CN114946540A - Automatic robot system that gathers of domestic fungus - Google Patents

Abstract

The invention provides an automatic edible fungus harvesting robot system, which solves the problems of high labor cost and low operation efficiency in an automatic, standardized and large-scale operation mode, further saves labor cost, improves the edible fungus picking and transferring efficiency, is convenient to improve the edible fungus planting yield and profit, and accelerates the automatic and intelligent transformation development of agricultural equipment. The utility model provides an automatic robot system that gathers of domestic fungus, its edible fungus to having a plurality of high layers plants the mushroom bed and carries out domestic fungus picking operation which characterized in that, it includes: a picking robot; lifting the layer changing machine; and a transfer robot; the lifting layer changing machine is arranged and locked at one end of a mushroom planting bed for edible fungi, the picking robot works between mushroom bed layers, the transferring robot is arranged on the side face of the mushroom planting bed for edible fungi, when picking operation is executed, the transferring robot executes the tasks of root cutting, classification and transferring of the edible fungi when the transferring robot moves along mushroom bed channels at different heights, and the transferring robot automatically navigates and moves in a mushroom house.

Description

Automatic robot system that gathers of domestic fungus

Technical Field

The invention relates to the technical field of agricultural automation equipment, in particular to an automatic edible mushroom harvesting robot system.

Background

The edible fungus industry is non-cultivated land production, agricultural production waste recycling, high economic benefit, large market potential, resource saving type construction and environment-friendly type industry. At present, the planting environment of edible fungi is gradually changed from an unstructured planting mode to a structured and standardized factory building type planting mode, but links such as picking, storing and transferring of the edible fungi still depend on human work, and the yield and economic profit of the edible fungi are limited to increase. The existing mechanized picking equipment urgently needs to improve the automation degree, cannot be further popularized and applied, and is due to the following technical difficulties: 1, the height of the mushroom bed is still too low, automatic equipment is difficult to deploy, and customized design is required; 2, the fungi grow densely, the textures are rare, the sizes are different, and the visual detection has challenges; 3, the fungus growth postures are different, and the optimal picking operation part-pileus is not kept in a vertical posture; 4, the growth postures of fungi are different, and the automatic picking equipment is required to be provided with a multi-degree-of-freedom flexible mechanism; 5, the surface of the fungus is soft and fragile, and the surface is easily scratched and damaged due to improper picking; 6 the existing automatic picking equipment lacks an automatic transportation and collection link and has low automation degree.

Therefore, a robot system suitable for automatic harvesting operation of multiple edible fungus layers is urgently needed to be developed, so that the automation rate is improved, and the harvesting efficiency is ensured.

Disclosure of Invention

Aiming at the problems, the invention provides an automatic edible fungus harvesting robot system which solves the problems of high labor cost and low operation efficiency in an automatic, standardized and large-scale operation mode, so that the labor cost is saved, the edible fungus picking and transferring efficiency is improved, the edible fungus planting yield and profit are improved conveniently, and the automatic and intelligent transformation development of agricultural equipment is accelerated.

The utility model provides an automatic robot system that gathers of domestic fungus which plants mushroom bed to the domestic fungus that has a plurality of high layers and carries out edible fungus picking operation which characterized in that, it includes:

the picking robot comprises a frame structure, two side wheel sets, a multi-axis mechanical arm module, a vacuum adsorption tool and a camera module, wherein the two side wheel sets are respectively arranged at two sides of the frame structure in the width direction, the distance between the two side wheel sets ensures that edible fungi are not pressed and arranged in the width boundary area of each layer of fungus bed, the multi-axis mechanical arm module is integrated on the frame structure, the output end of the multi-axis mechanical arm module is provided with the hollow adsorption tool, the upper surface of the frame structure is provided with the camera module, and the camera module is used for capturing the pose of the edible fungi needing picking;

the lifting layer changing machine comprises a main body frame, a lifting platform module and a positioning camera, wherein the lifting platform module is arranged in the central area of the main body frame, the lifting platform module is used for lifting and transferring the picking robot along a height direction track of the main body frame, the positioning camera is arranged at the surface position of the lifting platform module, facing the edible mushroom planting mushroom bed, and is used for capturing the end position of each layer of cross beam of the mushroom planting mushroom bed, so that the position of the picking robot on the lifting platform module relative to the cross beam is determined, and the two are precisely butted;

and transport the robot, it includes that self-contained navigation mobile robot, domestic fungus cut root instrument, lower floor's frame, upper frame, lift module, lower part transport the module, and the root machine X Y axle module subassembly is cut to domestic fungus, self-contained navigation mobile robot's upper portion is provided with lower floor's frame, one side upper portion of lower floor's frame is provided with the upper frame, be provided with in the upper frame the lift module, the output of lift module includes the transport module of loading platform, lower part on upper portion, the integration has domestic fungus to cut root machine X Y axle module subassembly on the loading platform, and the output of domestic fungus root machine X Y axle module subassembly is provided with the domestic fungus and cuts the root instrument, and the domestic fungus root instrument of cutting will be picked arranges the corresponding position of transporting the module after cutting the rhizome in, the transport module is with domestic fungus, The rootstocks are classified and transferred to corresponding recovery frames of the upper-layer frame;

the lifting layer changing machine is arranged and locked at one end of an edible mushroom planting bed, the picking robot works between mushroom bed layers, the transfer robot is arranged on the side face of the edible mushroom planting bed, when picking operation is carried out, when the transfer robot moves along mushroom bed channels at different heights, the edible mushroom root cutting, classifying and transferring tasks are carried out, and the transfer robot moves in an mushroom house in an autonomous navigation mode.

It is further characterized in that:

each side wheel set of the picking robot comprises a front wheel and a rear wheel, one wheel is a driving wheel, the other wheel is a driven wheel, and the driving wheel on each side is provided with an independent driving motor;

one side wheel set is a guide wheel set, and the other side wheel set is a floating wheel set, so that the picking robot can stably and reliably move along the length direction of the mushroom bed layer;

the multi-axis mechanical arm module comprises an XYZ three-axis linear module, a first rotary joint, a second rotary joint and a third rotary joint, wherein a Y-direction output end of the XYZ three-axis linear module is connected with an input end of the first rotary shutdown, an output end of the first rotary shutdown is connected with an input end of the second rotary shutdown, an output end of the second rotary shutdown is connected with an input end of the third rotary shutdown, and an output end of the third rotary shutdown is connected with the vacuum adsorption tool;

the XYZ three-axis linear module comprises an X-axis linear module, a basic Y-axis linear module, a range-extending Y-axis linear module and a Z-axis linear module;

