CN-122004095-A - Mushroom sorting system of mushroom harvesting robot

CN122004095ACN 122004095 ACN122004095 ACN 122004095ACN-122004095-A

Abstract

The invention provides a mushroom sorting system of a mushroom harvesting robot, which comprises a collecting container, a three-axis moving platform, a clamping mechanism, a visual system and a control module, wherein the collecting container comprises a plurality of container units, the three-axis moving platform moves under the control of the control module to adjust the position of the clamping mechanism, the clamping mechanism can clamp or release mushrooms, and the control module controls the three-axis moving platform and the working state of the clamping mechanism to put the mushrooms into target container units according to information collected by the visual system so as to realize mushroom sorting. According to the invention, the collection container comprising a plurality of container units is arranged, mushrooms are accurately put into the target container units corresponding to the types of the mushrooms through cooperative control of the triaxial mobile platform and the vision system, multi-dimensional fine sorting according to the sizes, the grades, the quality and the like is supported, and the problem of high subsequent sorting cost caused by mixing and boxing of the large basket by the existing mushroom harvesting robot is solved.

Inventors

DU CHENG
Pu Zhongzhu
WU QINGZHOU
NING XINYU
TANG ZHIPENG
YANG ZEJUN

Assignees

北京启物科技有限责任公司

Dates

Publication Date: 20260512
Application Date: 20260224

Claims (12)

1. A mushroom sorting system of a mushroom harvesting robot is characterized by comprising a collecting container, a triaxial moving platform, a clamping mechanism, a vision system and a control module; The collection container comprises a plurality of container units; the triaxial mobile platform moves under the control of the control module so as to adjust the position of the clamping mechanism; The clamping mechanism can clamp or release mushrooms; the control module controls the working states of the triaxial mobile platform and the clamping mechanism to put mushrooms into the target container unit according to information acquired by the vision system, so that mushroom sorting is realized.
2. Mushroom sorting system with a mushroom harvesting robot according to claim 1, characterized in that the container units are of standard size, each container unit being arranged in the same layer or layered.
3. Mushroom sorting system with mushroom harvesting robot according to claim 1, characterized in that the triaxial moving platform has in turn connected degrees of freedom of adjustment in three mutually perpendicular directions, the gripping means being arranged in the end degrees of freedom.
4. A mushroom sorting system of a mushroom harvesting robot as claimed in claim 3, wherein the movement in each direction of the adjustment degrees of freedom is guided by a linear guide and is driven by a motor, a synchronous belt.
5. Mushroom sorting system of a mushroom harvesting robot according to claim 1, characterized in that the gripping mechanism comprises a transmission structure, a gripping jaw and a driving motor of the gripping jaw, which driving motor opens or closes the gripping jaw via the transmission structure.
6. A mushroom sorting system of a mushroom harvesting robot as claimed in claim 5, wherein the gripping jaws comprise two gripping jaws, the tail ends of the two gripping jaws are engaged with each other through gears, the transmission structure is a transmission gear, the transmission gear is engaged with a gear at the tail end of one gripping jaw, and the driving motor drives the transmission gear to rotate, thereby driving the gears at the tail ends of the two gripping jaws to rotate, so that the two gripping jaws are opened or closed.
7. Mushroom sorting system of a mushroom harvesting robot according to claim 5, characterized in that the gripping means is of detachable design, which is adapted to fit different types of gripping jaws.
8. A mushroom sorting system of a mushroom harvesting robot as in claim 5, wherein the gripping ends of the two jaws form a bowl shape with a through hole left in the bottom of the bowl for the mushroom root to pass through.
9. A mushroom sorting system of a mushroom harvesting robot as defined in claim 1, wherein the vision system includes: The first camera is arranged on the side surface of the clamping mechanism and is used for collecting images of the process of receiving mushrooms by the clamping jaw, and the collected images are used for assisting in accurately handing over the mushrooms; the second camera is arranged at the bottom of the clamping mechanism and is used for collecting images of the collecting containers, and the collected images are used for assisting in determining the positions of all container units.
10. A mushroom sorting system of a mushroom harvesting robot as defined in claim 9, wherein, The image acquired by the first camera is also used for determining the classification of mushrooms; The images acquired by the second camera are also used for determining the accumulation state of each container unit.
11. A mushroom sorting system of a mushroom harvesting robot as in claim 9, wherein the vision system further comprises a first communication interface, an image processor; The image processor is used for processing the images acquired by the first camera and the second camera and uploading the images to the central controller of the mushroom harvesting robot through the first communication interface.
12. A mushroom sorting system of a mushroom harvesting robot as in claim 1, wherein the control module includes: the motion controller is used for controlling the motion state of the triaxial mobile platform and the working state of the clamping mechanism; a position memory for recording the position of each container unit and the mushroom accumulation state; A second communication interface for receiving instructions to handover mushrooms from the central controller of the mushroom harvesting robot, and instructions to deliver mushrooms to the target container unit.

