CN112640737A - Intelligent agaricus bisporus harvesting and root cutting integrated system and following collection method - Google Patents
Intelligent agaricus bisporus harvesting and root cutting integrated system and following collection method Download PDFInfo
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- CN112640737A CN112640737A CN202110024303.7A CN202110024303A CN112640737A CN 112640737 A CN112640737 A CN 112640737A CN 202110024303 A CN202110024303 A CN 202110024303A CN 112640737 A CN112640737 A CN 112640737A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G18/00—Cultivation of mushrooms
- A01G18/70—Harvesting
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G18/00—Cultivation of mushrooms
- A01G18/80—Accessories for use after harvesting, e.g. scrapers
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Abstract
The invention discloses an intelligent agaricus bisporus harvesting and root cutting integrated system and a following collection method. The double-spore mushroom multi-arm picking robot comprises an agaricus bisporus multi-arm picking robot moving platform, a visual detection device, a multi-arm picking device, an automatic root cutting device, a following collecting device and a transmission device. The multi-arm picking device and the automatic root cutting device are arranged on a mobile platform of a multi-arm picking robot for agaricus bisporus, and a conveying belt is arranged below the automatic root cutting device, so that the picking, the root cutting and the conveying of the agaricus bisporus after the root cutting of the agaricus bisporus are realized. Follow collection device and pass through the upper end drive and go forward, the lower extreme direction can adapt to the use of different layers of cultivateing frame height, accomplishes the agaricus bisporus in real time and collects. The system disclosed by the invention is simple and novel in structure, is suitable for multiple layers of culture racks with different heights, and can realize the harvesting of each layer of culture rack. The invention is also suitable for intelligently harvesting and cutting the roots of other edible fungi which are produced in bed cultivation factories like brown mushrooms.
Description
Technical Field
The invention relates to an intelligent agaricus bisporus harvesting and root cutting integrated system, and belongs to the technical field of crop harvesting machinery.
Background
At present, the mainstream production mode of the agaricus bisporus is industrial production, in the industrial production, the agaricus bisporus has a short growth period and a high growth speed, and the mature agaricus bisporus needs to be picked in time, otherwise, the quality of the agaricus bisporus is reduced. Except for harvesting, other processes such as feeding, covering soil, grading, packaging and the like of the agaricus bisporus cultivation process are basically mechanized and automated. On one hand, a large amount of manpower is consumed to pick mature agaricus bisporus in time in an agaricus bisporus picking part, on the other hand, the picked agaricus bisporus needs to be subjected to root cutting treatment specially by manpower, otherwise, the quality of the agaricus bisporus is influenced by pollutants at the root. A great deal of manpower is needed in the aspect of agaricus bisporus harvesting. And when the agaricus bisporus is planted, the agaricus bisporus is planted in multiple layers, and the agaricus bisporus with different heights and in different culture layers needs to be harvested.
At present, the existing agaricus bisporus harvesting device can only realize the one-knife-cutting type harvesting of the agaricus bisporus basically, the cut roots are left in the culture material, and the roots cannot be removed, so that the next growth of the agaricus bisporus is influenced.
Therefore, it is necessary to provide a novel harvesting integrated system, which can realize efficient selective picking and root cutting and can realize automatic collection of mushrooms for a multi-layer cultivation frame structure.
Disclosure of Invention
The invention aims to solve the problems of the existing mechanical agaricus bisporus harvesting technology and provides a multi-arm intelligent agaricus bisporus harvesting and root cutting integrated system, so that the mechanical adaptability of agaricus bisporus harvesting is enhanced, and the integration of mushroom harvesting, root cutting and collecting is realized.
In order to solve the above-described problems, the present invention adopts the following technical solutions.
