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

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

An automatic picking robot for growing hickory chicks in greenhouses

technical field

The invention belongs to the technical field of mushroom picking, and in particular relates to an automatic picking robot for growing hickory chicks in a greenhouse.

Background technique

Morchella is a rare edible and medicinal fungus. Its cap is in the shape of a tower as a whole. The surface of the cap has net-like raised folds, and morel-shaped pits are formed between the folds. In the vegetative growth stage, the cultivation of morels is relatively easy, but in the fruiting stage, the cultivation of morels is more difficult, and the requirements for temperature and humidity conditions are higher, resulting in that most of the morels sold on the market are wild mushrooms , With the development of greenhouse planting technology, the technology of artificially planting morels is becoming more and more perfect. As long as the relationship between temperature, humidity and ventilation is coordinated, large-scale artificial planting of morels can be realized.

In the prior art, morels are harvested by manual picking. The picking of morels is different from common strains. During the process of harvesting morels, the morels cannot be uprooted. The cutting tool cuts the fruiting body of the morel, and retains part of the stipe, so that the primordia of the morel can continue to grow, so as to achieve continuous fruiting and increase yield. It can be seen that the picking process of hickory chicks is relatively cumbersome, and a lot of labor costs are consumed during the harvesting process. During the manual picking process, the palms of the pickers are likely to come into contact with the residual pesticides on the surface of the mushrooms, which is not conducive to the health of the growers. The picking efficiency of morels also needs to be improved. In the process of growing morels in greenhouses, there is an urgent need for an automatic picking robot for morels to optimize the mushroom picking mode.

Contents of the invention

The purpose of the present invention is just to provide a kind of simple in structure in order to solve the above-mentioned problem, the automatic picking robot of greenhouse planting hickory chick rationally designed.

The present invention achieves the above object through the following technical solutions:

An automatic picking robot for growing hickory chicks in a greenhouse, comprising a hollow moving chassis and a three-axis right-angle mechanical arm arranged on the top of the moving chassis, the automatic picking robot is equipped with a vision system, and a mushroom storage device is fixed on the moving chassis , the output end of the three-axis right-angle mechanical arm is equipped with picking claws, and the vision system is used to send control instructions to the moving chassis, three-axis right-angle mechanical arm and picking claws;

The vision system includes a first camera for collecting image information of the road ahead, a second camera and a third camera for collecting morel image information, and an industrial computer for receiving image information, and the industrial computer combines image information Transmit motion instructions to the moving chassis so that the automatic picking robot walks along the trails on both sides of the predetermined ridge, and transmit picking instructions to the three-axis right-angle manipulator and the picking jaws so that the three-axis right-angle manipulator cooperates with the picking jaws to cut Morchella, and transport the Morchella to the mushroom storage device.

As a further optimization solution of the present invention, the sports chassis includes 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 the front end of the bottom frame One side is fixed with a chassis for fixing the industrial computer.

As a further optimization solution of the present invention, the three-axis right-angle mechanical arm includes a transverse conveyor belt arranged at the top of one side of the bottom frame, a first drive motor arranged at one end of the transverse conveyor belt, and a limit rod fixed on the other side of the bottom frame , slide the longitudinal frame set on the limit rod, slide the vertical frame set on the longitudinal frame, the first screw motor fixed at one end of the longitudinal frame, slide the slide set on the vertical frame Block and the second screw motor fixed on the top of the vertical frame, the end of the longitudinal frame away from the limit rod is fixed with the horizontal conveyor belt, the output shaft of the first screw motor is threaded with the vertical frame connected, the output shaft of the second screw motor is threaded with the slider.

As a further optimization scheme of the present invention, one end of the vertical frame close to the longitudinal frame is rotated to be provided with two sets of guide wheels, the upper and lower sets of guide wheels respectively offset the upper and lower ends of the longitudinal frame, and the longitudinal A guide rod is arranged between the frame and each set of guide wheels, and an annular groove corresponding to the guide rod is provided on the outer side of the guide wheels.