Description

Mushroom sorting system of mushroom harvesting robot Technical Field The invention relates to the technical field of picking robots, in particular to a mushroom sorting system of a mushroom picking robot. Background Edible fungi are important consumer products, the supply of the edible fungi can be improved by the industrial production of the edible fungi, and the automatic picking, root cutting and collecting of robots are gradually introduced in the industrial production of the edible fungi at present. In the prior art, mushrooms are usually transferred after picking by an additional mechanism to a collection device, such as the "root cutting conveyor" disclosed in chinese patent CN216018214U, which transfers the cut roots and mushrooms to a collection basket by a conveyor belt, or by a one-dimensional guide rail to a large basket, such as the "automated mushroom harvesting system" of US202519042345 a. However, in actual industrial production, the same batch of mushrooms may need to be packaged in different boxes according to quality grades, sizes or customer requirements, and the above-mentioned mushroom collection method can only put the mushrooms in a fixed position, and cannot finely sort the mushrooms, and in addition, the transportation process after root cutting may further damage the mushrooms. In order to solve or at least partially solve the defect that the mushroom picking robot cannot achieve fine sorting when picking mushrooms in the prior art, the invention provides a mushroom sorting system of the mushroom picking robot. Disclosure of Invention The invention provides a mushroom sorting system of a mushroom harvesting robot, which is used for solving or at least partially solving the defect that the mushroom harvesting robot in the prior art does not finely sort mushrooms. The invention provides a mushroom sorting system of a mushroom harvesting robot, which comprises a collecting container, a triaxial moving platform, a clamping mechanism, a vision system and a control module, wherein the collecting container is arranged on the triaxial moving platform; The collection container comprises a plurality of container units; the triaxial mobile platform moves under the control of the control module so as to adjust the position of the clamping mechanism; The clamping mechanism can clamp or release mushrooms; the control module controls the working states of the triaxial mobile platform and the clamping mechanism to put mushrooms into the target container unit according to information acquired by the vision system, so that mushroom sorting is realized. Alternatively, the container units are of standard size, with the container units being arranged in the same layer or in layers. Alternatively, the three-axis mobile platform has three mutually perpendicular degrees of freedom of adjustment connected in sequence, the clamping mechanism being arranged on the end degrees of freedom. Further, the movement in each adjustment degree of freedom direction is guided by a linear guide and is transmitted by a motor, a timing belt. Optionally, the clamping mechanism comprises a transmission structure, a clamping jaw and a driving motor of the clamping jaw, wherein the driving motor enables the clamping jaw to be opened or closed through the transmission structure. Further, the clamping jaw comprises two clamping jaws, the tail ends of the two clamping jaws are meshed with each other through gears, the transmission structure is a transmission gear, the transmission gear is meshed with the gear at the tail end of one clamping jaw, the driving motor drives the transmission gear to rotate, and then the gears at the tail ends of the two clamping jaws are driven to rotate, so that the two clamping jaws are opened or closed. Optionally, the fixture adopts detachable design, can adapt to the clamping jaw of different models of installation. Optionally, the clamping ends of the two clamping jaws form a bowl shape, and a through hole for the mushroom root to pass through is reserved at the bottom of the bowl shape. Optionally, the vision system comprises: The first camera is arranged on the side surface of the clamping mechanism and is used for collecting images of the process of receiving mushrooms by the clamping jaw, and the collected images are used for assisting in accurately handing over the mushrooms; the second camera is arranged at the bottom of the clamping mechanism and is used for collecting images of the collecting containers, and the collected images are used for assisting in determining the positions of all container units. Further, the images collected by the first camera are also used for determining the classification of mushrooms, and the images collected by the second camera are also used for determining the accumulation state of each container unit. Optionally, the vision system further comprises a first communication interface, an image processor; The image processor is used for processing the image