阅读说明：本技术 一种多采摘头可区分采摘的双孢菇采摘机 (Agaricus bisporus picking machine with multiple picking heads capable of picking in distinguishing mode ) 是由 刘新福 崔夏青 李倩文 于 2019-08-30 设计创作，主要内容包括：本发明设计一种存在多个采摘头可区分采摘的双孢菇采摘机。采摘机组成部分为采摘机机械结构和控制系统。采摘机机械结构包括外壳、底盘、采摘机构、传送机构及机器视觉装置等；控制系统包括驱动系统、平台系统及采摘终端等。机器视觉装置首先得出双孢菇生长情况,采摘平台根据图像确定采摘机的行走参数；采摘终端驱动采摘机行走；采摘机构完成双孢菇的采摘后,由传送机构将双孢菇送到指定位置。传送机构和机械手臂可以将采摘速度提升上去。机器视觉装置提取采摘区域的特征,这样可以确定双孢菇大小和高度,进而完成采摘工作,或者是人工输入需采摘双孢菇的大小和高度,进而可以将双孢菇的资源利用率提升上去。(The invention designs an agaricus bisporus picking machine which has a plurality of picking heads and can pick agaricus bisporus in a distinguishing way. The picking machine comprises a mechanical structure and a control system. The mechanical structure of the picking machine comprises a shell, a chassis, a picking mechanism, a conveying mechanism, a machine vision device and the like; the control system comprises a driving system, a platform system, a picking terminal and the like. The machine vision device firstly obtains the growth condition of the agaricus bisporus, and the picking platform determines the walking parameters of the picking machine according to the image; the picking terminal drives the picking machine to walk; after the picking mechanism finishes picking the agaricus bisporus, the agaricus bisporus is conveyed to a designated position by the conveying mechanism. The conveying mechanism and the mechanical arm can lift the picking speed up. The machine vision device extracts the characteristics of the picking area, so that the size and the height of the agaricus bisporus can be determined, the picking work is completed, or the size and the height of the agaricus bisporus needing to be picked are manually input, and the resource utilization rate of the agaricus bisporus can be improved.)

1. The invention designs an agaricus bisporus picking machine which has a plurality of picking heads and can pick agaricus bisporus in a distinguishing way. The picking machine is characterized in that the main components of the picking machine are a mechanical structure of the picking machine and a control system of the picking machine. The mechanical structure of the picking machine comprises a shell, a chassis, a picking mechanism, a conveying mechanism, a machine vision mechanism and the like; the control system comprises a driving system, a platform system and a picking terminal.

2. The mechanical structure layout characteristic of the picking machine according to claim 1 is that: the chassis of the picking machine is composed of four wheels and stretches across the guide rail of the agaricus bisporus planting frame, and the agaricus bisporus can move forwards or backwards along the planting frame under the driving of the driving system in the picking process; the picking mechanism is characterized by comprising a mechanical arm rotating shaft, mechanical arms and a picking head, wherein the mechanical arms are positioned at the forefront position of the picking machine and have eight six degrees of freedom, the control of the mechanical arms is realized through a steering engine, and an ultrasonic ranging sensor and a pressure sensor are arranged in the picking head; the conveying mechanism is characterized by comprising a transverse inclined ladder and an overhanging guide rail, wherein the front end of the transverse inclined ladder is as high as the center of the overall height of the picking machine, the rear end of the transverse inclined ladder is as high as the overhanging guide rail but slightly higher than the overhanging guide rail, and the overhanging guide rail is positioned below the transverse inclined ladder and is parallel to the overhanging guide rail; the machine vision device is characterized in that the machine vision device is positioned at the transverse most front end and the longitudinal middle position of the picking machine.

3. the control system of the picking machine according to claim 1 is characterized by: the picking machine driving system is characterized by comprising a picking machine chassis driving module, a mechanical arm driving module and the like; the picking terminal is characterized in that STC12C5A60S2 is used as a main control chip, instructions are sent to a chassis driving module, a mechanical arm driving module, a GPS positioning module and a zigbee communication module in a serial port communication mode, and the gyroscope module is communicated with the GPS positioning module in the serial port communication mode, and the picking terminal is characterized in that control parameters sent by a picking machine platform can be received, the motion condition of a picking machine can be sent to the platform, further, the picking terminal can control an extending guide rail, further, a series of obstacle avoidance functions can be completed in the walking process of the picking machine, and further, the picking terminal can carry a 5V standby power supply; the picking platform is characterized in that the image parameter information can be transmitted to the picking terminal through a wireless local area network.