As a further optimization solution of the present invention, the picking jaws include a mounting frame fixed at the bottom end of the slider, a second drive motor fixed at one end of the mounting frame, a rocker arm fixed at the output end of the second drive motor, respectively hinged Two swing arms at both ends of the rocker arm, a clamping block hinged at the end of the swinging arm away from the rocking arm, a clamping knife and a knife holder fixed at the bottom of the clamping block, and a cutting tool respectively fixed at the end of the two knife rests close to each other. knife, and the clamp block is slidably arranged at the bottom end of the mounting frame.

As a further optimization solution of the present invention, the two tool holders are symmetrical to each other, the two clamping knives are symmetrical to each other and the two clamping knives are located between the two tool holders, and the opposite ends of the two clamping knives are provided with a relief laminated.

As a further optimization solution of the present invention, 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 decompression layer extends upward and is fixed with the clamping block, and the decompression layer consists of Made of soft material.

As a further optimization solution of the present invention, the mushroom storage device includes a picking basket fixed at the middle of the front end of the bottom frame and a slideway inclined at one side of the picking basket.

As a further optimization solution of the present invention, the inner side of the picking basket is slidably arranged on the material receiving plate, and the material receiving plate is elastically connected to the bottom wall of the picking basket.

A method for picking morels grown in greenhouses, comprising the following steps:

S1. Establish mushroom model

a. Sample collection

Take multiple morel pictures and divide the pictures into two groups. One set of pictures is used as a training set for training the morel detection model, and the other set of pictures is used as a test set for testing the accuracy of the morel detection model ;

b. Sample preprocessing

The image information of the training set is preprocessed, and the folds on the surface of the morel cap form a tower-shaped network line, and the line feature extraction is performed on the tower-shaped network line in the image information of the training set;

c. Model building

Write the line features obtained after preprocessing into the memory of the industrial computer, and iteratively train the line features through the YOLO algorithm to obtain the morel detection model;

d. Model testing

Use the test set to test the accuracy of the morel detection model. When the accuracy is not up to the standard, iteratively train the model again until the accuracy of the morel detection model reaches the standard;

S2. Walk along the path on both sides of the established ridge

Use the first camera to shoot the area in front of the moving chassis to collect the image information of the road ahead, and transmit the image information of the road ahead to the industrial computer. The industrial computer analyzes the image information of the road ahead and recognizes the border of the land. When the computer detects the existence of the ridge boundary, the industrial computer controls the moving chassis to go straight intermittently; when the industrial computer detects the disappearance of the ridge boundary, the industrial computer controls the moving chassis to differentially steer;

S3, primary positioning

During the walking process of the automatic picking robot, when the moving chassis stops above the ground cage, the area inside the bottom frame is photographed by the second camera to collect the morel image information, and the morel image information is transmitted to the industrial computer , the industrial computer recognizes the morel through the morel detection model, and obtains the location and distribution information of the morel;

S4, secondary positioning

The industrial computer sends movement instructions to the three-axis right-angle manipulator according to the position distribution information, so that the three-axis right-angle manipulator moves the picking jaws to the top of a single morel, and uses the third camera to shoot the morels under the picking jaws. The morel image information is collected for the second time, and the image information of the morel is transmitted to the industrial computer. The industrial computer recognizes the morel through the morel detection model and obtains the precise location information of a single morel. The industrial computer according to The precise position information sends a movement command to the three-axis right-angle robotic arm, so that the three-axis right-angle robotic arm can correct the position of the picking jaw to ensure that the picking jaw is directly above the morel, and the three-axis right-angle robotic arm passes the second screw motor Drive the slider and the picking jaws at the bottom of the slider to move down, so that the picking jaws surround the morels;

S5. Mushroom cutting and storage

The industrial computer sends a cutting command to the picking jaws, and the picking jaws cut and clamp the morels, and then the industrial computer sends a movement command to the three-axis right-angle robotic arm, and the three-axis right-angle robotic arm moves the picking jaws according to the movement command When reaching the top of the slideway, the industrial computer sends an unloading command to the picking jaws, and the picking jaws release the morels, allowing the morels to slide into the picking basket along the slideway.