An intelligent agaricus bisporus harvesting and root cutting integrated system comprises an agaricus bisporus multi-arm picking robot moving platform and a vision system
The device comprises a feeling detection device, a multi-arm picking device, an automatic root cutting device, a following collection device and a transmission device;
the agaricus bisporus multi-arm picking robot moving platform moves above horizontal guide rails arranged on two sides of a multi-layer culture frame; the visual detection device is used for identifying the agaricus bisporus and is arranged on the multi-arm picking device; the multi-arm picking device and the automatic root cutting device are arranged on the mobile platform of the agaricus bisporus multi-arm picking robot, and when the agaricus bisporus picked by the multi-arm picking device moves to pass through the automatic root cutting device, the root cutting of the agaricus bisporus is realized; a conveying belt is arranged below the automatic root cutting device, and the agaricus bisporus and the mushroom roots after root cutting respectively fall into a mushroom falling area and a root falling area on the conveying belt, are conveyed to a following collecting device along with the conveying belt and are collected by the following collecting device;
the following collecting device comprises a lifting mechanism, a collecting basket, a driving wheel, an auxiliary wheel, a following detection signal receiving end and a following detection
A signal receiving end; the lifting mechanism comprises a vertical rod and a vertical guide rail arranged on the vertical rod, a sliding block is arranged on the vertical guide rail, and the sliding block moves up and down in the vertical direction and is driven by a driving device of the lifting mechanism; a collecting basket is arranged above the sliding block, the collecting basket is aligned with the output end of the conveying belt, the middle of the collecting basket is separated by a partition plate, the collecting basket is divided into a mushroom storage area and a root storage area, and the mushroom storage area and the root storage area are respectively used for storing the agaricus bisporus and the mushroom roots after root cutting; one side of the sliding block is horizontally and fixedly provided with a driving wheel connecting plate which is used for connecting two driving wheels, the driving wheels move back and forth on an upper horizontal guide rail arranged outside the multi-layer culture rack, the bottom of a vertical rod of the lifting mechanism is provided with a lower bottom plate, the lower bottom plate is provided with two auxiliary wheels, the two auxiliary wheels move back and forth on a bottom horizontal guide rail arranged outside the multi-layer culture rack, and the synchronous movement of the driving wheels and the auxiliary wheels is driven by a driving wheel motor; the following detection signal receiving end is arranged on the sliding block, the following detection signal sending end is arranged on the outer side of the agaricus bisporus multi-arm picking robot moving platform and matched with the following detection signal sending end along with the fact that the sliding block moves up and down to adapt to different layer heights of the multi-layer culture rack, and the following detection signal receiving end and the following detection signal sending end are arranged on the outer side of the agaricus bisporus multi-arm picking robot moving platform automatically;
the transmission device is arranged below the following collection device, and the agaricus bisporus and the mushroom roots after root cutting collected in the collection basket are output to the transmission device.
The multi-arm picking device comprises a plurality of Y-direction moving modules, X-direction moving modules and picking end effectors, wherein each Y-direction moving module is arranged on the X-direction moving module, each Y-direction moving module is connected with one picking end effector in a sliding mode, the tail of each Y-direction moving module is fixedly provided with an automatic root cutting device, and the picking end effectors and the automatic root cutting devices move together along the X direction along with the Y-direction moving modules; the automatic root cutting device comprises a horizontally arranged root cutting blade, the cutting edge of the root cutting blade is right opposite to the lower part of the picking end effector, and when the picking end effector moves in the Y direction and the module rapidly slides to be close to the root cutting blade, the root cutting of the agaricus bisporus picked by the picking end effector is realized.
In the invention, more than 2Y-direction moving modules are provided.
The automatic root cutting device also comprises a root cutting blade fixing frame and an automatic root cutting device fixing plate, wherein the automatic root cutting device fixing plate is vertically arranged at the tail part of the Y-direction moving module, the root cutting blade fixing frame is L-shaped, the vertical surface of the root cutting blade fixing frame is connected with the automatic root cutting device fixing plate through a waist-shaped hole, and the root cutting blade is arranged at the front end of the horizontal plane of the root cutting blade fixing frame.
