CN116686638A - Automatic Morchella picking robot for greenhouse planting - Google Patents

Automatic Morchella picking robot for greenhouse planting Download PDF

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CN116686638A
CN116686638A CN202310849123.1A CN202310849123A CN116686638A CN 116686638 A CN116686638 A CN 116686638A CN 202310849123 A CN202310849123 A CN 202310849123A CN 116686638 A CN116686638 A CN 116686638A
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morchella
picking
personal computer
industrial personal
clamping jaw
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朱明�
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Wuxi Haiji Intelligent Robot Co ltd
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Wuxi Haiji Intelligent Robot Co ltd
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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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/22—Image preprocessing by selection of a specific region containing or referencing a pattern; Locating or processing of specific regions to guide the detection or recognition
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    • G06—COMPUTING; CALCULATING OR COUNTING
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    • G06V10/00—Arrangements for image or video recognition or understanding
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    • G06V10/764—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/77—Processing image or video features in feature spaces; using data integration or data reduction, e.g. principal component analysis [PCA] or independent component analysis [ICA] or self-organising maps [SOM]; Blind source separation
    • G06V10/774—Generating sets of training patterns; Bootstrap methods, e.g. bagging or boosting
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
    • Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
    • Y02A40/25—Greenhouse technology, e.g. cooling systems therefor

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Abstract

The application relates to an automatic Morchella picking robot for greenhouse planting, and belongs to the technical field of fungus picking. The robot comprises a hollow motion chassis and a triaxial right-angle mechanical arm arranged at the top of the motion chassis, wherein a vision system is carried on the automatic picking robot, a mushroom storage device is fixedly arranged on the motion chassis, a picking clamping jaw is arranged at the output end of the triaxial right-angle mechanical arm, and the vision system comprises a first camera used for acquiring front road image information, a second camera and a third camera used for acquiring Morchella image information and an industrial personal computer used for receiving the image information. According to the automatic picking robot, the visual navigation information is obtained by analyzing the image information acquired by the first camera through the industrial personal computer, a motion instruction is sent to the motion chassis, so that the automatic picking robot walks along the small channels on two sides of a given land, and the three-axis right-angle mechanical arm is matched with the picking clamping jaw to shear and harvest each Morchella one by one, so that automatic picking of Morchella on the land planted in a greenhouse is realized, the labor is saved, and the picking efficiency is improved.