The beneficial effects of the present invention are:

1) The present invention collects the image information of the road ahead through the first camera of the vision system, and the industrial computer combines the image information of the road ahead to transmit motion instructions to the moving chassis, so that the automatic picking robot can walk along the trails on both sides of the predetermined ridge, and the vision system can also Collect the morel image information, and the industrial computer transmits picking instructions to the three-axis right-angle manipulator and the picking jaws, so that the three-axis right-angle manipulator cooperates with the picking jaws to cut the morels, and transport the morels to the mushroom storage In the device, to realize the automatic picking of Morchella on the ridge planted in the greenhouse, to ensure the life and health of the grower, save manpower, and improve the picking efficiency;

2) the present invention is in the process of setting up the hickory chick detection model, by extracting the line feature of the tower-shaped mesh line that the hickory chick surface fold forms, to complete the construction of the hickory chick detection model, improve the vision system to the hickory chick In the process of collecting morel image information, the picking jaws are initially positioned through the second camera in conjunction with the industrial computer and the three-axis right-angle manipulator, and the third camera is used in conjunction with the industrial computer and the three-axis right-angle manipulator. The second positioning of the picking jaws makes the robot more precisely position the morels, ensuring that the automatic picking robot can successfully complete the picking operation;

3) The present invention clamps the hickory chick while cutting the hickory chick by setting a clip knife and a cutter on the clip block, and sets a decompression layer on the clip knife to increase the stress area of the hickory chick, and the bacteria The morels are picked up by the mushroom storage device, and the morels are released by the picking claws above the slideway, and the morels slide down to the middle of the picking basket along the slideway, and the morels are picked up by the material receiving plate elastically connected to the bottom wall of the picking basket. Buffer to reduce the impact on the morels, and through the slight shaking of the receiving plate, shake the morels in the picking basket evenly, improve the ability of the picking basket to store mushrooms, and prevent the morels from being moved by the robot during walking spilled.

Description of drawings

Fig. 1 is the overall structural representation of the present invention;

Fig. 2 is a schematic structural view of the sports chassis of the present invention;

Fig. 3 is a structural schematic diagram of a three-axis right-angle mechanical arm of the present invention;

Fig. 4 is a schematic sectional structure diagram of the mushroom storage device of the present invention;

Fig. 5 is a schematic diagram of the Z-axis structure of the three-axis right-angle mechanical arm of the present invention;

Fig. 6 is a perspective view of the side of the picking jaw of the present invention;

Fig. 7 is a schematic diagram of the path route on the two sides of the predetermined ridge of the present invention.

In the figure: 1. Motion chassis; 2. Three-axis right-angle mechanical arm; 3. Vision system; 4. Mushroom storage device; 5. Picking claw; 6. Chassis; 11. Bottom frame; 12. Electric wheel; Universal wheel; 21, horizontal conveyor belt; 22, the first drive motor; 23, limit rod; 24, longitudinal frame; 25, vertical frame; 26, the first screw motor; 27, slide block; 28, The second screw motor; 29, the guide wheel; 31, the first camera; 32, the second camera; 33, the third camera; 41, the picking basket; 42, the slideway; 43, the receiving plate; 44, the spring; 51 , mounting frame; 52, second drive motor; 53, rocker arm; 54, swing arm; 55, clamp block; 56, clamp knife; 57, knife rest; 58, cutter; Ridge border.

Detailed ways

The application will be described in further detail below in conjunction with the accompanying drawings. It is necessary to point out that the following specific embodiments are only used to further illustrate the application, and cannot be interpreted as limiting the protection scope of the application. The above application content makes some non-essential improvements and adjustments to this application.

Example

As shown in Figure 1, an automatic picking robot for growing hickory chicks in greenhouses, including a hollow motion chassis 1 and a three-axis right-angle mechanical arm 2 arranged on the top of the motion chassis 1, the automatic picking robot is equipped with a vision system 3, the motion chassis 1 is fixed with a mushroom storage device 4, and the output end of the three-axis right-angle manipulator 2 is fixedly equipped with picking claws 5. Control instructions, the control instructions include motion instructions for controlling the motion chassis 1 intermittently going straight and differential steering, and the picking instructions for controlling the three-axis right-angle mechanical arm 2 and the picking jaw 5 to pick morels;

