 at its bottom, allowing the entire device to move flexibly within the mushroom house. The multi-stage lifting device 2 is mounted on the base frame 1, and the mushroom harvesting robot 3 is mounted on the multi-stage lifting device 2. The multi-stage lifting device 2 drives the mushroom harvesting robot 3 to perform lifting movements, enabling the robot 3 to reach different heights and cover all layers of the mushroom bed.

[0026] The mushroom-picking robot 3 is equipped with a vision detection module and a posture sensor. The vision detection module provides visual guidance for the mushroom-picking robot 3 so that it can move accurately to the target mushroom-picking position. The posture sensor is used to detect the posture of the mushroom-picking robot 3, and the leveling mechanism is used to automatically adjust the height of the casters 401 according to the detection signal fed back by the posture sensor so that the mushroom-picking robot 3 can maintain a horizontal state.

[0027] This utility model integrates a base frame 1 with casters 401, a multi-stage lifting device 2, a mushroom-picking robot 3 with a vision detection module and posture sensor, and a leveling mechanism. The multi-stage lifting device 2 drives the mushroom-picking robot 3 to perform lifting movements, covering the different height requirements of multi-layered mushroom beds, avoiding frequent equipment relocation or adjustments to the mushroom bed structure, and significantly improving work efficiency. The vision detection module provides precise visual guidance for the mushroom-picking robot 3, enabling efficient and automated mushroom harvesting. The posture sensor and leveling mechanism work together to automatically correct machine tilt caused by uneven factory floors, ensuring the mushroom-picking robot maintains a horizontal working standard, guaranteeing harvesting accuracy and product quality. Ultimately, this achieves a mobile, flexible, height-adaptable, precisely positioned, and posture-stable automated harvesting effect, significantly improving harvesting efficiency, reducing labor costs and mushroom loss rate, and meeting the needs of large-scale factory production.

[0028] In this invention, neither the vision detection module nor the attitude sensor is shown in the figures. The vision detection module on the mushroom-picking robot 3 provides visual guidance to ensure its precise movement to the target mushroom-picking position. This visual guidance function is implemented using existing conventional techniques in the field. Specifically, the vision detection module can use commonly used visual acquisition and processing components in the industrial field (such as industrial cameras, matching optical lenses, and supplementary lighting sources). Its hardware selection and assembly are existing mature technologies, requiring no structural modifications. During operation, the vision detection module acquires images of the mushroom and its environment through the industrial camera, then performs preprocessing, target feature extraction, and positioning calculations on the images. These processing algorithms are conventional algorithms in the field of automated equipment positioning and are widely used in similar scenarios. Those skilled in the art can directly select existing algorithms or commercial software for implementation without innovative improvements to the algorithms themselves. Furthermore, the vision detection module transmits the target mushroom-picking position data to the main control unit, which drives the mushroom-picking robot 3 to move precisely. This is a conventional control method for visual guidance of robotic arms in the field, and its technical principle has been fully verified. This utility model only applies the existing conventional technology reasonably to the mushroom picking scenario, without improving the core technical solution (hardware structure, algorithm logic, control process) of the visual detection module.

[0029] In this invention, the attitude sensor on the mushroom-picking robot 3 is used to detect its attitude. The leveling mechanism automatically adjusts the height of the casters 401 based on the detection signal fed back by the sensor to maintain the mushroom-picking robot 3 in a horizontal state. The above signal processing and control process adopts conventional technical means in the field. Specifically, the attitude sensor can be a commonly used attitude detection component in the industrial field (such as a three-axis gyroscope, tilt sensor, etc.), and its hardware selection and installation method are existing mature technologies, without the need for modification of its specific structure. During operation, the attitude sensor collects the attitude data (such as tilt angle, attitude offset) of the mushroom-picking robot 3 in real time and transmits the detection signal to the main control unit. After receiving the detection signal from the attitude sensor, the main control unit analyzes and processes the signal, and outputs control commands to the leveling mechanism according to the processing results, driving the leveling mechanism to adjust the height of the casters to correct the attitude, ultimately maintaining the mushroom-picking robot in a horizontal state. The above control process of signal acquisition, analysis and processing, command output, and execution adjustment is all conventional technology in the field of automation control. Those skilled in the art can directly implement it based on existing control logic without the need for innovative improvements to the core technical solution of the control process.