Description

Automatic Morchella picking robot for greenhouse planting
Technical Field
The application belongs to the technical field of fungus mushroom picking, and particularly relates to an automatic Morchella picking robot for greenhouse planting.
Background
Morchella is a rare edible and medicinal fungus, the fungus cover is tower-shaped, the surface of the fungus cover is provided with netty convex folds, and pits similar to Morchella are formed between the folds. In the nutrition growth stage, the culture of the Morchella is easier, in the fruiting stage, the culture difficulty of the Morchella is higher, the requirements on temperature and humidity conditions are higher, the Morchella sold in the market is mostly wild mushrooms, along with the development of greenhouse planting technology, the technology for artificially planting the Morchella is gradually perfected, and the large-scale artificial planting of the Morchella can be realized as long as the relationship of temperature, humidity and ventilation is coordinated.
The prior art collects Morchella by manual picking, the Morchella is picked differently from common strains, the Morchella cannot be pulled up together in the Morchella harvesting process, the Morchella is lightly held by a handle during harvesting, fruiting bodies of the Morchella are cut by using a harvesting cutter, and part of the handles are reserved, so that primordium of the Morchella continues to grow, continuous fruiting is realized, and the yield is improved. Therefore, the picking process of the morchella is complicated, a large amount of labor cost is consumed during the picking process, the palm of a picker is easy to contact with residual pesticide on the surface of the morchella in the manual picking process, the physical health of a planter is not facilitated, the picking efficiency of the morchella is still to be improved, and in the process of planting the morchella in a greenhouse, an automatic picking robot aiming at the morchella is needed to optimize the fungus picking mode.
Disclosure of Invention
The application aims to solve the problems and provides the automatic Morchella-planting picking robot for the greenhouse, which is simple in structure and reasonable in design.
The application realizes the above purpose through the following technical scheme:
the automatic Morchella picking robot for greenhouse planting comprises a hollow motion chassis and a three-axis right-angle mechanical arm arranged at the top of the motion chassis, wherein a vision system is carried on the automatic Morchella picking robot, a mushroom storage device is fixedly arranged on the motion chassis, a picking clamping jaw is arranged at the output end of the three-axis right-angle mechanical arm, and the vision system is used for sending control instructions to the motion chassis, the three-axis right-angle mechanical arm and the picking clamping jaw;
the vision system comprises a first camera used for collecting front road image information, a second camera and a third camera used for collecting Morchella image information and an industrial personal computer used for receiving the image information, wherein the industrial personal computer is used for transmitting motion instructions to a motion chassis by combining the image information so that the automatic picking robot walks along small channels on two sides of a given ridge and transmitting picking instructions to the three-axis right-angle mechanical arm and the picking clamping jaw so that the three-axis right-angle mechanical arm is matched with the picking clamping jaw to shear Morchella and transport the Morchella to the mushroom storage device.
As a further optimization scheme of the application, the motion chassis comprises a rectangular hollow bottom frame, two electric wheels arranged at the bottom end of the rear side of the bottom frame and two universal wheels arranged at the bottom end of the front side of the bottom frame, and a case for fixing an industrial personal computer is fixedly arranged at one side of the front end of the bottom frame.
As a further optimization scheme of the application, the triaxial right-angle mechanical arm comprises a transverse conveying belt arranged at the top end of one side of a bottom frame, a first driving motor arranged at one end of the transverse conveying belt, a limiting rod fixedly arranged at the other side of the bottom frame, a longitudinal rack slidingly arranged on the limiting rod, a vertical rack slidingly arranged on the longitudinal rack, a first screw rod motor fixedly arranged at one end of the longitudinal rack, a sliding block slidingly arranged on the vertical rack and a second screw rod motor fixedly arranged at the top end of the vertical rack, wherein one end of the longitudinal rack far away from the limiting rod is mutually fixed with the transverse conveying belt, an output shaft of the first screw rod motor is in threaded connection with the vertical rack, and an output shaft of the second screw rod motor is in threaded connection with the sliding block.
As a further optimization scheme of the application, an upper group of guide wheels and a lower group of guide wheels are rotatably arranged at one end of the vertical frame, which is close to the longitudinal frame, the upper group and the lower group of guide wheels are respectively propped against the upper end and the lower end of the longitudinal frame, guide rods are arranged between the longitudinal frame and each group of guide wheels, and annular grooves corresponding to the guide rods are formed in the outer sides of the guide wheels.
As a further optimization scheme of the application, the picking clamping jaw comprises a mounting frame fixedly arranged at the bottom end of the sliding block, a second driving motor fixedly arranged at one end of the mounting frame, a rocker arm fixedly arranged at the output end of the second driving motor, two swing arms respectively hinged at the two ends of the rocker arm, a clamping block hinged at one end of the swing arm far away from the rocker arm, a clamping knife and a knife rest fixedly arranged at the bottom end of the clamping block, and a cutting knife respectively fixedly arranged at one end of the two knife rests close to each other, wherein the clamping block is slidably arranged at the bottom end of the mounting frame.
As a further optimization scheme of the application, the two knife rests are symmetrical with each other, the two clamping knives are positioned between the two knife rests, and the opposite ends of the two clamping knives are provided with pressure reducing layers.
As a further optimized scheme of the application, the distance from the opposite end of the clamping knife to the central axis of the mounting frame is gradually shortened from top to bottom, the top of the pressure reducing layer extends upwards and is mutually fixed with the clamping blocks, and the pressure reducing layer is made of soft materials.