Technical Field

The invention relates to the technical field of agaricus bisporus picking and mechanical control, in particular to an agaricus bisporus picking machine with multiple picking heads capable of picking in a distinguishing manner and a control system thereof.

Background

The agaricus bisporus has the characteristics of dense growth, irregular distribution, easy damage, short growth period, large speed difference and the like, so that the agaricus bisporus picking by using a mechanical automation mode has certain difficulty. Most planting big-arch shelter users in China still adopt artifical picking mode, and the people hand is pulled up or the shovel is shoveled up, need consume a large amount of labours, and efficiency is lower, the cost is higher is unfavorable for the utilization of resources of bisporous mushroom.

therefore, a new method for automatically picking agaricus bisporus is needed to solve the problems of low picking efficiency, large loss of agaricus bisporus resources, incapability of automatically selecting and picking and the like.

Disclosure of Invention

In order to overcome the defects of high agaricus bisporus resource loss, lack of a control and monitoring system, low picking efficiency and the like of the existing picking machine in the picking process, the invention provides a multi-picking-head distinguishable agaricus bisporus picking machine with a remote monitoring and sensor system.

The technical scheme adopted by the invention is as follows:

An agaricus bisporus picking machine with a plurality of picking heads capable of picking in a distinguishing way. The picking machine is characterized in that the main components of the picking machine comprise a mechanical structure of the picking machine and a control system of the picking machine. The mechanical structure of the picking machine comprises a shell, a chassis, a picking mechanism, a conveying mechanism, a machine vision device and the like; the control system comprises a driving system, a platform system and a picking terminal.

The picking platform is used for segmenting and extracting the image shot by the machine vision device; the picking platform can transmit the image parameter information to the picking terminal through the wireless local area network. The picking terminal drives the picking mechanism to operate, and the function of picking the agaricus bisporus is realized.

The mechanical structure layout characteristics of the picking machine are as follows: the chassis of the picking machine consists of four wheels and spans on the guide rail of the agaricus bisporus planting frame, and the agaricus bisporus can move forward or backward along the planting frame under the driving of the driving system in the process of picking the agaricus bisporus; the picking mechanism is characterized by comprising a mechanical arm rotating shaft, mechanical arms and a picking head, wherein the mechanical arms are positioned at the forefront position of the picking machine and have eight six degrees of freedom, the control of the mechanical arms is realized through a steering engine, and an ultrasonic ranging sensor and a pressure sensor are arranged in the picking head; the conveying mechanism is characterized by comprising a transverse inclined ladder and an outward extending guide rail, the height of the front end of the transverse inclined ladder is consistent with the central position of the overall height of the picking machine, the height of the rear end of the transverse inclined ladder is almost the same as that of the outward extending guide rail, but the height of the rear end of the transverse inclined ladder is slightly higher than that of the outward extending guide rail, and the outward extending guide rail is positioned below the transverse inclined ladder and is parallel to the outward extending guide; the machine vision device is characterized in that the machine vision device is positioned at the transverse most front end and the longitudinal middle position of the picking machine.

the walking mechanism and the shell of the picking machine are characterized in that: the walking mechanism is four-wheel type, is driven by a chassis driving module, and realizes communication with the picking terminal in a serial port communication mode; the four wheels are driven by a linear motor and can move forward or backward along the guide rail of the agaricus bisporus planting frame; the shell is positioned above the travelling mechanism and has certain length, width and height.

The end effector is characterized by comprising a mechanical arm rotating shaft, mechanical arms and picking claws, the end effector is eight mechanical arms with six degrees of freedom, and the mechanical arm rotating shaft can rotate 360 degrees in the vertical direction to realize the control of the direction of the mechanical arms; the mechanical arms are characterized in that the two metal rods can be rotated at a certain angle, when an image of an agaricus bisporus growth area is obtained, the picking claws are conveyed to a designated position, when the picking claws grasp the agaricus bisporus, the agaricus bisporus is picked in a rotating mode, and the picked agaricus bisporus is placed on a transverse inclined ladder; the picking claw is positioned at the foremost position of the agaricus bisporus picking machine and is always in a vertically downward state, but the picking claw can rotate 360 degrees in the vertical direction and rotates after the agaricus bisporus is grabbed, so that the agaricus bisporus is picked.

