Stem Gripper and Box Transfer for Space-Limited Mushroom Harvesting
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Solution Overview
Problem
Current mushroom harvesting systems face challenges in automating the process due to limited vertical space in mushroom growing beds, damage to mushrooms during harvesting, and disruption of the growing environment, while manual harvesting is inefficient and leads to yield reduction.
Innovation Solution
A system comprising a stem gripper and box transfer apparatus that can autonomously or semi-autonomously harvest and pack mushrooms, using a harvester sub-system with a vision system, lift sub-system, and packer sub-system to adapt to existing infrastructure, minimize damage, and optimize harvesting schedules.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If automated harvesting systems are introduced, then productivity and harvesting efficiency are improved, but the limited vertical space in existing mushroom growing beds prevents the use of standard harvesting systems
Solution Approach 1:
The patent transitions from vertical space utilization to horizontal operation. The robotic arm operates horizontally along the length of the growing bed, with the end effector reaching vertically only when necessary to harvest mushrooms. This dimensional shift allows automation without requiring additional vertical clearance in the constrained growing environment.
Solution Approach 2:
The harvesting system is divided into modular components: a mobile platform, a robotic arm with multiple degrees of freedom, and a specialized end effector. This segmentation allows each component to be optimized independently and enables the system to operate within tight spatial constraints by coordinating the motion of individual segments.
2Adaptability or versatility
If manual harvesting is performed, then flexibility and adaptability to varying mushroom sizes are maintained, but productivity and harvesting speed are reduced
Solution Approach 1:
The end effector employs dynamic gripping mechanisms with force control that can adapt to varying mushroom sizes and stem diameters. The robotic system uses real-time vision feedback to adjust gripping force and positioning, maintaining the flexibility of manual harvesting while achieving automated speeds and consistency.
Solution Approach 2:
The system incorporates vision systems and sensors that provide real-time feedback on mushroom position, size, and orientation. This feedback loop enables the robotic arm and end effector to dynamically adjust their actions, replicating the adaptive decision-making of manual harvesters while operating at automated speeds.
3Productivity
If intensive harvesting is performed to maximize yield, then productivity is improved, but the risk of damaging mushrooms and disrupting the growing environment increases
Solution Approach 1:
The patent replaces harsh mechanical harvesting methods with a specialized end effector that uses controlled gripping forces and precise positioning. This substitution allows for gentle mushroom extraction that minimizes damage to the fruiting bodies and surrounding substrate, enabling intensive harvesting without compromising mushroom quality or disrupting the growing environment.
Solution Approach 2:
The system dynamically adjusts harvesting parameters such as gripping force, arm motion speed, and end effector positioning based on real-time sensor data. This parameter optimization allows maximum harvesting intensity while maintaining forces and motions below damage thresholds, reconciling high productivity with mushroom integrity and environmental preservation.
Data Source
AI summary
A box transfer apparatus for an automated harvesting system is provided, the box transfer apparatus comprising: a frame; a plurality of trays to support a plurality of boxes; and a box gripper moveable within the frame using a gantry coupled to the frame; wherein the box gripper is configured to grasp boxes and move the grasped boxes between the frame and an adjacent frame used to convey the boxes to be used in receiving picked items from the automated harvesting system. A stem gripper for an automated harvesting system is also provided, the stem gripper comprising: a housing comprising at least one motor; a pair of contoured fingers operable by the at least one motor to rotate above a common axis to grasp stems of items picked by the automated harvesting system; and a drive mechanism to move the stem gripper from a discard bin to a box for loading.