As a further optimization scheme of the application, the mushroom storage device comprises a picking basket fixedly arranged in the middle of the front end of the bottom frame and a slideway obliquely arranged on one side of the picking basket.
As a further optimization scheme of the application, the inner side of the picking basket is slidably arranged on the receiving plate, and the receiving plate is elastically connected with the bottom wall of the picking basket.
A picking method for planting Morchella in a greenhouse comprises the following steps:
s1, establishing a fungus model
a. Sample collection
Taking a plurality of Morchella pictures, dividing the pictures into two groups, wherein one group of pictures is used as a training set for training a Morchella detection model, and the other group of pictures is used as a test set for testing the accuracy of the Morchella detection model;
b. sample pretreatment
Preprocessing the image information of the training set, forming tower-shaped reticular lines by folds on the surface of the Morchella esculenta cover, and extracting line characteristics of the tower-shaped reticular lines in the image information of the training set;
c. model construction
Writing the line characteristics obtained after pretreatment into a memory of an industrial personal computer, and performing iterative training on the line characteristics through a YOLO algorithm to obtain a Morchella detection model;
d. model testing
Detecting the accuracy of the Morchella detection model by using the test set, and performing iterative training on the model again when the accuracy does not reach the standard until the accuracy of the Morchella detection model reaches the standard;
s2, walking along the small sidewalk at two sides of the established ridge
Shooting a front area of the motion chassis through a first camera to acquire front road image information, transmitting the front road image information to an industrial personal computer, analyzing the front road image information by the industrial personal computer, identifying a ridge boundary, controlling the motion chassis to intermittently move straight by the industrial personal computer when the industrial personal computer detects that the ridge boundary exists, and controlling the differential steering of the motion chassis by the industrial personal computer when the industrial personal computer detects that the ridge boundary disappears;
s3, primary positioning
In the running process of the automatic picking robot, when the motion chassis is stopped above a ground cage, the region in the bottom frame is shot through the second camera to acquire Morchella image information, the Morchella image information is transmitted to the industrial personal computer, and the industrial personal computer identifies Morchella through the Morchella detection model to acquire Morchella position distribution information;
s4, two-stage positioning
The industrial personal computer sends a moving instruction to the three-axis right-angle mechanical arm according to the position distribution information, so that the three-axis right-angle mechanical arm moves a picking clamping jaw to be above a single Morchella, the Morchella under the picking clamping jaw is shot through a third camera, morchella image information is acquired for the second time and transmitted to the industrial personal computer, the industrial personal computer identifies the Morchella through a Morchella detection model, accurate position information of the single Morchella is obtained, the industrial personal computer sends a moving instruction to the three-axis right-angle mechanical arm according to the accurate position information, the three-axis right-angle mechanical arm carries out position correction on the picking clamping jaw so as to ensure that the picking clamping jaw is positioned right above the Morchella, and the three-axis right-angle mechanical arm drives the sliding block and the picking clamping jaw at the bottom end of the sliding block to move downwards through a second lead screw motor, so that the picking clamping jaw surrounds the Morchella;
s5, cutting and storing the mushrooms
The industrial personal computer sends a shearing instruction to the picking clamping jaw, the picking clamping jaw cuts and clamps Morchella, then the industrial personal computer sends a moving instruction to the three-axis right-angle mechanical arm, the three-axis right-angle mechanical arm moves the picking clamping jaw to the upper part of the slideway according to the moving instruction, the industrial personal computer sends a discharging instruction to the picking clamping jaw, and the picking clamping jaw loosens Morchella so that Morchella slides into the picking basket along the slideway.
The application has the beneficial effects that:
1) According to the application, the first camera of the vision system is used for collecting front road image information, the industrial personal computer is used for transmitting a movement instruction to the movement chassis by combining the front road image information, so that the automatic picking robot can walk along the two side small lanes of a given land, the vision system can also be used for collecting Morchella image information, the industrial personal computer is used for transmitting a picking instruction to the three-axis right-angle mechanical arm and the picking clamping jaw, so that the three-axis right-angle mechanical arm is matched with the picking clamping jaw to shear Morchella, and the Morchella is transported into the mushroom storage device, so that the automatic picking of Morchella on the land planted in a greenhouse is realized, the life and health of a planter are ensured, the labor is saved, and the picking efficiency is improved;
2) In the process of establishing the Morchella detection model, the application completes the construction of the Morchella detection model by extracting the characteristic of a tower-shaped net line formed by the surface folds of the Morchella, improves the identification capability of a vision system on the Morchella, carries out primary positioning on a picking clamping jaw by a second camera matched with an industrial control computer and a three-axis right-angle mechanical arm in the process of acquiring Morchella image information, carries out secondary positioning on the picking clamping jaw by a third camera matched with the industrial control computer and the three-axis right-angle mechanical arm, ensures that the robot locates the Morchella more accurately, and ensures that the automatic picking robot can smoothly complete picking operation;