In the invention, a weight detection element is arranged above the collection basket fixing plate or at the bottom of the collection basket.
According to the invention, the lower parts of the mushroom storage area and the root storage area of the collection basket respectively comprise at least one rotary baffle, and the rotation of the rotary baffles opens the bottom plate of the collection basket, so that the agaricus bisporus and the mushroom roots after root cutting fall on the transmission device.
The invention further provides a following collection method adopting the intelligent agaricus bisporus harvesting and root cutting integrated system, which comprises the following steps:
when the agaricus bisporus multi-arm picking robot mobile platform starts to move on a certain layer of culture rack, the lifting mechanism on the following collecting device is started to drive the slide block to rise to a corresponding height, so that the following signal receiving end and the following signal transmitting end are on the same horizontal plane; then, the following collecting device is driven by a driving wheel motor to move forward or backward, when a following detection signal receiving end on the following collecting device detects a signal of a following detection signal transmitting end arranged on the outer side of the agaricus bisporus multi-arm picking robot moving platform, the following collecting device reaches a position, and the following collecting device stops moving forward or backward; at the moment, the collecting basket is aligned to a discharge hole of the conveying belt, and then the collection is started; when the weight detection element detects that the collection basket is fully collected, the collection basket is descended to the lowest part, and the rotary baffle is opened, so that the agaricus bisporus and the mushroom roots after root cutting fall on the transmission device; after the agaricus bisporus and the mushroom roots inside the collecting basket fall off, the rotating motor or the rotating cylinder is started, the rotating baffle at the bottom of the basket is closed, and then the rotating baffle rises along with the lifting mechanism to reach a specified position to wait for next collection.
Compared with the prior art, the invention has the beneficial effects that:
1) the visual detection device is arranged on the multi-arm picking device, can synchronously work with the end effector in the X, Y direction, and can realize multi-arm simultaneous picking, thereby realizing the maximization of picking efficiency.
2) The picked mushrooms can be cut into roots only by moving in one direction in the Y direction without multi-axis linkage, and the action is simple and efficient; automatic root cutting device can realize the root of cutting to the agaricus bisporus fast to can separate the conveying with the root of excision and mushroom and collect, prevent that the root earth of mushroom from polluting the mushroom.
3) The following collecting device can drive the agaricus bisporus multi-arm picking robot to advance and retreat in real time through the power device of the following collecting device, and then the following collecting device controls the collecting basket to be aligned to the outlet of the conveying belt in real time through the proximity switch to finish real-time collection.
4) The following collecting device can drive the collecting basket to reach different layers through the lifting mechanism so as to adapt to the collection on each layer of the multi-layer culture rack.
5) The collecting basket can realize the isolated collection of mushrooms and roots and automatically realize the material collection and blanking.
Drawings
Fig. 1 is a schematic structural diagram of an agaricus bisporus multi-arm intelligent harvesting and root cutting integrated system for industrial production.
Fig. 2 is an enlarged view of a portion of the multi-arm picking device of the present invention.
Fig. 3 is a partially enlarged view of the following detection sensor of the present invention.
Fig. 4 is a schematic view of the following and guiding connection walking of the following and collecting device of the present invention.
Fig. 5 is a schematic view of the working flow of the collecting basket of the present invention following the collecting operation.
FIG. 6 is a schematic view of the following collecting device of the present invention.
FIG. 7 is a schematic view of an automatic root cutting device according to the present invention.
FIG. 8 is a schematic view of a collection basket of the present invention.
Figure 9 illustrates a collection backboard according to the present invention.