The agaricus bisporus conveying mechanism comprises a transverse inclined ladder and an outward extending guide rail. The transverse inclined ladder is characterized in that the transverse inclined ladder is made of smooth materials, the height of the front end of the transverse inclined ladder is consistent with the center of the overall height of the picking machine, the height of the rear end of the transverse inclined ladder is slightly higher than that of the extending guide rail, and the transverse inclined ladder is used for conveying the agaricus bisporus released by the picking mechanism to the extending guide rail behind the picking machine; the overhanging guide rail is characterized in that the overhanging guide rail is positioned below the transverse inclined ladder and is parallel to the transverse inclined ladder in space, and the overhanging guide rail is used for conveying the agaricus bisporus to a designated device. In order to ensure that the overhanging guide rail does not collide with the agaricus bisporus planting frame, ultrasonic sensors are arranged in front of and behind the overhanging guide rail, and the advancing or contracting of the overhanging guide rail is controlled in a mode that a linear motor drives an air cylinder. The ultrasonic sensors are arranged at the front upper part and the rear upper part of the side surface of the shell, when the front ultrasonic sensor detects the vertical support frame of the agaricus bisporus planting frame, signals are transmitted to the central processing unit, the lead screw is driven by the linear motor, so that the overhanging guide rail finishes the action of avoiding the obstacle, and the picking machine does not work during the period of avoiding the obstacle by the overhanging guide rail; when the rear ultrasonic sensor detects the vertical support frame, the central controller controls the motor to drive the lead screw, so that the extending guide rail extends out to continue normal operation.

The agaricus bisporus transmission mechanism is composed of five direct current motors, thirty-two steering engines and a linear motor, wherein the four direct current motors control four wheels of a chassis. The chassis driving module is communicated with the picking terminal in a serial port communication mode, the rotating speed of a direct current motor is controlled, the driving direction of the picking vehicle is determined by controlling the on and off of a relay, and the forward and backward movement of the picking vehicle is realized; and the communication with the picking terminal is realized in a serial port communication mode. The forward or backward movement of the picking machine can be controlled by controlling the rotating speed and the rotating direction of the motor; and the fifth direct current motor realizes the control of the external extension guide rail. Eight robotic arms, each robotic arm is controlled by four steering engines, accomplishes the operation of snatching and twisting off the bisporous mushroom, and the degree of freedom that conveys each robotic arm is six.

The sensor system includes an ultrasonic sensor. The picking arm is positioned in the center of the width of the shell of the agaricus bisporus picking machine and in front of the picking arm; the CCD image sensor is used for collecting growth information of the agaricus bisporus, determining whether the agaricus bisporus is picked or not, and transmitting the agaricus bisporus to the picking platform through a local area network.

The agaricus bisporus picking control system comprises a picking machine driving system: the driving system comprises a picking machine chassis driving module, a picking mechanical arm driving module, a direct current motor driver, a linear motor driver and the like. The chassis driving module is communicated with the picking terminal in a serial port communication mode, executes an instruction sent by the picking terminal according to a communication protocol established in advance, and controls the picking vehicle to move forwards or backwards through the motor driving circuit; the mechanical arm driving module is communicated with the picking terminal in a serial port communication mode, executes an instruction sent by the picking terminal according to a communication protocol established in advance, and finally finishes picking the agaricus bisporus and places the agaricus bisporus at a specified position; the ultrasonic transmitter module can measure the distance between an overhanging guide rail carried by the agaricus bisporus picking machine and the vertical support frame of the agaricus bisporus culture frame, and obstacle avoidance operation is completed when the distance between the overhanging guide rail and the vertical support frame is closer.

The agaricus bisporus picking control system further comprises a picking terminal: the agaricus bisporus picking terminal is located in the middle of the picking machine and is far away from the direct current motor driving module, and electromagnetic interference can be avoided. The picking terminal is communicated with the picking platform in a wireless communication mode; the GPS positioning module can acquire the specific mobile position of the picking vehicle, and transmits information to the picking platform in a wireless communication mode after the information of the position is collected; the gyroscope module can acquire the moving acceleration of the picking vehicle and further acquire the moving speed of the picking vehicle, when the picking vehicle is far away from a target picking area, the horizontal acceleration along the direction of the guide rail of the agaricus bisporus planting frame can realize the control of the rotating speed of the direct current motor for controlling the four bottom wheels through a fuzzy control algorithm, so as to control the rotating speed of the wheels and quickly reach the target picking area, in addition, in the process of grabbing the agaricus bisporus by the mechanical arm, the vertical acceleration of the mechanical claw obtains the position of the agaricus bisporus planting frame where the picking machine is located through an integral form, and sends a picking platform in a message form; the temperature and humidity sensor module can be used for collecting the temperature and humidity of the agaricus bisporus planting greenhouse; the power control module controls the on-off of the main power of the picking machine through the relay, and when the main power is switched off, the picking work can be continuously finished through the standby power supply.