As shown in Figure 3, the visual system 3 comprises a first camera 31 for collecting image information of the road ahead, a second camera 32 and a third camera 33 for collecting morel image information and an industrial computer for receiving image information The image information received by the industrial computer includes the image information of the road ahead collected by the first camera 31 and the morel image information collected by the second camera 32 and the third camera 33. Make the automatic picking robot walk along the trails on both sides of the predetermined ridge, and transmit the picking instructions to the three-axis right-angle mechanical arm 2 and the picking jaws 5. The movement instructions include the travel instructions for controlling the moving chassis 1 to go straight, 1 stop braking command and steering command for controlling the differential steering of the moving chassis 1, the picking command includes a movement command for controlling the three-axis right-angle mechanical arm 2 to move the picking jaw 5, for controlling the picking jaw 5 to cut and The cutting command for clamping the morels and the unloading command for controlling the picking jaws 5 to release the morels, so that the three-axis right-angle mechanical arm 2 cooperates with the picking jaws 5 to cut the morels, and put the morels Mushrooms are transported to the mushroom storage device 4 to realize automatic picking of morels in greenhouses, ensuring the life and health of growers, saving manpower, and improving picking efficiency. During the process of collecting image information of morels, through the second camera 32 cooperates with the industrial computer and the three-axis right-angle mechanical arm 2 to perform primary positioning on the picking jaw 5, and through the third camera 33 cooperates with the industrial computer and the three-axis right-angle mechanical arm 2 to carry out secondary positioning on the picking jaw 5, so that the robot can locate the sheep tripe The positioning of bacteria is more accurate, ensuring that the automatic picking robot can successfully complete the picking operation.

As shown in Figure 2, the sports chassis 1 includes 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. Wheel hub motors are built into the wheels 13. When the automatic picking robot is turning at a differential speed, the two hub motors run at a differential speed so that the moving chassis 1 can complete the steering. The front end side of the bottom frame 11 is fixed with a chassis 6 for fixing the industrial computer. The driver and battery corresponding to the three-axis right-angle mechanical arm 2 and the picking jaw 5 are also installed in the chassis 6. The first camera 31 is fixed on the front side of the bottom frame 11 through the mounting plate, and the second camera 32 is fixed on the bottom. Right side of box 11.

As shown in Fig. 3 and Fig. 5, the three-axis right-angle mechanical arm 2 includes a transverse conveyor belt 21 arranged at the top end of one side of the bottom frame 11, a first driving motor 22 arranged at one end of the transverse conveyor belt 21, and a first drive motor 22 fixed at the other end of the bottom frame 11. The limit rod 23 on the side, the longitudinal frame 24 that is slidably located on the limit rod 23, the vertical frame 25 that is slidably located on the longitudinal frame 24, and the first screw motor that is fixed on one end of the longitudinal frame 24 26. Slide the slider 27 arranged on the vertical frame 25 and the second screw motor 28 fixed on the top of the vertical frame 25. The horizontal conveyor belt 21 is installed on the top of the rear end of the bottom frame 11 through a bracket. The horizontal conveyor belt 21 Form the X-axis of the three-axis right-angle mechanical arm 2 with the first driving motor 22, the Y-axis of the three-axis right-angle mechanical arm 2 is formed by the longitudinal frame 24 and the first screw mandrel motor 26, the vertical frame 25 and the second wire The rod motor 28 forms the Z axis of the three-axis right-angle mechanical arm 2, and the end of the longitudinal frame 24 away from the limit rod 23 is fixed to the horizontal conveyor belt 21. The inner side of the horizontal conveyor belt 21 is provided with a plurality of protrusions, and the vertical frame 24 is away from One end of the limit rod 23 is provided with a groove corresponding to the protrusion one by one, the output shaft of the first screw motor 26 is screwed with the vertical frame 25, and the output shaft of the second screw motor 28 is screwed with the slide block 27. Connected, the third camera 33 is fixed on the top of the vertical frame 25 .

As shown in Fig. 3 and Fig. 5, the vertical frame 25 rotates near one end of the longitudinal frame 24 and is provided with two groups of guide wheels 29 up and down. All be provided with guide bar between frame 24 and every group guide wheel 29, guide wheel 29 outsides offer the annular groove corresponding with guide bar, when first screw mandrel motor 26 drives vertical frame 25 to move, two up and down Group guide wheel 29 rolls along two guide rods on the longitudinal frame 24 respectively.