the camera module comprises a plurality of camera mounting brackets and a plurality of RGB-D cameras, the bottom of each camera mounting bracket is fixedly connected to the supporting beam of the X-axis linear module, and each RGB-D camera is mounted at the front end of the camera mounting bracket;

the frame structure further comprises a feature code label group, the feature code label group comprises a plurality of labels with specific feature patterns on the surfaces, and all the labels are adhered to the corresponding surfaces of the frame structure facing the transfer robot;

the transfer robot comprises a feature code tag identification camera, the feature code tag identification camera is installed at the position, facing the tag, of the elevator module, the feature code tag identification camera shoots a feature code tag group, then the collected image is processed and analyzed, the relative position of the picking robot and the transfer robot is judged, the autonomous navigation mobile robot carries out secondary positioning according to the identification result, and the transfer robot is adjusted to move to a reasonable relative position;

the lifting layer changing machine further comprises an automatic charging plate, the automatic charging main board is correspondingly arranged on an automatic charging layer at the bottom position of the main body frame, the picking robot is provided with an automatic charging copper plate, when the electric quantity of a power supply battery of the picking robot is lower than an early warning value, the lifting platform module carries the picking robot to move to the automatic charging layer, and the automatic charging plate is in contact with the automatic charging copper plate of the picking robot to start charging;

the width direction both sides of lower floor's frame are provided with the rhizome respectively in order and retrieve frame, domestic fungus and retrieve the frame, the module is transported including the rhizome and retrieve box, domestic fungus and retrieve box, two telescopic cylinder, the rhizome is retrieved the tip of box and is provided with the reservation opening part towards the rhizome and retrieve the frame, the orientation of domestic fungus is retrieved the box the tip of domestic fungus is retrieved the frame is provided with the reservation opening part, the output of one of them telescopic cylinder is connected to the bottom of box is retrieved to the rhizome, the output of another telescopic cylinder is connected to the bottom of domestic fungus and retrieves the box, and two telescopic cylinder drive corresponding recovery boxes pour rhizome, domestic fungus into corresponding recovery frame in.

After the invention is adopted, the invention has the following advantages: 1, complete edible fungus picking, harvesting and operating industrial equipment covers the field operation processes of the whole flow of automatic picking, automatic secondary treatment, automatic classification, automatic transportation and the like of edible fungi; 2 the picking robot adopted by the invention is provided with a camera system, can identify various types of edible fungi with disordered distribution and different postures, guides the multi-freedom-degree picking mechanical arm and the flexible vacuum adsorption tool to carry out picking operation, and realizes flexible and damage-free picking of edible fungi with specified specification and size; 3, the lifting layer changing machine can be quickly moved and deployed on mushroom beds at different heights, the production changing efficiency is improved, the high-precision automatic positioning of the lifting platform module is realized, the problem that the picking robot is in butt joint with the mushroom beds due to the fact that the heights of the mushroom beds are inconsistent can be solved, and the picking robot is guaranteed to stably move from the lifting layer changing machine to an operation layer of the mushroom beds; 4, realizing high-precision butt joint with the picking robot by adopting the transfer robot, and carrying out secondary deep processing on the edible fungi. Can autonomically plant the indoor motion at constrictive domestic fungus, dock with outside assembly line, collect the transportation of basket and rhizome recovery basket and trade the basket to the domestic fungus that has filled the basket, realize unmanned on duty formula transportation operation.

Drawings

FIG. 1 is a perspective view of the system of the present invention;

FIG. 2 is a rear view of the picking robot of the present invention;

FIG. 3 is a top view of FIG. 2;

FIG. 4 is a side view of FIG. 2;

FIG. 5 is a schematic partially cross-sectional front view and a partially enlarged view of a picking robot of the present invention;

FIG. 6 is a schematic cross-sectional structural view of a picking robot of the present invention;

FIG. 7 is a transverse midline rear section labeling view of the picking robot of the present invention

FIG. 8 is a perspective view of the picking robot of the present invention;

FIG. 9 is an enlarged view of a portion of FIG. 8A;

FIG. 10 is a first perspective view of the first elevator changing machine according to the present invention;

fig. 11 is a second schematic perspective view of the lifting layer-changing machine of the present invention;

fig. 12 is a third schematic perspective view of the lifting layer-changing machine of the present invention;

FIG. 13 is an enlarged view of a portion of FIG. 12 at B;

fig. 14 is a fourth perspective view of the elevator of the present invention;

FIG. 15 is an enlarged view of a portion of FIG. 14 at C;

FIG. 16 is a first perspective view of a transfer robot of the present invention;

FIG. 17 is an enlarged view of a portion of FIG. 16 at D;

FIG. 18 is an enlarged view of a portion of FIG. 16 at E (with the drive motor and reducer shield removed);

FIG. 19 is a second perspective view of the transfer robot of the present invention;

FIG. 20 is an enlarged view of a portion of FIG. 19 at F;

fig. 21 is a first perspective view of a lifting platform module of the transfer robot of the present invention;

FIG. 22 is an enlarged view of a portion of FIG. 21 at G;

FIG. 23 is an enlarged view of a portion of FIG. 21 at H;

fig. 24 is a second perspective view of the lifting platform module of the transfer robot of the present invention.

Detailed Description

An automatic harvesting robot system for edible fungi, which is used for picking edible fungi aiming at an edible fungi planting bed 40 with a plurality of height layers, is shown in figures 1-24 and comprises a picking robot 10, a lifting layer changing machine 20 and a transferring robot 30; the picking robot 10 comprises a frame structure, two side wheel sets, a multi-axis mechanical arm module, a vacuum adsorption tool 106 and a camera module 107, wherein the two side wheel sets are respectively arranged at two sides of the frame structure in the width direction, the distance between the two side wheel sets ensures that edible fungi are not pressed and supported on the width boundary area of each layer of fungus bed, the multi-axis mechanical arm module is integrated on the frame structure, the output end of the multi-axis mechanical arm module is provided with the hollow adsorption tool 106, the upper surface of the frame structure is provided with the camera module 107, and the camera module 107 is used for capturing the pose of the edible fungi needing to be picked;

the lifting layer changing machine 20 comprises a main body frame 21, a lifting platform module 22 and a positioning camera 26, wherein the lifting platform module is arranged in the central area of the main body frame, the lifting platform module 22 is used for lifting and transferring the picking robot 10 along a height direction track of the main body frame 21, the positioning camera 26 is arranged at the surface position, facing the edible mushroom planting bed 40, of the lifting platform module 22, the positioning camera 26 is used for capturing the end position of each layer of cross beam of the mushroom planting bed, and further the position, relative to the cross beam, of the picking robot on the lifting platform module is determined, and accurate butt joint of the two is achieved;