Reference numbers in the figures: 1-a multi-layer culture rack, 2-a multi-arm picking device, 3-a conveying belt, 4-an automatic root cutting device, 5-a mushroom multi-arm picking robot moving platform, 6-a following detection signal receiving end, 7-a following collecting device, 8-a conveying device, 9-a culture rack upper guide rail, 10-a root-cut agaricus bisporus, 11-mushroom roots, 12-a culture rack lower guide rail, 13-a visual detection device, 201-a picking end actuator, 202-a Y direction moving module, 203-an X direction moving module, 401-a root cutting blade and 402-a root cutting blade fixing frame; 403-automatic root cutting device fixing plate, 701-lifting mechanism, 702-sliding block, 703-collecting basket, 704-collecting basket fixing plate, 705-weight detection element, 706-lower bottom plate, 707-auxiliary wheel, 708-lifting mechanism driving motor, 709-driving wheel connecting plate, 710-driving wheel, 711-driving wheel motor, 712-following detection signal sending end and 713-sensor fixing plate.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
Example 1
Referring to fig. 1-9, the invention provides an agaricus bisporus multi-arm intelligent harvesting and root cutting integrated system, which comprises an agaricus bisporus multi-arm picking robot moving platform 5, a multi-arm picking device 2, an automatic root cutting device 4, a visual detection device 13, a following collection device 7 and a transmission device 8. The visual detection device 13 is fixed on the multi-arm picking device 2, and the multi-arm picking device 2 is fixed on the agaricus bisporus multi-arm picking robot moving platform 5 and used for realizing the cooperative work of the agaricus bisporus identification and picking 'hand and eye'. The multi-arm picking device 2 quickly passes through the automatic root cutting device 4 to cut the roots of the agaricus bisporus, the agaricus bisporus after the roots are cut is blanked on the conveyer belt 3 below the automatic root cutting device 4, and then the conveyer belt 3 conveys the agaricus bisporus 10 and the mushroom roots 11 after the roots are cut to the following collecting device 7, so that the integrated operation of identifying, picking, cutting the roots and collecting the agaricus bisporus is completed.
In the embodiment, the multi-arm picking device 2 and the automatic root cutting device 4 are arranged on a mobile platform 5 of the agaricus bisporus multi-arm picking robot in a common bolt connection mode. The multi-arm picking device 2 comprises: 3 picking end effectors 201, 3Y-direction moving modules 202, and one X-direction moving module 203. Wherein 3Y direction moving modules 202 are simultaneously installed on the X direction moving module 203, and 3 picking end effectors 201 are respectively installed on the Y direction moving modules 202 moving in the X direction. An automatic root cutting device 4 is fixedly mounted at the tail of each Y-direction moving module 202, the automatic root cutting devices move along with the Y-direction moving module 202 in the X direction, a picking end effector 201 picks and fixes mushrooms at the moment that the mushrooms quickly pass through a root cutting tool 401 to complete the cutting of the roots of the mushrooms and complete the root cutting of the agaricus bisporus, a root cutting blade 401 used by the automatic root cutting device 4 is an ultra-thin sharp blade or other cutting type blades, the height of the root cutting blade 401 is adjusted through a waist-shaped hole which is connected with a root cutting blade fixing frame 402 and an automatic root cutting device fixing plate 403, so that the positions of the roots of the agaricus bisporus after the root cutting are adjusted, and the agaricus bisporus 10 and the mushroom roots 11 after the root cutting are placed on a conveying belt 3 in a partitioning mode. The conveyer belt 3 of device 2 below is picked to multi-arm divides into two regions (or uses two conveyer belts), and the region in root cutting blade 401 below is the root region that drops, and another half is the mushroom region that drops, and the mushroom root 11 that drops on conveyer belt 3 two regions passes through the outside output of rotation of conveyer belt 3 with the agaricus bisporus 10 after cutting the root, carries respectively and follows collection device 7, and effectual separately conveys both and collects, prevents that the finished product mushroom from being polluted by the earth of mushroom root 11. When the agaricus bisporus is picked, the picking end effector 201 picks and fixes the agaricus bisporus, then the picking end effector 201 drives the picked agaricus bisporus to move in the Y negative direction at a certain speed, the agaricus bisporus passes through the root cutting blade 401, and after the root of the agaricus bisporus completely passes through the root cutting blade 401 and the root cutting is completed, the mushroom root 11 falls in a root falling area below the root cutting blade 401. Subsequently, the picking end effector 201 moves the root-cut agaricus bisporus 10 in the Y direction, and starts to drop the mushroom when reaching the mushroom drop area on the conveyor 3. At this time, one picking and root cutting is completed.