The agaricus bisporus picking control system also comprises a picking platform, wherein the picking platform is established on a remote server, the picking platform can be used for reserving historical data for a period of time, recording the operating parameters of an agaricus bisporus picking machine and mainly recording the picking number, the success rate and the like; the picking platform further comprises a parameter setting function, and the parameter setting function is used for setting parameters such as the size, the height and the moving distance of the agaricus bisporus which needs to be picked at this time and sending the agaricus bisporus to a picking terminal in a message form through the wireless communication module. The monitoring platform further comprises a feature extraction function, motion parameters of the agaricus bisporus picking machine are obtained through fuzzy operation according to the agaricus bisporus distribution conditions, the posture of the mechanical arm, the running speed of the picking machine and other conditions are adjusted in time, and accordingly the agaricus bisporus in the picking area is picked.

Compared with the prior art, the invention has the beneficial effects that:

1. The invention relates to a picking machine with multiple picking heads and capable of picking agaricus bisporus in a distinguishing manner, which is characterized in that a steering engine can control opening and closing of picking claws, and the opening angles among three fingers of the picking claws can be controlled, so that agaricus bisporus larger than a preset size can be clamped; the inner wall of the finger is provided with a silica gel flexible material, and the middle of the finger is provided with a pressure sensor for detecting the strength of the picking head for clamping an object, so that the damage to the surface of the agaricus bisporus is reduced; an ultrasonic sensor is arranged at the top of the picking claw and used for detecting the vertical distance between the picking claw and a picking target, so that the picking claw can catch the agaricus bisporus; the picking arm is driven by a mechanical arm driving module, and the central controller of the picking terminal improves the running speed of a picking system through fuzzy control to select mushrooms to be picked; the picking claws can rotate to finish picking the agaricus bisporus in a rotating mode, so that the utilization efficiency of the agaricus bisporus resources is improved; meanwhile, the picking area information is collected through the CCD image sensor, the processed image information is directly transmitted to the picking terminal, a server is not needed to additionally process the image information, the time is saved, and the accuracy is improved.

2. The agaricus bisporus picking machine with the multiple picking heads is provided with eight mechanical arms, the degree of freedom of each mechanical arm is 6, and a picking claw is hung below each mechanical arm, so that the picking speed is increased under the condition of sufficient picking precision, and the picking efficiency is increased compared with a manual picking mode; meanwhile, the picking platform is provided with a sensor system, the sensors work cooperatively to extract information such as density, size and growth position of the agaricus bisporus in the picking area, if the density of the agaricus bisporus in the picking area is high and the height of the agaricus bisporus in the picking area is high, the moving speed of the picking machine can be reduced, and if the density of the agaricus bisporus in the picking area is low and the height of the agaricus bisporus in the picking area is low, the moving speed of the picking machine can be properly increased, so that the agaricus bisporus can be picked selectively and the picking efficiency is improved through effective fusion of the information among the sensors.

3. The agaricus bisporus picking machine is provided with a remote monitoring module, and the remote monitoring module is in wireless communication with a picking platform, so that the multi-sensor data fusion information can be monitored, and the running condition of the picking machine can also be monitored; the picking machine is provided with a GPS positioning module and a gyroscope module, so that the position of the picking machine is determined, and the management is convenient; the picking machine is provided with the limiting device and the distance measuring device, when a fault occurs, the picking machine can cut off an external power supply in time, and emergency treatment is carried out on the picking machine.

Drawings

FIG. 1 is a schematic diagram of a mechanical structure of an Agaricus bisporus picking machine according to an embodiment of the present disclosure;

FIG. 2 is a structural composition diagram of an agaricus bisporus picking machine;

FIG. 3 is a schematic structural view of an agaricus bisporus picking terminal, a driving module and a picking platform;

FIG. 4 is a flowchart illustrating the operation steps of an Agaricus bisporus picking machine system according to an embodiment of the present disclosure;

Fig. 5 is a flow chart of the picking mechanism of the agaricus bisporus picking machine to complete picking actions.

In fig. 1, 1 is an illumination device, 2 is a CCD image sensor, 3 is a front ultrasonic sensor device, 4 is a picking terminal, 5 is a housing, 6 is a horizontal inclined ladder, 7 is a mechanical arm, 8 is a picking mechanism rotating shaft, 9 is a picking head, 10 is a picking machine front wheel, 11 is a picking machine rear wheel, 12 is an overhanging guide rail, and 13 is a rear ultrasonic sensor device.

Detailed Description

the technical solutions in the embodiments of the present invention will be described clearly and completely below, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any inventive step, are intended to be within the scope of the claims.