3) According to the application, the clamping knife and the cutter are arranged on the clamping block, the Morchella is clamped while being cut, the decompression layer is arranged on the clamping knife, the stressed area of the Morchella is increased, the Morchella is picked up by the fungus mushroom storage device, the Morchella is released by the picking clamping jaw above the slideway, the Morchella slides down to the middle part of the picking basket along the slideway, the Morchella is buffered by the receiving plate elastically connected with the bottom wall of the picking basket, the impact of the Morchella is reduced, the Morchella in the picking basket is uniformly shaken by slight shaking generated by the receiving plate, the capability of the picking basket for storing the Morchella is improved, and the Morchella is prevented from being scattered in the walking process of the robot.
Drawings
FIG. 1 is a schematic view of the overall structure of the present application;
FIG. 2 is a schematic view of the structure of the sports chassis of the present application;
FIG. 3 is a schematic view of a three-axis right angle mechanical arm structure of the present application;
FIG. 4 is a schematic cross-sectional view of a mushroom storage device of the present application;
FIG. 5 is a schematic view of the Z-axis structure of the three-axis right angle mechanical arm of the present application;
FIG. 6 is a perspective view of the side of the picking jaw of the present application;
FIG. 7 is a schematic view of a road line on both sides of a given ridge according to the present application.
In the figure: 1. a motion chassis; 2. a triaxial right angle mechanical arm; 3. a vision system; 4. a mushroom storage device; 5. picking clamping jaws; 6. a chassis; 11. a bottom frame; 12. an electric wheel; 13. a universal wheel; 21. a transverse conveyor belt; 22. a first driving motor; 23. a limit rod; 24. a longitudinal frame; 25. a vertical frame; 26. a first lead screw motor; 27. a slide block; 28. a second screw motor; 29. a guide wheel; 31. a first camera; 32. a second camera; 33. a third camera; 41. picking basket; 42. a slideway; 43. a receiving plate; 44. a spring; 51. a mounting frame; 52. a second driving motor; 53. a rocker arm; 54. swing arms; 55. clamping blocks; 56. clamping a knife; 57. a tool holder; 58. a cutter; 59. a decompression layer; E. and (5) a ridge boundary.
Detailed Description
The present application will be described in further detail with reference to the accompanying drawings, wherein it is to be understood that the following detailed description is for the purpose of further illustrating the application only and is not to be construed as limiting the scope of the application, as various insubstantial modifications and adaptations of the application to those skilled in the art can be made in light of the foregoing disclosure.
Examples
As shown in fig. 1, an automatic picking robot for cultivating morchella in a greenhouse comprises a hollow motion chassis 1 and a three-axis right-angle mechanical arm 2 arranged at the top of the motion chassis 1, wherein a vision system 3 is carried on the automatic picking robot, a mushroom storage device 4 is fixedly arranged on the motion chassis 1, a picking clamping jaw 5 is fixedly arranged at the output end of the three-axis right-angle mechanical arm 2, the vision system 3 is used for sending control instructions to the motion chassis 1, the three-axis right-angle mechanical arm 2 and the picking clamping jaw 5, and the control instructions comprise motion instructions for controlling the motion chassis 1 to intermittently move straight and turn in a differential direction and picking instructions for controlling the three-axis right-angle mechanical arm 2 and the picking clamping jaw 5 to pick morchella;
as shown in fig. 3, the vision system 3 comprises a first camera 31 for collecting front road image information, a second camera 32 and a third camera 33 for collecting morchella image information, and an industrial personal computer for receiving image information, wherein the image information received by the industrial personal computer comprises the front road image information collected by the first camera 31 and the morchella image information collected by the second camera 32 and the third camera 33, the industrial personal computer combines the image information to transmit motion instructions to the motion chassis 1 so as to enable the automatic picking robot to walk along small lanes on two sides of a given land and transmit picking instructions to the three-axis right angle mechanical arm 2 and the picking clamping jaw 5, the motion instructions comprise travel instructions for controlling the motion chassis 1 to move straight, braking instructions for controlling the motion chassis 1 to stop and steering instructions for controlling the motion chassis 1 to steer in a differential mode, the picking instructions comprise a moving instruction for controlling the three-axis right-angle mechanical arm 2 to move the picking clamping jaw 5, a shearing instruction for controlling the picking clamping jaw 5 to cut and clamp Morchella and a discharging instruction for controlling the picking clamping jaw 5 to loosen Morchella, so that the three-axis right-angle mechanical arm 2 is matched with the picking clamping jaw 5 to shear Morchella and transport the Morchella to the mushroom storage device 4, automatic picking of Morchella planted in a greenhouse is realized, the life health of a planter is ensured, manpower is saved, the picking efficiency is improved, in the process of acquiring Morchella image information, the picking clamping jaw 5 is primarily positioned by the second camera 32 matched with an industrial control computer and the three-axis right-angle mechanical arm 2, the picking clamping jaw 5 is secondarily positioned by the third camera 33 matched with the industrial control computer and the three-axis right-angle mechanical arm 2, so that the robot can more accurately position the Morchella, ensure that the automatic picking robot can smoothly finish picking operation.
As shown in fig. 2, the motion chassis 1 includes a rectangular hollow bottom frame 11, two electric wheels 12 disposed at the bottom end of the rear side of the bottom frame 11, and two universal wheels 13 disposed at the bottom end of the front side of the bottom frame 11, wherein the two universal wheels 13 are respectively provided with an in-wheel motor, when the automatic picking robot steers at a differential speed, the two in-wheel motors operate at a differential speed, so that the motion chassis 1 finishes steering, a chassis 6 for fixing an industrial personal computer is fixedly arranged at one side of the front end of the bottom frame 11, a driver and a battery corresponding to the triaxial right-angle mechanical arm 2 and the picking clamping jaw 5 are also installed in the chassis 6, the first camera 31 is fixedly disposed at the front side of the bottom frame 11 through a mounting plate, and the second camera 32 is fixedly disposed at the right side of the bottom frame 11.