[0030] See Figure 2 and Figure 3The multi-stage lifting device 2 includes a lifting frame 201, a primary lifting drive device 202, and a secondary lifting drive device 203. The side of the lifting frame 201 is slidably mounted on the base frame 1 in the vertical direction via several pulleys. The primary lifting drive device 202 is fixedly mounted on the base frame 1 and is connected to the lifting frame 201 for driving the lifting frame 201 to perform lifting movements.

[0031] In this embodiment, the primary lifting drive device 202 includes a primary servo motor, a primary synchronous belt drive mechanism, and a lead screw mechanism. The lead screw mechanism is rotatably mounted on the side of the base frame 1 in the vertical direction, and the lead screw nut in the lead screw mechanism is fixedly connected to the lifting frame 201. The primary servo motor is fixedly mounted on the base frame 1 and is connected to the lead screw mechanism through the primary synchronous belt drive mechanism. The primary servo motor drives the lead screw mechanism to rotate through the primary synchronous belt drive mechanism, thereby driving the lifting frame 201 to perform lifting and lowering movements.

[0032] Furthermore, a slide rail is fixed vertically on the lifting frame 201, and the mushroom-picking robot 3 is slidably connected to the slide rail in the vertical direction. The secondary lifting drive device 203 is fixedly installed on the lifting frame 201 and is connected to the mushroom-picking robot 3 for driving the mushroom-picking robot 3 to perform lifting movements.

[0033] In this embodiment, the secondary lifting drive device 203 includes a secondary servo motor and a secondary synchronous belt transmission mechanism. The secondary synchronous belt transmission mechanism is rotatably mounted on the lifting frame 201 in the vertical direction and connected to the mushroom picking robot 3. The secondary servo motor drives the mushroom picking robot 3 to perform lifting and lowering movements through the secondary synchronous belt transmission mechanism.

[0034] The primary lifting drive device 202 drives the lifting frame 201 to slide vertically along the base frame 1, achieving a wide range of height adjustment and quickly adjusting the entire equipment to the approximate height of the target mushroom bed layer. The secondary lifting drive device 203 drives the mushroom-picking robot 3 to slide vertically along the lifting frame 201, achieving precise micro-adjustment of the height within a small range, adapting to the height differences of mushrooms at different positions within the same mushroom bed layer. The two-stage lifting motion is independently controlled and superimposed, which not only expands the overall lifting range of the equipment to adapt to different layer heights of multi-layer mushroom beds, but also avoids the problems of rough positioning due to excessive adjustment in traditional single-stage lifting and insufficient coverage due to insufficient adjustment. This improves the flexibility of equipment operation and the accuracy of mushroom picking positioning, ensuring that the robot can accurately connect with target mushrooms at different heights.

[0035] See Figure 4 and Figure 5 The mushroom-picking robot 3 includes a lifting plate 301 that is slidably connected to a slide rail via a slider, a large arm mechanism that is mounted on the lifting plate 301 and can rotate, a small arm mechanism that is mounted at the end of the large arm mechanism and can also rotate, and a clamping mechanism that is mounted at the end of the small arm mechanism. The clamping mechanism is used to clamp the mushroom body.

[0036] Specifically, the boom mechanism includes a boom drive motor 302, a reducer 303, and a boom 304. The boom drive motor 302 is fixedly installed on the top of the lifting plate 301 in the vertical direction, and the boom drive motor 302 is driven to the rotation center end of the boom 304 through the reducer 303, so as to drive the boom 304 to rotate around its rotation center end.

[0037] In this embodiment, the reducer 303 is specifically a harmonic reducer.

[0038] Furthermore, the forearm mechanism includes a forearm drive motor 305, a forearm transmission mechanism 306, and a forearm 307. The rotation center end of the forearm 307 is rotatably connected to the end of the upper arm 304 through a first rotating shaft 308. The forearm drive motor 305 is fixedly installed vertically at the bottom of the lifting plate 301, and the forearm drive motor 305 is connected to the first rotating shaft 308 through the forearm transmission mechanism 306. The forearm drive motor 305 drives the first rotating shaft 308 to rotate through the forearm transmission mechanism 306, which in turn drives the forearm 307 to rotate around the first rotating shaft 308.

[0039] In this embodiment, the forearm transmission mechanism 306 is specifically a synchronous belt transmission mechanism, and the forearm transmission mechanism 306 is set inside the upper arm 304, which reduces the space occupied and makes the structure of the mushroom picking robot 3 more neat.