the transfer robot 30 comprises an autonomous navigation mobile robot 31, an edible fungus root cutting tool 32, a lower layer frame 33, an upper layer frame 34, a lifter module 35 and a lower transfer module, an X Y shaft module assembly of an edible fungus root cutting machine, a lower layer frame 33 is arranged at the upper part of an autonomous navigation mobile robot 31, an upper layer frame 34 is arranged at the upper part of one side of the lower layer frame 33, a lifting machine module 35 is arranged in the upper layer frame 34, the output end of the lifting machine module 35 comprises an upper loading table 352 and a lower transfer module, the loading table 352 is integrated with an edible fungus root cutting machine X Y shaft module assembly, an edible fungus root cutting tool 32 is arranged at the output end of the X Y shaft module assembly of the edible fungus root cutting machine, the edible fungus root cutting tool 32 cuts roots of picked edible fungi and then places the edible fungus roots in the corresponding position of the transfer module, and the transfer module sorts and transfers the edible fungi and the roots to the corresponding recovery frame of the upper layer frame 34;

the lifting layer changing machine 20 is arranged and locked at one end of an edible mushroom planting bed 40, the picking robot 10 works between mushroom bed layers, the transferring robot 30 is arranged on the side face of the edible mushroom planting bed 40, when picking work is executed, when the transferring robot 30 moves in mushroom bed channels at different heights, the tasks of cutting roots, classifying and transferring edible mushrooms are executed, and the transferring robot 30 autonomously navigates and moves in a mushroom house.

In a specific embodiment, the picking robot 10 includes a front frame 11, a left driving wheel module 12, a right driving wheel module 13, a rear frame 14, a left driven wheel module 15, a right driven wheel module 16, a middle connecting frame 17, an X-axis linear module 18, a basic Y-axis linear module 19, an extended range Y-axis linear module 101, a Z-axis linear module 102, a first rotary joint 103, a second rotary joint 104, a third rotary joint 105, a vacuum adsorption tool 106, a camera module 107, and a signature tag group 108;

the front frame 11 and the rear frame 14 are fixedly connected by a left lower link 171, a left upper link 172, a right lower link 173, and a right upper link 174 of the intermediate link frame 17. An electric control system hardware 109 of the picking robot 10 is arranged inside the front frame 11, and the central line of the upper part of the front frame 11 adopts a groove structure design;

the power supply battery of the picking robot 10 is arranged inside the rear frame 14, the upper center line of the rear frame 14 adopts a groove structure design, and the self-charging copper plate 1010 of the picking robot 10 is arranged on the rear surface of the rear frame 14; the front frame 11 and the rear frame 14 are fixedly connected through an intermediate connecting frame 17; a transmission shaft 121 of the left driving wheel module 12 is installed in a bearing hole at the lower left portion of the front frame 11, a driving wheel 122 of the left driving wheel module 12 adopts a double-flange design, a middle groove can form a profile nested rolling pair with a mushroom bed beam, the driving wheel 122 of the left driving wheel module 12 is installed at the outer side of the transmission shaft 121 of the left driving wheel module 12, a driven pulley 123 of the left driving wheel module 12 is coaxially and fixedly connected with the driving wheel 122 of the left driving wheel module 12 through the transmission shaft 121 of the left driving wheel module 12, the driven pulley 123 of the left driving wheel module 12 is installed at the inner side of the transmission shaft 121 of the left driving wheel module 12, a driving motor 124 of the left driving wheel module 12 is installed at the upper portion of a left side plate of the front frame 11, a speed reducer 125 of the left driving wheel module 12 is installed at an output end of the driving motor 124 of the left driving wheel module 12, and a driving pulley 126 of the left driving wheel module 12 is installed at an output end of the speed reducer 125 of the left driving wheel module 12 The driving pulley 126 of the left driving wheel module 12 and the driven pulley 123 of the left driving wheel module 12 are connected through a synchronous belt; the transmission shaft 131 of the right driving wheel module 13 is installed in a bearing hole at the lower part of the right side of the front frame 11, the driving wheel 132 of the right driving wheel module 13 adopts a single-flange design, the driving wheel 132 of the right driving wheel module 13 is installed at the outer side of the transmission shaft 131 of the right driving wheel module 13, the driven pulley 133 of the right driving wheel module 13 is coaxially and fixedly connected with the driving wheel 132 of the right driving wheel module 13 through the transmission shaft 131 of the right driving wheel module 13, the driven pulley 133 of the right driving wheel module 13 is installed at the inner side of the transmission shaft 131 of the right driving wheel module 13, the driving motor 134 of the right driving wheel module 13 is installed at the upper part of the right side plate of the front frame 11, the speed reducer 135 of the right driving wheel module 13 is installed at the output end of the driving motor 134 of the right driving wheel module 13, the driving pulley 136 of the right driving wheel module 13 is installed at the output end of the speed reducer 135 of the right driving wheel module 13, the driving belt wheel 136 of the right driving wheel module 13 is connected with the driven belt wheel 133 of the right driving wheel module 13 through a synchronous belt; the driven wheel 151 of the left driven wheel module 15 is arranged at the lower part of the left side of the rear frame 14, the driven wheel 151 of the left driven wheel module 15 adopts a double-flange design and has the same structure with the driving wheel 122 of the left driving wheel module 12, a middle groove can form a profiling nested rolling pair with a mushroom bed beam, and a brake block 152 of the left driven wheel module 15 is arranged at the left side of the rear frame 14; the driven wheel 161 of the right driven wheel module 16 is mounted at the lower part of the right side of the rear frame 14, the driven wheel 161 of the right driven wheel module 16 adopts a single-flange design and has the same structure with the driving wheel 132 of the right driving wheel module 13, and the brake block 162 of the right driven wheel module 16 is mounted at the right side of the rear frame 14;