As shown in fig. 3 and 5, the triaxial right-angle mechanical arm 2 includes a transverse conveyor belt 21 disposed at the top end of one side of the bottom frame 11, a first driving motor 22 disposed at one end of the transverse conveyor belt 21, a limit rod 23 fixedly disposed at the other side of the bottom frame 11, a longitudinal frame 24 slidably disposed on the limit rod 23, a vertical frame 25 slidably disposed on the longitudinal frame 24, a first screw motor 26 fixedly disposed at one end of the longitudinal frame 24, a sliding block 27 slidably disposed on the vertical frame 25, and a second screw motor 28 fixedly disposed at the top end of the vertical frame 25, wherein the transverse conveyor belt 21 is mounted at the top end of the rear end of the bottom frame 11 through a bracket, the transverse conveyor belt 21 and the first driving motor 22 form an X axis of the triaxial right-angle mechanical arm 2, the longitudinal frame 24 and the first screw motor 26 form a Y axis of the triaxial right-angle mechanical arm 2, one end of the longitudinal frame 24 and the second screw motor 28 are mutually fixed, one end of the longitudinal frame 24 far from the limit rod 23 is mutually fixed with the transverse conveyor belt 21, a plurality of protrusions are disposed on the inner sides of the longitudinal frame 24, one end far from the limit rod 23 is provided with grooves corresponding to the protrusion output shafts 26, the first screw motor 26 is fixedly connected with the first screw motor 25, and the first screw motor is screwed with the first screw motor 25, and the second screw motor is screwed with the first screw motor 25, and the third screw motor is screwed with the first screw motor 33.
As shown in fig. 3 and 5, an upper group of guide wheels 29 and a lower group of guide wheels 29 are rotatably arranged at one end of the vertical frame 25, which is close to the vertical frame 24, the upper group of guide wheels 29 and the lower group of guide wheels 29 respectively abut against the upper end and the lower end of the vertical frame 24, guide rods are arranged between the vertical frame 24 and each group of guide wheels 29, annular grooves corresponding to the guide rods are formed in the outer sides of the guide wheels 29, and when the first screw motor 26 drives the vertical frame 25 to move, the upper group of guide wheels 29 and the lower group of guide wheels 29 respectively roll along the two guide rods on the vertical frame 24.
As shown in fig. 6, the picking claw 5 comprises a mounting frame 51 fixedly arranged at the bottom end of the sliding block 27, a second driving motor 52 fixedly arranged at one end of the mounting frame 51, a rocker arm 53 fixedly arranged at the output end of the second driving motor 52, two swing arms 54 respectively hinged at two ends of the rocker arm 53, a clamping block 55 hinged at one end of the swing arm 54 far away from the rocker arm 53, a clamping knife 56 and a knife rest 57 fixedly arranged at the bottom end of the clamping block 55, and a cutting knife 58 respectively fixedly arranged at one end of the two knife rests 57 close to each other, wherein the clamping block 55 is slidingly arranged at the bottom end of the mounting frame 51, and the two swing arms 54 are arc-shaped and are symmetrical about the center of the output end of the second driving motor 52;
further, the two knife holders 57 are symmetrical to each other, the two knife clamps 56 are located between the two knife holders 57, a decompression layer 59 is arranged at one end of the two knife clamps 56 opposite to each other, and the decompression layer 59 is used for increasing the stressed area of Morchella;
further, the distance from the opposite end of the clamping blade 56 to the central axis of the mounting frame 51 is gradually shortened from top to bottom, the top of the decompression layer 59 extends upward and is fixed to the clamping block 55, the decompression layer 59 is made of a soft material, and the decompression layer 59 is preferably a sponge sheet.
As shown in fig. 4, the mushroom storage device 4 comprises a picking basket 41 fixedly arranged in the middle of the front end of the bottom frame 11 and a slide way 42 obliquely arranged on one side of the picking basket 41, an opening is formed above the picking basket 41, the case 6 is arranged on the other side of the picking basket 41, the picking basket 41 is positioned between the bottom frame 11 and the first camera 31, the slide way 42 is mutually fixed with the picking basket 41 through a bracket, the upper end of the slide way 42 is positioned above the bottom frame 11, and the lower end of the slide way 42 is positioned above the picking basket 41; in addition, the lower end of the slideway 42 can also be arranged inside the picking basket 41;
further, collect basket 41 inboard slip and locate and connect flitch 43, connect flitch 43 and pick the diapire elastic connection of basket 41, specifically, connect flitch 43 to link to each other with picking the diapire of basket 41 through spring 44, through connect flitch 43 to cushion the morchella with picking basket 41 diapire elastic connection, reduce the impact that the morchella received, and slight rocking through receiving flitch 43 production, shake the morchella in picking basket 41 evenly, improve the ability of picking basket 41 and depositing the fungus mushroom, avoid the morchella to pile up too high in the intermediate position of picking basket 41, thereby prevent that the morchella from unrestrained at the robot walking in-process.
A picking method for planting Morchella in a greenhouse is applied to the automatic picking robot, and comprises the following steps:
s1, establishing a fungus model
a. Sample collection
Taking a plurality of Morchella pictures, dividing the pictures into two groups, wherein one group of pictures is used as a training set for training a Morchella detection model, the other group of pictures is used as a test set for testing the accuracy of the Morchella detection model, 50 Morchella pictures are marked, 40 pictures are used as the training set, 10 pictures are used as the test set, and the number of Morchella targets on each Morchella picture is 6-8;
b. sample pretreatment
Preprocessing the image information of the training set, wherein the surface of the Morchella esculenta cover is provided with convex folds, morchella esculenta-shaped pits are formed among the folds, the convex folds form tower-shaped reticular lines, and in the sample preprocessing process, line feature extraction is carried out on the tower-shaped reticular lines in the image information of the training set;
c. model construction