[0040] This invention breaks through the operational limitations of traditional fixed-posture robotic arms by utilizing the rotation function of the upper arm and lower arm mechanisms. It allows for flexible adjustment of the robotic arm's operating angle, adapting to mushrooms distributed in different locations such as the inner edge and middle of the mushroom bed, eliminating blind spots in harvesting, and improving efficiency.

[0041] It is worth mentioning that the clamping mechanism is rotatably mounted on the end of the forearm 307 via the second rotating shaft 309. The mushroom-harvesting robot 3 also includes a clamping rotation drive device 310, which is connected to the second rotating shaft 309 to drive the second rotating shaft 309 to rotate the clamping mechanism. After the clamping mechanism grips the mushroom, the clamping rotation drive device 310 drives the second rotating shaft 309 to rotate, thereby causing the clamping mechanism and the mushroom to rotate, separating the root of the mushroom from the cultivation soil, thus achieving automatic mushroom harvesting.

[0042] The clamping mechanism includes a clamping cylinder 311 and two clamping claws 312. The two clamping claws 312 are symmetrically mounted on the clamping cylinder 311 and are both vertically downward. The clamping cylinder 311 is used to drive the two clamping claws 312 to move closer to each other or further away from each other, in order to clamp or release the mushroom body.

[0043] See Figure 5The mushroom-picking robot 3 also includes a root-cutting device, which comprises a root-cutting motor 313 and a cutter 314. The root-cutting motor 313 is fixedly mounted vertically on the lifting plate 301, with its motor shaft output end pointing vertically upwards. The cutter 314 is fixedly mounted on the motor shaft of the root-cutting motor 313. The root-cutting motor 313 drives the cutter 314 to rotate at high speed. The clamping mechanism clamps the mushroom body and moves it to the cutter 314, where the cutter 314 automatically cuts off the root.

[0044] See Figure 6 and Figure 7 The vision-guided, automatically leveling mushroom harvesting equipment also includes a walking mechanism 4 located at the bottom of the base frame 1. The walking mechanism 4 includes a drive shaft 402, a walking motor 403, and a walking transmission mechanism 404. Both ends of the drive shaft 402 are equipped with casters 401. The walking motor 403 is fixedly mounted on the base frame 1 and is connected to the drive shaft 402 through the walking transmission mechanism 404. The walking motor 403 drives the drive shaft 402 to rotate through the walking transmission mechanism 404, realizing the automated movement of the equipment. It is especially suitable for the long-distance movement needs of large-scale industrial mushroom houses, improving the movement efficiency of the equipment.

[0045] In this embodiment, the walking transmission mechanism 404 specifically adopts a synchronous belt transmission mechanism.

[0046] A support plate 4021 is located near the top of the drive shaft 402, and the support plate 4021 is rotatably connected to the base frame 1. The leveling mechanism includes an electric push rod 5, which is vertically fixed to the base frame 1 and positioned above the drive shaft 402. The output end of the electric push rod 5 is hinged to the drive shaft 402 via a pin, with the hinge position of the output end of the electric push rod 5 biased towards one end of the drive shaft 402. When the ground is completely level, the output end of the electric push rod 5 is perpendicular to the drive shaft 402.

[0047] This invention provides a stable rotation fulcrum by rotatably connecting the support plate 4021 in the middle of the drive shaft 402 to the base frame 1. The electric push rod 5 can accurately drive the drive shaft 402 to rotate around the rotation fulcrum according to the detection signal fed back by the attitude sensor, thereby correcting the height difference of the casters 401 and realizing the horizontal adjustment of the equipment.

[0048] like Figure 7 As shown, the walking mechanism 4 and the leveling mechanism in this utility model are both configured with two sets that are centrally symmetrically distributed.

[0049] It should be noted that if the mushroom house floor is uneven or there are foreign objects on the floor, causing the equipment to tilt beyond the leveling range, the system will issue an alarm to remind the operators to handle the situation manually.

[0050] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A vision-guided, automatically leveling mushroom harvesting device, characterized in that, include: The base frame (1) has multiple casters (401) at its bottom. A multi-stage lifting device (2) is installed on the base frame (1); A mushroom-picking robot (3) is mounted on the multi-stage lifting device (2), which is used to drive the mushroom-picking robot (3) to perform lifting and lowering movements. The mushroom-picking robot (3) is equipped with a vision detection module and an attitude sensor. The vision detection module is used to provide visual guidance for the mushroom-picking robot (3) so that the mushroom-picking robot (3) can move accurately to the target mushroom-picking position. The attitude sensor is used to detect the attitude of the mushroom-picking robot (3). And a leveling mechanism, used to automatically adjust the height of the casters (401) according to the detection signal fed back by the posture sensor so that the mushroom picking robot (3) maintains a horizontal state.