the left rolling wheel 181 of the X-axis linear module 18 is mounted on the lower portion of the left vertical beam 182 of the X-axis linear module 18, and the left rolling wheel 181 of the X-axis linear module 18 rolls on the left lower link 171 of the middle connecting frame 17, forming a roller guide kinematic pair. A support beam 183 of the X-axis linear module 18 is fixedly connected with a left vertical beam 182 of the X-axis linear module 18, a speed reducer 184 of the X-axis linear module 18 is mounted at the left end of the support beam 183 of the X-axis linear module 18, a driving motor 185 of the X-axis linear module 18 is coaxially mounted at the input end of the speed reducer 184 of the X-axis linear module 18, a transmission gear 186 of the X-axis linear module 18 is coaxially mounted on the output shaft of the speed reducer 184 of the X-axis linear module 18, a rack 187 of the X-axis linear module 18 is mounted at the bottom of the left upper connecting rod 172 of the middle connecting frame 17, and a transmission gear 186 of the X-axis linear module 18 and the rack 187 of the X-axis linear module 18 form a gear-rack transmission pair; a right rolling wheel 188 of the X-axis linear module 18 is arranged at the lower part of a right vertical beam 189 of the X-axis linear module 18, and the right rolling wheel 188 of the X-axis linear module 18 rolls on a right lower connecting rod 173 of the middle connecting frame 17 to form a roller guide track kinematic pair; the sliding block 1810 of the X-axis linear module 18 is mounted at the right end of the support beam 183 of the X-axis linear module 18, the sliding rail 1811 of the X-axis linear module 18 is mounted inside the right upper link 174 of the middle connecting frame 17, and the sliding block 1810 of the X-axis linear module 18 and the sliding rail 1811 of the X-axis linear module 18 form a sliding motion pair; the left end part of a synchronous belt sliding table module 191 of the basic Y-axis linear module 19 is fixedly connected with a sliding block 1021 of the Z-axis linear module 102, a sliding rail 1022 of the Z-axis linear module 102 is fixedly connected with a left vertical beam 182 of the X-axis linear module 18, and the sliding block 1021 of the Z-axis linear module 102 and the sliding rail 1022 of the Z-axis linear module 102 form a sliding motion pair. The right end of the synchronous belt sliding table module 191 of the basic Y-axis linear module 19 is fixedly connected with a ball screw nut 1023 of the Z-axis linear module 102, a ball screw 1024 of the Z-axis linear module 102 is installed in a right vertical beam 189 of the X-axis linear module 18, and a driving motor 1025 of the ball screw of the Z-axis linear module 102 is coaxially installed at the upper end of the ball screw 1024 of the Z-axis linear module 102. The driving motor 192 of the basic Y-axis linear module 19 is orthogonally installed at the left end of the synchronous belt sliding table module 191 of the basic Y-axis linear module 19; a synchronous belt sliding table module 1011 of the range-extended Y-axis linear module 101 is fixedly connected to an output sliding block 193 of the basic Y-axis linear module 19, and a driving motor 1012 of the range-extended Y-axis linear module 101 is arranged at the left end part of the synchronous belt sliding table module 1011 of the range-extended Y-axis linear module 101 in a parallel mode; the base 1031 of the first rotary joint 103 is fixedly connected to the output slider 1013 of the range-extending Y-axis linear module 101, the input end of the integrated motor reducer module 1032 of the first rotary joint 103 is fixedly connected to the base 1031 of the first rotary joint 103, and the rear end of the quarter-turn housing 1041 of the second rotary joint 104 is fixedly connected to the output end of the integrated motor reducer module 1032 of the first rotary joint 103. The input end of the integrated motor reducer module 1042 of the second rotary joint 104 is fixedly connected to the front end of the quarter-turn housing 1041 of the second rotary joint 104, and the rear end of the quarter-turn housing 1051 of the third rotary joint 105 is fixedly connected to the output end of the integrated motor reducer module 1042 of the second rotary joint 104. The input end of the integrated motor reducer module 1052 of the third rotary joint 105 is fixedly connected to the front end of the right-angled housing 1051 of the third rotary joint 105, and the vacuum adsorption tool 106 is fixedly connected to the output end of the integrated motor reducer module 1052 of the third rotary joint 105;

the camera module comprises 4 camera mounting brackets 1071 and 4 RGB-D color and depth information cameras 1072, the bottom of the camera mounting bracket is fixedly connected to the support beam 183 of the X-axis linear module 18, and the RGB-D cameras 1072 are mounted at the front end of the camera mounting bracket 1071;

the feature code tag set 108 comprises a plurality of tags 1081 with specific feature patterns on the surfaces, and the tags 1081 are adhered to the outer side surface of the right upper connecting rod 174 of the middle connecting frame 17;

according to the command sent by the control system, the driving motor 124 of the left driving wheel module 12 and the driving motor 134 of the right driving wheel module 13 are simultaneously started to rotate, and the motor torque is amplified by the speed reducer 125 of the left driving wheel module 12 and the speed reducer 135 of the right driving wheel module 13 respectively, so as to drive the driving pulley 126 of the left driving wheel module 12 and the driving pulley 136 of the right driving wheel module 13 to rotate. Then, the driving pulley 126 of the left driving pulley module 12 and the driving pulley 136 of the right driving pulley module 13 transmit the rotation torque to the driven pulley 123 of the left driving pulley module 12 and the driven pulley 133 of the right driving pulley module 13 through the synchronous belts, respectively;

the driving wheel 122 of the left driving wheel module 12 is coaxially and fixedly connected with the driven pulley 123 of the left driving wheel module 12, the driven pulley 123 of the left driving wheel module 12 drives the driving wheel 122 of the left driving wheel module 12 to synchronously rotate, and the driving wheel 122 of the left driving wheel module 12 adopts a double-flange design as a deviation-rectifying guide driving wheel to form a profiling nested rolling pair with the mushroom bed beam; the driving wheel 132 of the right driving wheel module 13 is coaxially and fixedly connected with the driven belt wheel 133 of the right driving wheel module 13, the driven belt wheel 133 of the right driving wheel module 13 drives the driving wheel 132 of the right driving wheel module 13 to synchronously rotate, and the driving wheel 132 of the right driving wheel module 13 adopts a single-flange design and is used as a floating driving wheel to form a conformal nested rolling pair with the mushroom bed beam; the driven wheel 151 of the left driven wheel module 15 and the driven wheel 161 of the right driven wheel module 16 are used as auxiliary supporting wheels and roll on the mushroom bed cross beam under the driving of the driving wheel 122 of the left driving wheel module 12 and the driving wheel 132 of the right driving wheel module 13; when the driving wheel 122 of the left driving wheel module 12 and the driving wheel 132 of the right driving wheel module 13 drive the picking robot 10 to move for a distance designated by the controller, the driving motor 124 of the left driving wheel module 12 and the driving motor 134 of the right driving wheel module 13 stop rotating, and meanwhile, the brake block 152 of the left driven wheel module 15 and the brake block 162 of the right driven wheel module 16 respectively contact with the driven wheel 151 of the left driven wheel module 15 and the driven wheel 161 of the right driven wheel module 16, so that the driven wheel 151 of the left driven wheel module 15 and the driven wheel of the right driven wheel module 16 are fixed through friction force, and the picking robot 10 is prevented from passively sliding on a mushroom bed cross beam;