Writing the line characteristics obtained after pretreatment into a memory of an industrial personal computer, and performing iterative training on the line characteristics through a YOLO algorithm, wherein the YOLO algorithm is a target detection algorithm, can find out objects from pictures and give out the types and the positions of the objects, a network structure used during training is YOLOv8n, and other parameters use default settings to obtain a Morchella detection model;
d. model testing
Detecting the accuracy of the Morchella detection model by using a test set, and performing iterative training on the model again when the accuracy does not reach the standard until the accuracy of the Morchella detection model reaches the standard, wherein in the iterative training process, 300 epochs are trained in the whole training process, and the final accuracy of the test can reach 100%, wherein the epochs represent the iteration times;
s2, walking along the small sidewalk at two sides of the established ridge
Shooting the front area of the motion chassis 1 through the first camera 31 to acquire front road image information, transmitting the front road image information to the industrial personal computer, analyzing the front road image information by the industrial personal computer, identifying a ridge boundary E, sending a traveling and braking motion instruction to the motion chassis 1 by the industrial personal computer when the industrial personal computer detects that the ridge boundary E exists so as to control the motion chassis 1 to intermittently travel straight, and sending a steering motion instruction to the motion chassis 1 when the industrial personal computer detects that the ridge boundary E disappears so as to control the differential steering of the motion chassis 1;
s3, primary positioning
In the walking process of the automatic picking robot, when a motion chassis 1 is stopped above a ground cage, a region in a bottom frame 11 is shot through a second camera 32 to acquire Morchella image information, the Morchella image information is transmitted to an industrial personal computer, the industrial personal computer identifies Morchella through a Morchella detection model, position distribution information of Morchella in a picking range of a three-axis right-angle mechanical arm 2 is acquired, in the identification process, an input test set picture is detected through a trained model, coordinates of a target frame are acquired, and coordinates of the center of the bottom of the frame are taken as coordinates of an object, so that position coordinates of Morchella in the picture can be obtained;
s4, two-stage positioning
The industrial personal computer sends a moving instruction to the three-axis right-angle mechanical arm 2 according to the position distribution information, so that the three-axis right-angle mechanical arm 2 moves the picking clamping jaw 5 to the position above a single Morchella, the Morchella under the picking clamping jaw 5 is shot through the third camera 33, morchella image information is acquired for the second time, the Morchella image information is transmitted to the industrial personal computer, the industrial personal computer identifies the Morchella through the Morchella detection model, the accurate position information of the single Morchella is obtained, whether the picking clamping jaw 5 is aligned to the single Morchella is judged, if the single Morchella is aligned, the industrial personal computer sends a moving instruction to the three-axis right-angle mechanical arm 2 according to the accurate position information, so that the three-axis right-angle mechanical arm 2 carries out position correction on the picking clamping jaw 5 to ensure that the picking clamping jaw 5 is positioned right above the Morchella, and the three-axis right-angle mechanical arm 2 drives the sliding block 27 and the picking clamping jaw 5 at the bottom end of the sliding block 27 to move downwards through the second lead screw motor 28, so that the picking clamping jaw 5 surrounds the Morchella;
in the process of moving the picking clamping jaw 5 by the three-axis right-angle mechanical arm 2, the transverse conveying belt 21 is driven to do rotary motion by the first driving motor 22, the transverse conveying belt 21 drives the longitudinal rack 24 to move in the X-axis direction, the vertical rack 25 is driven to move in the Y-axis direction by the first screw motor 26, and the sliding block 27 is driven to move in the Z-axis direction by the second screw motor 28, so that the picking clamping jaw 5 can reach all positions of a rectangular space surrounded by the bottom frame 11.
S5, cutting and storing the mushrooms
The industrial personal computer sends a shearing instruction to the picking clamping jaw 5, the picking clamping jaw 5 cuts and clamps Morchella, then the industrial personal computer sends a moving instruction to the three-axis right-angle mechanical arm 2, the three-axis right-angle mechanical arm 2 moves the picking clamping jaw 5 to the position above the slideway 42 according to the moving instruction, the industrial personal computer sends a discharging instruction to the picking clamping jaw 5, the picking clamping jaw 5 loosens Morchella, so that Morchella slides into the picking basket 41 along the slideway 42, and the industrial personal computer also detects the in-place condition of the picking clamping jaw 5 and the finishing condition of shearing and discharging through the third camera 33;
in the shearing process, the second driving motor 52 rotates positively, the output end of the second driving motor 52 drives the two swing arms 54 to swing through the rocker arms 53, so that the two clamping blocks 55 slide in opposite directions, the two cutters 58 finish cutting the Morchella stipe, the two cutters 56 finish clamping Morchella, the second driving motor 52 rotates reversely in the discharging process, and the second driving motor 52 drives the two clamping blocks 55 to slide in opposite directions through the rocker arms 53 and the two swing arms 54, so that the picking clamping jaws 5 loosen Morchella.
And repeating the step S4 and the step S5, enabling the picking clamping jaw 5 to pick all Morchella under the bottom frame 11 in sequence, then enabling the motion chassis 1 to continuously walk along the small channels on the two sides of the established ridges, and completing Morchella picking operation when the automatic picking robot reaches the end point of the small channels on the two sides of the established ridges from the starting point of the small channels on the two sides of the established ridges as shown in fig. 7.
The foregoing examples illustrate only a few embodiments of the application and are described in detail herein without thereby limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application.