The following collecting device 7 is fixed above the multi-layer culture shelf 1 by upper end suspension, and the driving wheel motor 711 drives the driving wheel 710 to make the following collecting device 7 move forward and backward. The following collecting device 7 can adapt to the use of different layers of culture racks and can follow the mobile platform 5 of the agaricus bisporus multi-arm picking robot to complete the collection in real time. The following collecting device 7 includes a lifting mechanism 701, a collecting basket 703, a driving wheel 710, an auxiliary wheel 707, a driving wheel motor 711, a following detection signal transmitting terminal 6, and a following detection signal receiving terminal 712. The lifting mechanism 701 comprises a vertical rod and a vertical guide rail arranged on the vertical rod; a sliding block 702 is installed on the vertical guide rail, the sliding block 702 can be driven by a lifting mechanism driving motor 708 in an up-and-down motion mode, or driven by an air cylinder and a hydraulic cylinder, or driven by a lead screw module in an up-and-down transmission mode, a collecting basket fixing plate 704 is fixed on the sliding block 702, and the collecting basket 703 is driven to move up and down along with the sliding block 702 on the lifting mechanism 701. The collection basket 703 is divided into two parts, namely a mushroom collection area and a root collection area, so that the agaricus bisporus 10 and the mushroom root 11 after root cutting can be respectively collected, and the finished mushroom is prevented from being polluted by soil of the mushroom root 11. The collection basket 703 adopts a rotary baffle at the bottom, and automatically realizes the functions of collecting materials and blanking by using a 'door opening and closing' mode driven by a rotating motor or a rotating cylinder, and is installed on the slide block 702 following the detection signal receiving end 712, and can move up and down to adapt to different layer heights of the multi-layer culture rack 1.
Following collection device 7 through install drive wheel motor 711 on elevating system 701 go to drive follow collection device 7 drive wheel 710 and auxiliary wheel 707, wherein drive wheel 707 closely laminates cultivation frame upper guideway 9 and guarantees follow the power and the direction that collection device 7 gos forward, auxiliary wheel 707 then hugs closely cultivation frame lower guideway 12, makes follow collection device 7 can be pressed close to multilayer cultivation frame 1 all the time, prevents to follow collection device 7 and multilayer cultivation frame 1 excessive friction or outwards to rock. The following collecting device 7 can be moved up and down by its own lifting mechanism 701 to be adapted to the heights of the culture racks in different levels.