As shown in Figure 6, the picking jaw 5 includes a mounting frame 51 fixed at the bottom end of the slider 27, a second driving motor 52 fixed at one end of the mounting frame 51, and a rocker 53 fixed at the output end of the second driving motor 52. , two swing arms 54 respectively hinged at the two ends of the rocker 53, a clip 55 hinged at the end of the swing arm 54 away from the rocker 53, a clip 56 and a knife rest 57 fixed at the bottom of the clip 55, and fixed respectively The cutter 58 at the end where the two knife rests 57 are close to each other, the clamping block 55 is slidably arranged at the bottom of the mounting frame 51, and the two swing arms 54 are arc-shaped and symmetrical about the center of the output end of the second driving motor 52;

Further, the two knife rests 57 are symmetrical to each other, the two clamping knives 56 are mutually symmetrical and the two clamping knives 56 are located between the two knife rests 57, and the opposite ends of the two clamping knives 56 are provided with a decompression layer 59, and the decompression Layer 59 is used to increase the stressed area of hickory chick;

Further, the distance from the opposite end of the clamping knife 56 to the central axis of the mounting bracket 51 is gradually shortened from top to bottom, and the top of the decompression layer 59 extends upwards and is fixed with the clamping block 55. The decompression layer 59 is made of soft material, reducing the pressure. The laminate 59 is preferably a sponge sheet.

As shown in Figure 4, the mushroom storage device 4 includes a picking basket 41 fixed at the middle part of the front end of the bottom frame 11 and a slideway 42 inclined at one side of the picking basket 41. 41 on the other side, the picking basket 41 is located between the bottom frame 11 and the first camera 31, the slideway 42 is fixed to the picking basket 41 through a bracket, the upper end of the slideway 42 is located above the bottom frame 11, and the lower end of the slideway 42 is located at Basket 41 top; In addition, the lower end of this slideway 42 also can be located at the inside of picking basket 41;

Further, the inner side of the picking basket 41 slides on the material receiving plate 43, and the material receiving plate 43 is elastically connected to the bottom wall of the picking basket 41. Specifically, the material receiving plate 43 is connected to the bottom wall of the picking basket 41 by a spring 44. The material receiving plate 43 elastically connected to the bottom wall of the picking basket 41 buffers the hickory chicks, reduces the impact on the morels, and shakes the morels in the picking basket 41 evenly through the slight shaking produced by the material receiving plate 43. Improve the ability of the picking basket 41 to store mushrooms, avoid the accumulation of morels in the middle of the picking basket 41, and prevent the morels from falling during the walking of the robot.

A method for picking morels grown in greenhouses, applied to the automatic picking robot, comprising the following steps:

S1. Establish mushroom model

a. Sample collection

Take multiple morel pictures and divide the pictures into two groups. One set of pictures is used as a training set for training the morel detection model, and the other set of pictures is used as a test set for testing the accuracy of the morel detection model , There are 50 morel pictures marked in total, 40 of which are used as training sets, 10 pictures are used as test sets, and the target number of morels on each morel picture is 6-8;

b. Sample preprocessing

The image information of the training set is preprocessed. The surface of the morel cap has raised folds, and morel-shaped pits are formed between the folds, and the raised folds form a tower-shaped mesh line. During the sample preprocessing process, the training Collect the tower-shaped mesh lines in the image information for line feature extraction;

c. Model building

Write the line features obtained after preprocessing into the memory of the industrial computer, and iteratively train the line features through the YOLO algorithm. The YOLO algorithm is a target detection algorithm that can find objects from pictures and give their categories and positions. The network structure used during training is YOLOv8n, and other parameters use the default settings to obtain the morel detection model;

d. Model testing

Use the test set to test the accuracy of the morel detection model. When the accuracy is not up to the standard, iteratively train the model again until the accuracy of the morel detection model reaches the standard. During the iterative training process, the entire training process is trained After 300 epochs, the accuracy of the final test can reach 100%, where epoch represents the number of iterations;