according to the instruction sent by the control system, the driving motor 185 of the X-axis linear module 18 starts to rotate, the torque of the motor is amplified through the speed reducer 184 of the X-axis linear module 18, the transmission gear 186 of the X-axis linear module 18 is driven to rotate, and the transmission gear 186 of the X-axis linear module 18 and the rack 187 of the X-axis linear module 18 form a gear-rack transmission pair. The left rolling wheel 181 of the X-axis linear module 18 serves as an auxiliary support wheel, rolls on the left lower link 171 of the intermediate connection frame 17, and the right rolling wheel 188 of the X-axis linear module 18, which constitutes a roller guide movement mechanism, serves as an auxiliary support wheel, rolls on the right lower link 173 of the intermediate connection frame 17, and constitutes a roller guide movement pair. Under the drive of the gear rack transmission pair, the X-axis linear module 18 is constrained by the middle connecting frame 17 and moves along the front-back direction, and after the X-axis linear module 18 moves to the position designated by the controller, the driving motor 185 of the X-axis linear module 18 stops rotating;

according to an instruction sent by the control system, the RGB-D camera 1072 of the camera module 107 starts shooting, color images and point cloud data are collected, data of a plurality of cameras are spliced and fused based on a 3D vision perception technology facing agriculture, and then the position posture of the edible fungi is gradually solved from the edible fungi growing in disorder based on a non-structural environment crop information extraction technology.

The controller adopts a robot inverse kinematics algorithm to solve the poses of each joint module of the picking mechanical arm according to pose data of the edible fungi, so as to control the driving motor 185 of the X-axis linear module 18, the driving motor 1025 of the ball screw of the Z-axis linear module 102, the driving motor 192 of the basic Y-axis linear module 19, the integrated motor reducer module 1032 of the first rotary joint 103, the integrated motor reducer module 1042 of the second rotary joint 104, the integrated motor reducer module 1052 of the third rotary joint 105 and the like to move to specified poses, then the vacuum adsorption tool 106 adsorbs the fungus cover of the edible fungi along the central normal direction of the fungus cover, after the adsorption is firm, the integrated motor reducer module 1052 of the third rotary joint 105 rotates again to loosen the root of the edible fungi from the planting layer soil, then, the 3 linear modules and the 3 rotary modules move in a combined manner, picking edible fungi from the soil of the planting layer; further, the controller controls the range-extending Y-axis linear module 101 to extend rightward, drives the edible fungi to move to the outside of the right side of the picking robot 10, then controls the integrated motor reducer module 1032 of the first rotary joint 103, the integrated motor reducer module 1042 of the second rotary joint 104, and the integrated motor reducer module 1052 of the third rotary joint 105 to move to a designated pose, sends a positioning signal to the control system, and waits for the transfer robot 30 to perform docking and deep processing.

The main body frame 21 of the lifting layer changing machine 20, the lifting platform module 22, the self-charging plate 23, the quick locking positioning device 124, the quick locking positioning device 225 and the positioning camera 26. The rear side, the left side, the right side and the upper surface of the main body frame 21 are constructed by metal pipe fittings through welding, 4 universal wheels 211 are installed at the bottom of the main body frame 21, the front side of the main body frame 21 is open, and the main body frame is in butt joint with one end of a mushroom bed. Quick-lock positioning device 124 is attached to the front portion of the left side of main body frame 21, and quick-lock positioning device 225 is attached to the front portion of the right side of main body frame 21. The autonomous charging board 23 is attached to a lower portion of the rear side of the main body frame 21. The control cabinet 27 of the lifting layer changing machine 20 is fixedly connected to the lower portion of the left side face of the main body frame 21, and the running state indicator light 28 is fixedly connected to the upper surface of the main body frame 21. The bearing table 221 of the lifting platform module 22 is installed inside the main body frame 21, the slider 1222 and the slider 2223 of the lifting platform module 22 are fixedly connected to the left side of the bearing table 221 of the lifting platform module 22, the left side rail 224 of the lifting platform module 22 is fixedly connected to the left side of the main body frame 21, and the slider 1222 and the slider 2223 of the lifting platform module 22 and the left side rail 224 of the lifting platform module 22 form a sliding kinematic pair. The slider 3225 and the slider 4226 of the lifting platform module 22 are fixedly connected to the right side of the bearing table 221 of the lifting platform module 22, the right guide rail 227 of the lifting platform module 22 is fixedly connected to the right side of the main body frame 21, and the slider 3225 and the slider 4226 of the lifting platform module 22 and the right guide rail 227 of the lifting platform module 22 form a sliding kinematic pair. The reducer 228 of the lifting platform module 22 is fixedly connected to the left side of the bearing table 221 of the lifting platform module 22, the driving motor 2213 of the lifting platform module 22 is fixedly connected to the input end of the reducer 228 of the lifting platform module 22, the gear 229 of the lifting platform module 22 is fixedly connected to the output end of the reducer 228 of the lifting platform module 22, the rack 2210 of the lifting platform module 22 is installed on the left side of the main body frame 21, and the gear 229 of the lifting platform module 22 and the rack 2210 of the lifting platform module 22 form a gear-rack transmission pair. The left guide rail 2211 of the lifting platform module 22 is fixedly connected to the left side of the upper surface of the bearing table 221 of the lifting platform module 22, and the right guide rail 2212 of the lifting platform module 22 is fixedly connected to the right side of the upper surface of the bearing table 221 of the lifting platform module 22. The positioning camera 26 is installed on the right side of the front surface of the loading stage 221 of the elevating platform module 22;

first, the operator pushes the lifting and lowering layer changer 20 to one end of the mushroom bed, and then locks the lifting and lowering layer changer 20 with the mushroom bed by operating the quick lock positioning device 124 and the quick lock positioning device 225, while the picking robot 10 is located on the left side guide rail 2211 and the right side guide rail 2212 of the lifting platform module 22. Then, according to the instruction sent by the control system, the driving motor 2213 of the lifting platform module 22 is started to operate, the motor torque is amplified by the speed reducer 228 of the lifting platform module 22, so as to drive the gear 229 of the lifting platform module 22 to rotate, the gear 229 of the lifting platform module 22 and the rack 2210 of the lifting platform module 22 form a gear-rack transmission pair, the slider 1222 and the slider 2223 of the lifting platform module 22 and the left guide rail 224 of the lifting platform module 22 serve as supporting sliding pairs, and the slider 3225 and the slider 4226 of the lifting platform module 22 and the right guide rail 227 of the lifting platform module 22 serve as supporting sliding pairs; driven by the transmission of the gear rack transmission pair, the lifting platform module 22 moves up and down along the main body frame 21, when the lifting platform module 22 moves to a mushroom bed planting layer appointed by the controller, the controller triggers the positioning camera 26 to shoot the end of a mushroom bed beam, then the collected image is processed and analyzed, whether the lifting platform module 22 is accurate in place is judged, if the positioning error is larger than an allowable value, the controller sends an instruction, and the lifting platform module 22 is controlled to be finely adjusted up and down along the main body frame 21 until the error requirement is met. Further, the controller sends commands to picking robot 10, which moves along left and right guide rails 2211 and 2212 of lift platform module 22 onto the beam of the mushroom bed, performing picking tasks. Further, when picking robot 10 completes the picking task for the current planting level, picking robot 10 moves back onto lifting platform module 22 along the beams of the mushroom bed, left and right guide rails 2211 and 2212 of lifting platform module 22. Further, when the power supply battery capacity of the picking robot 10 is lower than the early warning value, the lifting platform module 22 moves the picking robot 10 to the automatic charging layer, and the autonomous charging plate 23 contacts with the autonomous charging copper plate 1010 of the picking robot 10 to start charging.