The following collecting device 7 automatically follows the agaricus bisporus multi-arm picking robot moving platform 5 is realized by means of a mode similar to a correlation sensor between a plurality of following detection signal transmitting ends 6 arranged on the agaricus bisporus multi-arm picking robot moving platform 5 and following detection signal receiving ends 712 arranged on a sliding block 702 of the following collecting device. The follower detection signal receiving terminal 712 is simultaneously mounted on the sensor fixing plate 713 to move up and down along with the slider 702. As shown in fig. 3, if the signal receiver one of the following signal receiving terminals 712 of the following collecting device 7 receives the signal from the following signal emitting terminal 6 of the agaricus bisporus multi-arm picking robot moving platform 5, the following collecting device 7 lags behind the agaricus bisporus picking robot moving platform 5. When the second signal receiver receives a signal sent by the following signal sending end 6 on the agaricus bisporus multi-arm picking robot moving platform 5, the following collecting device 7 can just finish the collection, and when the third signal receiver receives a signal sent by the following signal sending end 6 on the agaricus bisporus multi-arm picking robot moving platform 5, the following collecting device 7 lags behind the agaricus bisporus picking robot moving platform 5. Specifically, when the agaricus bisporus multi-arm picking robot moving platform 5 starts to move on a certain layer of culture rack, the lifting mechanism 701 on the following collecting device 7 is started to drive the slide block 702 to be lifted to a corresponding height, so that the following signal receiving end 712 and the following signal transmitting end 6 are on the same horizontal plane. Then, the following collecting device 7 is driven by a driving wheel motor 711 to move forwards or backwards, when a following detection signal receiving end 712 on the following collecting device 7 receives a signal sent by a following detection signal sending end 6 arranged on the outer side of the agaricus bisporus multi-arm picking robot moving platform 5, the following collecting device 7 reaches a collecting position, and the following collecting device 7 stops moving forwards or backwards; at this point, the collection basket 703 is aligned with the discharge port of the conveyor belt 3, at which point collection begins. When the weight detecting element 705 detects that the collection basket 703 is full, the lifting mechanism 701 descends to a designated position, the rotating motor at the bottom of the collection basket 703 is started to open the rotation of the bottom of the collection basket 703, and the agaricus bisporus and the cut roots in the collection basket 703 fall on the conveying device 8. And then transmitted out.
The working process of the agaricus bisporus multi-arm intelligent harvesting and root cutting integrated system in the embodiment is as follows:
firstly, the multi-arm picking robot moving platform 5 for the agaricus bisporus walks on the multi-layer culture frame 1, and moves the multi-arm picking device 2 to the position where the agaricus bisporus needing to be picked is located. At this time, the visual detection device 13 is matched with the multi-arm picking device 2 to complete the identification and picking of the agaricus bisporus to be picked, after the agaricus bisporus is picked from the soil, the multi-arm picking device 2 moves towards the automatic root cutting device 4 rapidly and passes through the automatic root cutting device 4 at a certain speed, and at this time, the roots of the agaricus bisporus to be cut are removed and fall in the front area and the rear area of the conveyer belt 3 respectively.
When the agaricus bisporus multi-arm picking robot moving platform 5 starts to move on a certain layer of culture rack, the lifting mechanism 701 on the following collecting device 7 starts to drive the sliding block 702 to rise to a corresponding height, so that the following signal receiving end 712 and the following signal transmitting end 6 are on the same horizontal plane. Then, the following collecting device 7 is driven by a driving wheel motor 711 to move forwards or backwards, when a following detection signal receiving end 712 on the following collecting device 7 receives a signal sent by a following detection signal sending end 6 arranged on the outer side of the agaricus bisporus multi-arm picking robot moving platform 5, the following collecting device 7 reaches a collecting position, and the following collecting device 7 stops moving forwards or backwards; at this point, the collection basket 703 is aligned with the discharge port of the conveyor belt 3, at which point collection begins. After the weight detecting element 705 detects that the collecting basket 703 is full, the lifting mechanism 701 descends to a specified position, the rotating motor (or the rotating cylinder) at the bottom of the collecting basket 703 is started to open the rotating baffle at the bottom of the basket, and after all the agaricus bisporus and the mushroom roots in the collecting basket 703 fall, the rotating motor (or the rotating cylinder) is started to close the rotating baffle at the bottom of the basket, and then the rotating motor (or the rotating cylinder) ascends along with the lifting mechanism 701 to reach the specified position to wait for the next collection. While the agaricus bisporus and the cut roots in the collection basket 703 all fall on the transfer device 8. And then transmitted out. The conveying device 8 is a device capable of realizing long-distance conveying, and is not limited to a conveying belt, and may be in other forms such as a roller.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (7)