S2. Walk along the path on both sides of the established ridge

The area in front of the sports chassis 1 is photographed by the first camera 31 to collect image information of the road ahead, and the image information of the road ahead is transmitted to the industrial computer, and the industrial computer analyzes the image information of the road ahead, and recognizes the boundary E of the ridge , when the industrial computer detects the existence of the boundary E of the ridge, the industrial computer sends a movement command of moving and braking to the moving chassis 1 to control the moving chassis 1 to go straight intermittently. When the industrial computer detects that the boundary E of the ridge disappears, the industrial control The machine sends a steering movement command to the moving chassis 1 to control the differential steering of the moving chassis 1;

S3, primary positioning

During the walking process of the automatic picking robot, when the moving chassis 1 stops above the ground cage, the area in the bottom frame 11 is photographed by the second camera 32 to collect the morel image information and transmit the morel image information To the industrial computer, the industrial computer recognizes morels through the morel detection model, and obtains the position distribution information of morels within the picking range of the three-axis right-angle manipulator 2. During the identification process, the trained model is used to test the input Collect the pictures for detection, obtain the coordinates of the target frame, and take the coordinates of the center of the bottom of the frame as the coordinates of the object, so that the position coordinates of the morel in the picture can be obtained;

S4, secondary positioning

The industrial computer sends a movement command to the three-axis right-angle manipulator 2 according to the position distribution information, so that the three-axis right-angle manipulator 2 moves the picking jaw 5 to the top of a single morel, and the third camera 33 pairs the sheep under the picking jaw 5. The morels are photographed, and the image information of the morels is collected for the second time, and the image information of the morels is transmitted to the industrial computer, and the industrial computer recognizes the morels through the morel detection model, and obtains the precise position of a single morel information, to judge whether the picking jaw 5 is aligned with the single morel, if it is aimed at the single morel, the industrial computer sends a movement command to the three-axis right-angle mechanical arm 2 according to the precise position information, so that the three-axis right-angle mechanical arm 2 Correct the position of the picking jaw 5 to ensure that the picking jaw 5 is directly above the morel, and the three-axis right-angle mechanical arm 2 drives the slider 27 and the picking jaw 5 at the bottom of the slider 27 through the second screw motor 28 Move down so that the picking jaws 5 surround the hickory chick;

During the process of the three-axis right-angle mechanical arm 2 moving the picking jaw 5, the first driving motor 22 drives the horizontal conveyor belt 21 to make a rotary motion. 26 drives the vertical frame 25 to move in the Y-axis direction, and the second screw motor 28 drives the slider 27 to move in the Z-axis direction to ensure that the picking jaws 5 can reach each of the rectangular spaces surrounded by the bottom frame 11. site.

S5. Mushroom cutting and storage

The industrial computer sends a cutting command to the picking jaw 5, and the picking jaw 5 cuts and clamps the morels, and then the industrial computer sends a movement command to the three-axis right-angle mechanical arm 2, and the three-axis right-angle mechanical arm 2 moves according to the movement command. The picking jaw 5 moves to the top of the slideway 42, and the industrial computer sends an unloading command to the picking jaw 5, and the picking jaw 5 releases the morel, so that the morel slides along the slideway 42 into the picking basket 41, and the industrial control The machine also detects the placement of the picking jaws 5 and the completion of cutting and unloading by the third camera 33;

During the shearing process, the second drive motor 52 rotates forward, and the output end of the second drive motor 52 drives the two swing arms 54 to swing through the rocker arm 53, so that the two clamping blocks 55 slide towards each other, and the two cutting knives 58 are completed. While cutting the stalk of the morel, the two clamping knives 56 have also completed the clamping of the morel. During the unloading process, the second drive motor 52 reverses, and the second drive motor 52 passes through the rocker arm 53. And two swing arms 54 drive two clamping blocks 55 to slide back, thereby make picking jaw 5 unclamp hickory chick.

Repeat steps S4 and S5, so that the picking jaws 5 pick all the morels below the bottom frame 11 in turn, and then the moving chassis 1 continues to walk along the trails on both sides of the predetermined ridge, which is shown in Figure 7 As shown, when the automatic picking robot arrives at the end point of the path on both sides of the predetermined ridge from the starting point of the path on both sides of the predetermined ridge, the morel picking operation is completed.

The above-mentioned embodiments only express several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but should not be construed as limiting the patent scope of the present invention. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention.

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).