2. The vision-guided, automatically leveling mushroom harvesting device according to claim 1, characterized in that, The multi-stage lifting device (2) includes a lifting frame (201), a first-stage lifting drive device (202), and a second-stage lifting drive device (203). The lifting frame (201) is slidably mounted on the base frame (1) in the vertical direction. The first-stage lifting drive device (202) is fixedly mounted on the base frame (1) and connected to the lifting frame (201) for driving the lifting frame (201) to perform lifting movements. The mushroom-picking robot (3) is slidably mounted on the lifting frame (201) in the vertical direction. The second-stage lifting drive device (203) is fixedly mounted on the lifting frame (201) and connected to the mushroom-picking robot (3) for driving the mushroom-picking robot (3) to perform lifting movements.

3. The vision-guided, automatically leveling mushroom harvesting device according to claim 1, characterized in that, The mushroom picking robot (3) includes a lifting plate (301), a large arm mechanism mounted on the lifting plate (301) and capable of rotation, a small arm mechanism mounted at the end of the large arm mechanism and also capable of rotation, and a clamping mechanism mounted at the end of the small arm mechanism. The clamping mechanism is used to clamp the mushroom body.

4. The vision-guided, automatically leveling mushroom harvesting device according to claim 3, characterized in that, The boom mechanism includes a boom drive motor (302), a reducer (303), and a boom (304). The boom drive motor (302) is fixedly installed on the lifting plate (301) in the vertical direction, and the boom drive motor (302) is driven to the rotation center end of the boom (304) through the reducer (303).

5. The vision-guided, automatically leveling mushroom harvesting device according to claim 4, characterized in that, The forearm mechanism includes a forearm drive motor (305), a forearm transmission mechanism (306), and a forearm (307). The rotation center end of the forearm (307) is rotatably connected to the end of the upper arm (304) through a first rotating shaft (308). The forearm drive motor (305) is fixedly installed on the lifting plate (301) in the vertical direction, and the forearm drive motor (305) is connected to the first rotating shaft (308) through the forearm transmission mechanism (306).

6. The vision-guided, automatically leveling mushroom harvesting device according to claim 5, characterized in that, The clamping mechanism is rotatably mounted on the end of the forearm (307) via the second rotating shaft (309). The mushroom picking robot (3) also includes a clamping rotation drive device (310), which is connected to the second rotating shaft (309) to drive the second rotating shaft (309) to rotate the clamping mechanism.

7. The vision-guided, automatically leveling mushroom harvesting device according to claim 3, characterized in that, The clamping mechanism includes a clamping cylinder (311) and two clamping jaws (312). The two clamping jaws (312) are symmetrically mounted on the clamping cylinder (311) and are both vertically downward. The clamping cylinder (311) is used to drive the two clamping jaws (312) to move closer to each other or further away from each other.

8. The vision-guided, automatically leveling mushroom harvesting device according to claim 3, characterized in that, The mushroom picking robot (3) also includes a root cutting device, which includes a root cutting motor (313) and a cutter (314). The root cutting motor (313) is fixedly installed on the lifting plate (301) in the vertical direction, and the cutter (314) is fixedly installed on the motor shaft of the root cutting motor (313).

9. The vision-guided, automatically leveling mushroom harvesting device according to claim 1, characterized in that, It also includes a walking mechanism (4) set at the bottom of the base frame (1). The walking mechanism (4) includes a drive shaft (402), a walking motor (403) and a walking transmission mechanism (404). Both ends of the drive shaft (402) are equipped with casters (401). The walking motor (403) is fixedly installed on the base frame (1) and is connected to the drive shaft (402) through the walking transmission mechanism (404).

10. The vision-guided, automatically leveling mushroom harvesting device according to claim 9, characterized in that, A support plate (4021) is provided in the middle of the drive shaft (402), and the support plate (4021) is rotatably connected to the base frame (1); the leveling mechanism includes an electric push rod (5), which is fixedly installed on the base frame (1) in the vertical direction, and the output end of the electric push rod (5) is hinged to the drive shaft (402).

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