Claims (10)

1. Automatic morchella picking robot for greenhouse planting comprises a hollow motion chassis (1) and a triaxial right-angle mechanical arm (2) arranged at the top of the motion chassis (1), and is characterized in that: the automatic picking robot is provided with a vision system (3), a fungus mushroom storage device (4) is fixedly arranged on the motion chassis (1), a picking clamping jaw (5) is arranged at the output end of the three-axis right-angle mechanical arm (2), and the vision system (3) is used for sending control instructions to the motion chassis (1), the three-axis right-angle mechanical arm (2) and the picking clamping jaw (5);
the vision system (3) comprises a first camera (31) for acquiring front road image information, a second camera (32) and a third camera (33) for acquiring Morchella image information and an industrial personal computer for receiving the image information, wherein the industrial personal computer is used for transmitting motion instructions to the motion chassis (1) by combining the image information so that the automatic picking robot walks along the small channels on two sides of a given ridge and transmitting picking instructions to the three-axis right-angle mechanical arm (2) and the picking clamping jaw (5), so that the three-axis right-angle mechanical arm (2) is matched with the picking clamping jaw (5) to shear Morchella and transport the Morchella to the mushroom storage device (4).
2. The automatic picking robot of claim 1, wherein: the motion chassis (1) comprises a rectangular hollow bottom frame (11), two electric wheels (12) arranged at the bottom end of the rear side of the bottom frame (11) and two universal wheels (13) arranged at the bottom end of the front side of the bottom frame (11), and a case (6) for fixing an industrial personal computer is fixedly arranged at one side of the front end of the bottom frame (11).
3. The automatic picking robot of claim 2, wherein: the three-axis right-angle mechanical arm (2) comprises a transverse conveying belt (21) arranged at the top end of one side of a bottom frame (11), a first driving motor (22) arranged at one end of the transverse conveying belt (21), a limiting rod (23) fixedly arranged at the other side of the bottom frame (11), a longitudinal rack (24) arranged on the limiting rod (23) in a sliding mode, a vertical rack (25) arranged on the longitudinal rack (24) in a sliding mode, a first screw motor (26) fixedly arranged at one end of the longitudinal rack (24), a sliding block (27) arranged on the vertical rack (25) in a sliding mode and a second screw motor (28) fixedly arranged at the top end of the vertical rack (25), one end, far away from the limiting rod (23), of the longitudinal rack (24) is mutually fixed with the transverse conveying belt (21), and an output shaft of the first screw motor (26) is in threaded connection with the vertical rack (25), and an output shaft of the second screw motor (28) is in threaded connection with the sliding block (27).
4. The automatic picking robot of claim 3, wherein: the one end that vertical frame (25) is close to vertical frame (24) rotates and is equipped with two sets of leading wheels (29) from top to bottom, two sets of leading wheels (29) are offset with the upper and lower both ends of vertical frame (24) respectively, all be provided with the guide bar between vertical frame (24) and every group leading wheel (29), the annular groove that corresponds with the guide bar has been seted up in the leading wheel (29) outside.
5. The automatic picking robot of claim 3, wherein: picking clamping jaw (5) including fixed mounting bracket (51) that locate slider (27) bottom, set firmly in second driving motor (52) of mounting bracket (51) one end, set firmly in rocking arm (53) of second driving motor (52) output, articulate respectively in two swing arms (54) at rocking arm (53) both ends, articulate in swing arm (54) clamp splice (55) of the one end of keeping away from rocking arm (53), set firmly in clamp knife (56) and knife rest (57) of clamp splice (55) bottom and set firmly respectively in cutter (58) of the one end that two knife rests (57) are close to mutually, clamp splice (55) slide and locate mounting bracket (51) bottom.
6. The automatic picking robot of claim 5, wherein: the two knife holders (57) are symmetrical to each other, the two clamping knives (56) are located between the two knife holders (57), and a decompression layer (59) is arranged at the opposite end of the two clamping knives (56).
7. The automatic picking robot of claim 6, wherein: the distance from the opposite end of the clamping knife (56) to the central axis of the mounting frame (51) is gradually shortened from top to bottom, the top of the pressure reducing layer (59) extends upwards and is mutually fixed with the clamping block (55), and the pressure reducing layer (59) is made of soft materials.
8. The automatic picking robot of claim 6, wherein: the mushroom storage device (4) comprises a picking basket (41) fixedly arranged in the middle of the front end of the bottom frame (11) and a slideway (42) obliquely arranged on one side of the picking basket (41).
9. The automatic picking robot of claim 8, wherein: the inner side of the picking basket (41) is slidably arranged on the receiving plate (43), and the receiving plate (43) is elastically connected with the bottom wall of the picking basket (41).