1. The utility model provides an agaricus bisporus intelligence is gathered and is cut root integration system which characterized in that: the double-spore mushroom multi-arm picking robot comprises a double-spore mushroom multi-arm picking robot moving platform (5), a visual detection device (13), a multi-arm picking device (2), an automatic root cutting device (4), a following collecting device (7) and a transmission device (8);
the agaricus bisporus multi-arm picking robot moving platform (5) moves above horizontal guide rails arranged on two sides of the multi-layer culture frame (1);
the visual detection device (13) is used for identifying the agaricus bisporus, and the visual detection device (13) is arranged on the multi-arm picking device (2); the multi-arm picking device (2) and the automatic root cutting device (4) are arranged on the mobile platform (5) of the agaricus bisporus multi-arm picking robot, and when the agaricus bisporus picked by the multi-arm picking device (2) moves through the automatic root cutting device (4), the root cutting of the agaricus bisporus is realized; a conveying belt (3) is arranged below the automatic root cutting device (4), and the cut agaricus bisporus and the mushroom roots respectively fall into a mushroom falling area and a root falling area on the conveying belt (3), are conveyed to a following collecting device along with the conveying belt (3), and are collected by a following collecting device (7);
the following collecting device (7) comprises a lifting mechanism (701), a collecting basket (703), a driving wheel (710), an auxiliary wheel (707),
A following detection signal transmitting end (6) and a following detection signal receiving end (712); the lifting mechanism (701) comprises a vertical rod and a vertical guide rail arranged on the vertical rod, a sliding block (702) is arranged on the vertical guide rail, and the sliding block (702) moves up and down in the vertical direction and is driven by a driving device of the lifting mechanism; a collecting basket (703) is arranged above the sliding block (702), the middle of the collecting basket (703) is partitioned by a partition plate, and the collecting basket (703) is divided into a mushroom storage area and a root storage area which are respectively used for storing the agaricus bisporus and the mushroom roots after root cutting; one side of the lifting mechanism (701) is horizontally and fixedly provided with a driving wheel connecting plate (709), the driving wheel connecting plate (709) is used for connecting two driving wheels (710), the driving wheels (710) move back and forth on a horizontal guide rail on the upper part outside the multi-layer cultivation frame (1), the bottom of the vertical rod of the lifting mechanism (701) is provided with a lower bottom plate (706), the lower bottom plate (706) is provided with two auxiliary wheels (707), the two auxiliary wheels (707) move back and forth on the horizontal guide rail on the bottom part outside the multi-layer cultivation frame (1), and the synchronous movement of the driving wheels (710) and the auxiliary wheels (707) is driven by a driving wheel motor (711); the following detection signal receiving end (712) is installed on the sliding block (702), the following detection signal sending end (6) is installed on the outer side of the agaricus bisporus multi-arm picking robot moving platform (5) along with the fact that the sliding block (702) moves up and down to adapt to different layer heights of the multi-layer culture rack (1), and the following detection signal receiving end (712) and the following detection signal sending end (6) are matched with each other, so that the following collection device (7) can automatically follow the agaricus bisporus multi-arm picking robot moving platform (5);
a transmission device (8) is arranged below the following collection device (7), and the root-cut agaricus bisporus and the mushroom roots collected in the collection basket (703) are output to the transmission device (8).
2. The intelligent agaricus bisporus harvesting and root cutting integrated system according to claim 1, wherein the multi-arm picking device (2) comprises a Y-direction moving module (202), an X-direction moving module (203) and a picking end effector (201), the number of the Y-direction moving modules (202) is several, each Y-direction moving module (202) is installed on the X-direction moving module, each Y-direction moving module (202) is connected with one picking end effector (201) in a sliding manner, the tail part of each Y-direction moving module (202) is fixedly provided with an automatic root cutting device (4), and the picking end effector (201) and the automatic root cutting device (4) move together along with the Y-direction moving module (202) in the X direction; the automatic root cutting device (4) comprises a horizontally arranged root cutting blade (401), the cutting edge of the root cutting blade (401) is right opposite to the lower part of the picking end effector (201), and when the picking end effector (201) slides quickly in the Y direction to the moving module (202) to be close to the root cutting blade (401), the root cutting of the agaricus bisporus picked by the picking end effector (201) is realized.