The transfer robot 30 comprises an autonomous navigation mobile robot 31, an edible fungus root cutting tool 32, a lower layer frame 33, an upper layer frame 34, a lifter module 35, a telescopic cylinder 136, a telescopic cylinder 237, an edible fungus root cutting machine X-axis module 38, an edible fungus root cutting machine Y-axis module 39 and a feature code label recognition camera 310. Lower floor frame 33 is built through welding by metal pipe fitting, and lower floor frame 33 bottom links firmly on the upper portion of independently navigating mobile robot 31, and inside the left side of lower floor frame 33 was installed to switch board 351 of lift module 35, and basket 311 and a rhizome recovery basket 312 are collected to an edible mushroom to left side upper portion of lower floor frame 33, and upper frame 34 bottom links firmly on the right side upper portion of lower floor frame 33. The loading table 352 of the elevator module 35 is mounted inside the upper frame 34, the slider 1353 and the slider 2354 of the elevator module 35 are fixedly connected to the left side surface of the loading table 352 of the elevator module 35, the left side guide rail 355 of the elevator module 35 is fixedly connected to the left side surface of the upper frame 34, and the slider 1353 and the slider 2354 of the elevator module 35 and the left side guide rail 355 of the elevator module 35 constitute a sliding kinematic pair. The sliding block 3356 and the sliding block 4357 of the elevator module 35 are fixedly connected to the right side surface of the loading table 352 of the elevator module 35, the right guide rail 358 of the elevator module 35 is fixedly connected to the right side surface of the main body frame 21, and the sliding block 3356 and the sliding block 4357 of the elevator module 35 and the right guide rail 358 of the elevator module 35 form a sliding kinematic pair. A speed reducer 359 of the elevator module 35 is fixedly connected to the upper right portion of the loading table 352 of the elevator module 35, a driving motor 3510 of the elevator module 35 is fixedly connected to an input end of the speed reducer 359 of the elevator module 35, a gear 3511 of the elevator module 35 is fixedly connected to an output end of the speed reducer 359 of the elevator module 35, a rack 3512 of the elevator module 35 is installed on the right side surface of the main body frame 21, and the gear 3511 of the elevator module 35 and the rack 3512 of the elevator module 35 form a gear-rack transmission pair. The fixed end of the telescopic cylinder 136 is arranged at the lower part of the loading platform 352 of the elevator module 35, the telescopic end of the telescopic cylinder 136 is arranged at the bottom of the edible fungus collecting box 313, a tapered opening is reserved at the left end part of the edible fungus collecting box 313, and the lower part of the left side of the edible fungus collecting box 313 is connected with the lower surface of the inner part of the loading platform 352 of the elevator module 35 by a hinge. The fixed end of the telescopic cylinder 237 is installed at the lower part of the loading platform 352 of the elevator module 35, the telescopic end of the telescopic cylinder 237 is installed at the bottom of the rhizome recovering box 314, a tapered opening is reserved at the left end of the rhizome recovering box 314, and the lower part of the left side of the rhizome recovering box 314 is connected with the inner lower surface of the loading platform 352 of the elevator module 35 by a hinge. The linear driving module 381 of the X-axis module 38 of the edible fungi root cutter is installed on the right side surface of the loading table 352 of the elevator module 35, and the slide rail 382 of the X-axis module 38 of the edible fungi root cutter is installed on the left side surface of the loading table 352 of the elevator module 35. The right end part of the edible fungus root cutting machine Y-axis module 39 is installed at the output end of the linear driving module 381 of the edible fungus root cutting machine X-axis module 38, the left end part of the edible fungus root cutting machine Y-axis module 39 is installed on the sliding block 383 of the edible fungus root cutting machine X-axis module 38, and the sliding block 383 of the edible fungus root cutting machine X-axis module 38 and the sliding rail 382 of the edible fungus root cutting machine X-axis module 38 form a sliding pair. The edible fungus root cutting tool 32 is installed at the output end of the Y-axis module 39 of the edible fungus root cutting machine, the edible fungus root cutting tool 32 comprises an upper clamp 321 and a lower shear 322, the upper clamp 321 of the edible fungus root cutting tool 32 is installed on a connecting plate of the edible fungus root cutting tool 32 and is located at the upper part of the lower shear 322, and the lower shear 322 of the edible fungus root cutting tool 32 is installed on the connecting plate of the edible fungus root cutting tool 32 and is located at the lower part of the upper clamp 321. A feature code tag recognition camera 310 is mounted on the front side of the elevator module 35.