10. A picking method for planting Morchella in a greenhouse is characterized by comprising the following steps: the automatic picking robot applied to claim 9, comprising the steps of:
s1, establishing a fungus model
a. Sample collection
Taking a plurality of Morchella pictures, dividing the pictures into two groups, wherein one group of pictures is used as a training set for training a Morchella detection model, and the other group of pictures is used as a test set for testing the accuracy of the Morchella detection model;
b. sample pretreatment
Preprocessing the image information of the training set, forming tower-shaped reticular lines by folds on the surface of the Morchella esculenta cover, and extracting line characteristics of the tower-shaped reticular lines in the image information of the training set;
c. model construction
Writing the line characteristics obtained after pretreatment into a memory of an industrial personal computer, and performing iterative training on the line characteristics through a YOLO algorithm to obtain a Morchella detection model;
d. model testing
Detecting the accuracy of the Morchella detection model by using the test set, and performing iterative training on the model again when the accuracy does not reach the standard until the accuracy of the Morchella detection model reaches the standard;
s2, walking along the small sidewalk at two sides of the established ridge
Shooting a front area of the motion chassis (1) through a first camera (31) to acquire front road image information, transmitting the front road image information to an industrial personal computer, analyzing the front road image information by the industrial personal computer, identifying a ridge boundary (E), controlling the motion chassis (1) to intermittently move straight by the industrial personal computer when the industrial personal computer detects that the ridge boundary (E) exists, and controlling the differential steering of the motion chassis (1) by the industrial personal computer when the industrial personal computer detects that the ridge boundary (E) disappears;
s3, primary positioning
In the walking process of the automatic picking robot, when the motion chassis (1) is stopped above a ground cage, the region in the bottom frame (11) is shot through the second camera (32) to acquire Morchella image information, the Morchella image information is transmitted to the industrial personal computer, and the industrial personal computer identifies Morchella through the Morchella detection model to acquire Morchella position distribution information;
s4, two-stage positioning
The industrial personal computer sends a moving instruction to the three-axis right-angle mechanical arm (2) according to the position distribution information, the three-axis right-angle mechanical arm (2) moves the picking clamping jaw (5) to the position above the single morchella, the morchella below the picking clamping jaw (5) is shot through the third camera (33), the morchella image information is acquired for the second time, the morchella image information is transmitted to the industrial personal computer, the industrial personal computer identifies the morchella through the morchella detection model, the accurate position information of the single morchella is obtained, the industrial personal computer sends a moving instruction to the three-axis right-angle mechanical arm (2) according to the accurate position information, the three-axis right-angle mechanical arm (2) carries out position correction on the picking clamping jaw (5) so as to ensure that the picking clamping jaw (5) is positioned right above the morchella, and the three-axis right-angle mechanical arm (2) drives the sliding block (27) and the picking clamping jaw (5) at the bottom end of the sliding block (27) to move downwards through the second screw motor (28), and the picking clamping jaw (5) surrounds the morchella;
s5, cutting and storing the mushrooms
The industrial personal computer sends a shearing instruction to the picking clamping jaw (5), the picking clamping jaw (5) cuts and clamps Morchella, then the industrial personal computer sends a moving instruction to the three-axis right-angle mechanical arm (2), the three-axis right-angle mechanical arm (2) moves the picking clamping jaw (5) to the upper part of the slideway (42) according to the moving instruction, the industrial personal computer sends a discharging instruction to the picking clamping jaw (5), and the picking clamping jaw (5) loosens Morchella, so that Morchella slides into the picking basket (41) along the slideway (42).
CN202310849123.1A 2023-07-12 2023-07-12 Automatic Morchella picking robot for greenhouse planting Pending CN116686638A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310849123.1A CN116686638A (en) 2023-07-12 2023-07-12 Automatic Morchella picking robot for greenhouse planting

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310849123.1A CN116686638A (en) 2023-07-12 2023-07-12 Automatic Morchella picking robot for greenhouse planting

Publications (1)

Publication Number Publication Date
CN116686638A true CN116686638A (en) 2023-09-05

Family

ID=87845238

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310849123.1A Pending CN116686638A (en) 2023-07-12 2023-07-12 Automatic Morchella picking robot for greenhouse planting

Country Status (1)

Country Link
CN (1) CN116686638A (en)

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