The invention discloses an agaricus bisporus picking machine with multiple picking heads capable of picking in a distinguishing mode, which structurally comprises a block diagram (see figure 2), wherein a mechanical structure (see figure 1) of the picking machine comprises an illuminating device 1, a CCD image sensor 2, a front ultrasonic sensor device 3, a picking terminal 4, a shell 5, a transverse inclined ladder 6, a mechanical arm 7, a picking mechanism rotating shaft 8, a picking head 9, a front wheel 10 of the picking machine, a rear wheel 11 of the picking machine, an outward extending guide rail 12 and a rear ultrasonic sensor device 13.

the agaricus bisporus picking machine further comprises a driving module, a picking platform and a picking terminal. A design block diagram (see fig. 3), wherein the driving module comprises a direct current motor driving module, a chassis driving module, a transmission mechanism driving module, a mechanical arm driving module and an ultrasonic sensor module; the picking platform comprises an agaricus bisporus growth real-time data display module, a data storage module and a parameter setting module; the picking terminal comprises a central controller, a power supply module, a communication module, a GPS positioning module and a gyroscope module.

The invention is further characterized in that the central picking terminal controller adopts an STC12C5A60S2 chip.

The invention is further characterized in that the wireless communication module of the picking terminal adopts an EM357 zigbee wireless transmitting and receiving module chip.

The picking platform carries out modular programming through an MATLAB compiling environment, uses a TCP communication protocol and communicates with a zigbee module of a picking terminal through router conversion.

The agaricus bisporus picking machine and the control system thereof have the working steps of (see figure 4):

S1: a picking worker logs in the picking platform and selects a picking mechanical arm according to the actual position of the picking machine and a region needing picking;

s2: the worker can manually input the size of the mushroom to be picked, or a sensor system acquires the temperature and humidity of a picking environment, acquires the growth condition of the mushroom, transmits information to a picking platform, and acquires the condition of the picked mushroom through fuzzy control;

s3: the picking platform transmits the starting information to the picking terminal in a wireless link transmission mode, a main control chip of the picking terminal is awakened through zigbee communication, and the central controller controls the relay to be connected with a main power supply of the picking machine so as to complete the starting work of the picking machine.

S4: the CCD image sensor uploads the picking area image to the picking platform;

S5: the CCD image sensor transmits processed image information to the picking terminal, the picking platform calculates motion parameters of the mechanical arm and the wheel according to the image information, and the picking platform sends the motion parameters to a central controller of the picking terminal in a message form to control the moving speed of the picking machine and the motion track of the mechanical arm through a serial port;

S6: picking action (see fig. 5): s61, controlling the mechanical arm to move to reach the position above the agaricus bisporus to be picked by the steering engine, and vertically moving downwards under the control of the steering engine; s62, when the picking paw reaches the position right above the agaricus bisporus, the steering engine controls the picking paw to be opened, and when the top position of the picking paw is contacted with the upper surface of the agaricus bisporus, the picking paw is closed to complete grabbing; s63 the picking paw twists the agaricus bisporus in a left-right rotating mode, so that damage to the agaricus bisporus is reduced, and twisting action is completed; s64, the cylinder drives the mechanical arm and the mechanical paw to move upwards to complete the pulling-out action; s65, the steering engine drives the rotating shaft to enable the mechanical arm to rotate 90 degrees, the picking paw is opened when the mechanical paw reaches the position right above the transverse inclined ladder, and the agaricus bisporus is placed on the transverse inclined ladder; s66, rotating the mechanical arm by 90 degrees to restore to the original position, and picking the next time;

s7: the front ultrasonic sensor device and the rear ultrasonic sensor device detect the distance between the picking vehicle and the vertical support rod of the agaricus bisporus planting frame, the collision time between the overhanging guide rail and the vertical support rod is calculated according to the moving speed of the picking vehicle, and before collision, the linear motor drives the screw rod to control the overhanging guide rail to contract inwards, so that obstacle avoidance operation is completed.

S8: the GPS positioning module determines the movement position of the picking machine, if the movement position reaches the terminal point, information is sent to the picking platform, and the picking terminal is powered off after the picking platform replies to complete the picking work.

The terms of orientation such as "left", "right", "front", "back", etc. referred to in the present invention are relative concepts, and the X axis in fig. 1 is taken as the length direction and is also taken as the transverse direction; the y-axis direction is the width direction and the longitudinal direction; the Z-axis direction is the height direction. The positive direction of the X axis is the front, and the negative direction is the back; the positive direction of the Z axis is the upper direction, and the negative direction is the lower direction. Nothing in this specification is said to apply to the prior art.