3. The integrated system for intelligent harvesting and root cutting of agaricus bisporus according to claim 2, wherein the number of the Y-direction moving modules (202) is more than 2.
4. The intelligent agaricus bisporus harvesting and root cutting integrated system according to claim 2, wherein the automatic root cutting device (4) further comprises a root cutting blade fixing frame (402) and an automatic root cutting device fixing plate (403), the automatic root cutting device fixing plate (403) is vertically installed at the tail of the Y-direction moving module (202), the root cutting blade fixing frame (402) is L-shaped, the vertical surface of the root cutting blade fixing frame is connected with the automatic root cutting device fixing plate (403) through a waist-shaped hole, and the root cutting blade (401) is arranged at the front end of the horizontal surface of the root cutting blade fixing frame (402).
5. The integrated system for intelligent harvesting and root cutting of agaricus bisporus according to claim 1, wherein a weight detection element (705) is arranged above the collection basket fixing plate (704) or at the bottom of the collection basket (703).
6. The integrated system for the intelligent harvesting and root cutting of the agaricus bisporus according to claim 1, wherein the lower part of the mushroom storage area and the lower part of the root storage area of the collection basket (703) respectively comprise at least one rotary baffle, and the rotation of the rotary baffles enables the bottom plate of the collection basket (703) to be opened, so that the agaricus bisporus and the mushroom roots after root cutting fall on the transmission device (8).
7. A follow-up collection method based on the system of any one of claims 1 to 6, comprising the steps of:
when the agaricus bisporus multi-arm picking robot moving platform (5) starts to move on a certain layer of culture rack, the lifting mechanism (701) on the following collecting device (7) starts to drive the sliding block (702) to rise to a corresponding height, so that the following signal receiving end (712) and the following signal sending end (6) are on the same horizontal plane; then, the following collecting device (7) is driven by a driving wheel motor (711) to move forwards or backwards, when a following detection signal receiving end (712) on the following collecting device (7) detects a signal of a following detection signal transmitting end (6) arranged on the outer side of the agaricus bisporus multi-arm picking robot moving platform (5), the position is reached, and the following collecting device (7) stops moving forwards or backwards; at the moment, the collecting basket (703) is aligned with the discharge hole of the conveying belt (3), and then the collection is started; when the weight detecting element (705) detects that the collecting basket (703) is fully collected, the collecting basket (703) descends to the lowest part, and the rotary baffle is opened, so that the agaricus bisporus and the mushroom roots after root cutting fall on the transmission device (8); when the agaricus bisporus and the mushroom roots in the collecting basket (703) fall off completely, the rotating motor or the rotating cylinder is started to close the rotating baffle at the bottom of the basket, and then the rotating motor or the rotating cylinder ascends along with the lifting mechanism (701) to reach a specified position to wait for the next collection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110024303.7A CN112640737B (en) | 2021-01-08 | 2021-01-08 | Intelligent agaricus bisporus harvesting and root cutting integrated system and following collection method |
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| CN113678692A (en) * | 2021-09-16 | 2021-11-23 | 北京林业大学 | Device is picked to bisporous mushroom based on machine vision |
| CN113940238A (en) * | 2021-09-29 | 2022-01-18 | 中国农业科学院农业信息研究所 | Intelligent picking robot |
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| CN114885757A (en) * | 2022-06-01 | 2022-08-12 | 山东农业大学 | Batch harvesting machine and method for industrial mushroom sticks |
| WO2022232912A1 (en) * | 2021-05-05 | 2022-11-10 | Mycionics Inc. | System and method for harvesting and packing mushrooms |
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