First, the autonomous navigation mobile robot 31 moves to a specified position on the side of the mushroom bed according to an instruction sent from the control system. Then, the driving motor 3510 of the elevator module 35 is started to operate, the motor torque is amplified through the speed reducer 359 of the elevator module 35, the gear 3511 of the elevator module 35 is driven to rotate, and the gear 3511 of the elevator module 35 and the rack 3512 of the elevator module 35 form a gear-rack transmission pair. The slides 1353 and 2354 of the elevator module 35 and the left side rail 355 of the elevator module 35 act as a supporting sliding pair. The blocks 3356 and 4357 of the elevator module 35 and the right guide rail 358 of the elevator module 35 serve as a support slide pair. The elevator module 35 moves up and down along the upper frame 34 under the driving of the gear-rack transmission pair. When the elevator module 35 moves to a mushroom bed planting layer designated by the controller, the controller triggers the feature code tag recognition camera 310 to take a picture of the feature code tag group 108, then the collected image is processed and analyzed, the relative position of the picking robot 10 and the transfer robot 30 is judged, then the autonomous navigation mobile robot 31 carries out secondary positioning according to the recognition result, and the transfer robot 30 adjusts and moves to a reasonable relative position. When receiving a signal that the picking robot 10 finishes picking and positioning an edible fungus, the controller sends a control instruction to control the edible fungus root shearing machine X-axis module 38 and the edible fungus root shearing machine Y-axis module 39 to move to specified positions, then the upper clamp 321 of the edible fungus root shearing tool 32 is in butt joint with the vacuum adsorption tool 106 to clamp the root of the edible fungus, then the edible fungus root shearing machine X-axis module 38 and the edible fungus root shearing machine Y-axis module 39 are controlled to move in a combined manner to drive the clamped edible fungus to move to the position above the root stem recovery box 314, and then the lower scissors 322 of the edible fungus root shearing tool 32 shear the currently clamped edible fungus root. Then, the X-axis module 38 and the Y-axis module 39 of the edible fungus root cutting machine are controlled to move in combination, so as to drive the clamped edible fungi with roots cut off to move to the upper part of the edible fungus collecting box 313, and then the upper clamp 321 of the edible fungus root cutting tool 32 is opened, so that the edible fungi fall into the edible fungus collecting box 313. Further, when the edible fungi collection box 313 is fully loaded, the telescopic cylinder 136 extends, the edible fungi collection box 313 is inclined towards the left side by the support, and the edible fungi fall into the edible fungi collection basket 311 from the reserved conical opening at the left end part. When the rhizome recovering box 314 is fully loaded, the telescopic cylinder 237 is extended, the rhizome recovering box 314 is inclined to the left side by the support, and the roots of the edible fungi fall into the rhizome recovering basket 312 from the left end portion reserved tapered opening. When the edible mushroom collecting basket 311 or the rhizome recovering basket 312 is fully loaded, the transfer robot 30 autonomously navigates to the docking line and automatically conveys the fully loaded edible mushroom collecting basket 311 or the rhizome recovering basket 312 to the external flow line. Then, the mushroom is returned to the side of the mushroom bed to continue to carry out root cutting and classification operations.

The specific working process of the invention is as follows:

1. the operator pushes the lift-and-lower layer changer 20 to one end of the mushroom bed, locking the lift-and-lower layer changer 20 and the mushroom bed together, with the picking robot 10 on the lift platform module 22. Then, according to the instruction sent by the control system, the lifting platform module 22 moves up and down along the main body frame 21, when the lifting platform module 22 moves to a mushroom bed planting layer specified by the controller, the controller triggers the positioning camera 26 to photograph the end part of a cross beam of the mushroom bed, then the collected image is processed and analyzed, whether the lifting platform module 22 is accurate in place or not is judged, if the positioning error is larger than an allowable value, the controller sends an instruction, and the lifting platform module 22 is controlled to be finely adjusted up and down along the main body frame 21 until the error requirement is met.

2. The controller sends commands to picking robot 10 which move along left and right guide rails 2211 and 2212 of lift platform module 22 onto the beams of the mushroom bed to perform picking tasks.

3. The picking robot 10 rolls on the mushroom bed beam, moves a fixed distance to the other end of the mushroom bed by taking the mushroom bed beam as a guide rail according to the instruction of the controller, and stops. Synchronously, according to the instruction sent by the control system, the autonomous navigation mobile robot 31 moves to the specified position on the side surface of the mushroom bed, the elevator module 35 moves to the mushroom bed planting layer specified by the controller, and the transfer robot 30 is guided by vision to adjust and move to a reasonable relative position. Then, the RGB-D camera 1072 of the camera module 107 starts shooting, collects color images and point cloud data, performs mosaic fusion processing on the data of the plurality of cameras based on the 3D visual perception technology oriented to agriculture, and then solves the poses of the edible fungi from the unordered edible fungi based on the non-structural environment crop information extraction technology.

4. The controller adopts a robot inverse kinematics algorithm to solve the position and pose of each joint module of the picking mechanical arm according to the position and pose data of the edible fungi, so that 3 linear modules and 3 rotating modules are controlled to move to an appointed position and pose in a combined mode, then the vacuum adsorption tool 106 adsorbs the edible fungi cover along the normal line direction of the center of the edible fungi cover, after the adsorption is firm, the integrated motor reducer module 1052 of the third rotating joint 105 rotates again, the root of the edible fungi is loosened from the soil of the planting layer, and then the edible fungi are picked from the soil of the planting layer.

5. The controller controls the range-extended Y-axis linear module 101 to extend rightwards to drive the edible fungi to move to the outside of the right side of the picking robot 10, then controls the 3 rotary modules to move to the designated pose, sends a positioning signal to the control system, and waits for the transfer robot 30 to carry out butt joint and deep processing treatment.

6. When receiving a signal that the picking robot 10 finishes picking and positioning edible fungi, the controller sends a control instruction to control the edible fungi root cutting machine X-axis module 38 and the edible fungi root cutting machine Y-axis module 39 to move to the specified positions, and then the edible fungi root cutting tool 32 finishes the root cutting and classifying operation of the edible fungi.

7. When the edible mushroom collecting basket 311 or the rhizome recovering basket 312 is fully loaded, the transfer robot 30 autonomously navigates to the docking line and automatically conveys the fully loaded edible mushroom collecting basket 311 or the rhizome recovering basket 312 to the external flow line. Then, the mushroom is returned to the side of the mushroom bed to continue to carry out root cutting and classification operations.

8. After the picking robot 10 finishes picking operation in the current area, the picking robot continues to roll on the cross beam of the mushroom bed, moves a fixed distance to the other end of the mushroom bed and stops, and synchronously, the transfer robot 30 moves to a reasonable relative position and cooperates with the picking robot 10 to finish the continuous edible mushroom root cutting, classifying, transferring and docking operation.

9. After picking robot 10 completes picking at the current level, it moves to lift platform module 22 and lifts it to the next layer to be picked for a new round of picking.

The RGB-D camera is herein a color and depth information camera.

Compared with the prior art, the invention has the following advantages:

1 complete edible fungus picking, collecting and operating equipment covers the field operation processes of the whole flow of automatic picking, automatic secondary treatment, automatic classification, automatic transportation and the like of edible fungi.

2 the picking robot adopted by the invention and the configured 3D camera system can identify various types of edible fungi with disordered distribution and different postures, guide the 7-freedom picking mechanical arm and the flexible sucker to carry out picking operation, and realize flexible and nondestructive picking of the edible fungi with specified specification and size.

3 the lifting layer changing machine adopted by the invention can be quickly moved and deployed on different mushroom beds, so that the production changing efficiency is improved. Through rack and pinion running gear and location camera cooperation, realize independently fixing a position the high accuracy of lift platform module, can solve the problem of picking robot and the butt joint of mushroom bed that the inconsistent results in of mushroom bed layer height interval, ensure that picking robot moves to the operation layer of mushroom bed from lift layer changing machine steadily.

4, the transfer robot adopted by the invention realizes high-precision butt joint with the picking robot by the guidance of the feature code label identification camera, and carries out secondary deep processing on the edible fungi. Can autonomically plant the indoor motion at constrictive domestic fungus, dock with outside assembly line, collect the transportation of basket and rhizome recovery basket and trade the basket to the domestic fungus that has filled the basket, realize unmanned on duty formula transportation operation.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may include only a single embodiment, and such description is for clarity only, and those skilled in the art will be able to make the description as a whole, and the embodiments may be suitably combined to form other embodiments as will be apparent to those skilled in the art.

Claims (10)

1. The utility model provides an automatic robot system that gathers of domestic fungus, its edible fungus to having a plurality of high layers plants the mushroom bed and carries out domestic fungus picking operation which characterized in that, it includes:

the picking robot comprises a frame structure, two side wheel sets, a multi-axis mechanical arm module, a vacuum adsorption tool and a camera module, wherein the two side wheel sets are respectively arranged at two sides of the frame structure in the width direction, the spacing between the two side wheel sets ensures that edible fungi are not pressed and arranged at the width boundary region of each layer of fungus bed, the multi-axis mechanical arm module is integrated on the frame structure, the output end of the multi-axis mechanical arm module is provided with the hollow adsorption tool, the camera module is arranged on the upper surface of the frame structure, and the camera module is used for capturing the pose of the edible fungi needing to be picked;

the lifting layer changing machine comprises a main body frame, a lifting platform module and a positioning camera, wherein the lifting platform module is arranged in the central area of the main body frame, the lifting platform module is used for lifting and transferring the picking robot along a height direction track of the main body frame, the positioning camera is arranged at the surface position, facing the edible mushroom planting mushroom bed, of the lifting platform module, and the positioning camera is used for capturing the end part position of each layer of cross beam of the mushroom planting mushroom bed, so that the position, relative to the cross beam, of the picking robot on the lifting platform module is determined, and accurate butt joint of the picking robot and the cross beam is realized;

and a transfer robot, which comprises an autonomous navigation mobile robot, an edible fungus root cutting tool, a lower layer frame, an upper layer frame, a lifter module, a lower transfer module and an edible fungus root cutting machine X Y shaft module component, the upper part of the autonomous navigation mobile robot is provided with a lower layer frame, the upper part of one side of the lower layer frame is provided with the upper layer frame, the upper layer frame is internally provided with the elevator module, the output end of the elevator module comprises an upper loading platform and a lower transferring module, an X Y shaft module assembly of an edible fungus root cutting machine is integrated on the loading table, an edible fungus root cutting tool is arranged at the output end of the X Y shaft module assembly of the edible fungus root cutting machine, the edible fungus root cutting tool cuts roots of picked edible fungi and then places the edible fungi at a corresponding position of a transfer module, and the transfer module transfers the edible fungi and the roots to a corresponding recovery frame of an upper frame in a classified manner;

the lifting layer changing machine is arranged and locked at one end of a mushroom planting bed for edible fungi, the picking robot works between mushroom bed layers, the transferring robot is arranged on the side face of the mushroom planting bed for edible fungi, when picking operation is executed, the transferring robot executes the tasks of root cutting, classification and transferring of the edible fungi when the transferring robot moves along mushroom bed channels at different heights, and the transferring robot automatically navigates and moves in a mushroom house.

2. The automated harvesting robot system for edible fungi of claim 1, wherein: each side wheel set of the picking robot comprises a front wheel and a rear wheel, one wheel is a driving wheel, the other wheel is a driven wheel, and the driving wheel on each side is provided with an independent driving motor.

3. The automated harvesting robot system for edible fungi of claim 2, wherein: wherein, one side wheel set is a guide wheel set, and the other side wheel set is a floating wheel set.

4. The automated harvesting robot system for edible fungi of claim 1, wherein: the multi-axis mechanical arm module comprises an XYZ three-axis linear module, a first rotary joint, a second rotary joint and a third rotary joint, wherein the Y-direction output end of the XYZ three-axis linear module is connected with the input end of the first rotary shutdown machine, the output end of the first rotary shutdown machine is connected with the input end of the second rotary shutdown machine, the output end of the second rotary shutdown machine is connected with the input end of the third rotary shutdown machine, and the output end of the third rotary shutdown machine is connected with the vacuum adsorption tool.

5. The automated harvesting robot system for edible fungi of claim 4, wherein: the XYZ three-axis linear module comprises an X-axis linear module, a basic Y-axis linear module, a range-extending Y-axis linear module and a Z-axis linear module.

6. The automated harvesting robot system for edible fungi of claim 1, wherein: the camera module comprises a plurality of camera mounting brackets and a plurality of RGB-D cameras, the bottom of each camera mounting bracket is fixedly connected to a supporting beam of the X-axis linear module, and each RGB-D camera is mounted at the front end of the camera mounting bracket.

7. The automated harvesting robot system for edible fungi of claim 1, wherein: frame construction is last still including characteristic code label group, characteristic code label group includes that a plurality of surface has the label of clear and definite characteristic pattern, and all labels paste frame construction's the corresponding surface of transporting the robot.

8. The automated harvesting robot system for edible fungi of claim 7, wherein: the transfer robot is including feature code label identification camera, the position towards the label at the lift module is installed to feature code label identification camera, feature code label identification camera shoots feature code label group, then handles the analysis to the image of gathering, judges the relative position of picking robot and transfer robot, autonomous navigation mobile robot carries out the secondary positioning according to the result of discernment, transfers the robot adjustment motion to reasonable relative position.

9. The automated harvesting robot system for edible fungi of claim 1, wherein: the layer machine is traded in lift is still including independently charging panel, the mainboard that independently charges corresponds the automatic layer that charges who arranges in main body frame's bottom position, picking robot is provided with the copper that independently charges.

10. The automated harvesting robot system for edible fungi of claim 1, wherein: the width direction both sides of lower floor's frame are provided with the rhizome respectively in order and retrieve frame, domestic fungus and retrieve the frame, the module is retrieved box, domestic fungus including the rhizome to the lower part is transported the box, domestic fungus and is retrieved box, two telescopic cylinder, the rhizome is retrieved the tip of box and is provided with the reservation opening part towards the rhizome and retrieve the frame, the orientation of domestic fungus is retrieved the box the tip of domestic fungus is retrieved the frame is provided with the reservation opening part, the output of one of them telescopic cylinder is connected to the bottom of box is retrieved to the rhizome, the output of another telescopic cylinder is connected to the bottom of box is retrieved to the domestic fungus, and two telescopic cylinder drive corresponding recovery boxes pour rhizome, domestic fungus into in the corresponding recovery frame.

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