FI117742B - Picking apparatus for mushrooms, has movable camera or scanner arranged to image area in which mushrooms grow - Google Patents

Abstract

The picking apparatus has a carriage in which various devices are placed, and a picking head (7) coupled to the carriage and arranged to move horizontally back and forth in relation to the carriage when the carriage is position above the area in which mushrooms grow. A suction pad mechanism (17) sucks and grips mushrooms for picking. A movable camera or scanner (19) is arranged to image the area in which the mushrooms grow.

Description

117742

Mushroom picking equipment

Field of the invention is a mushroom picking apparatus according to the preamble of claim 1.

5

According to the prior art, mushrooms are grown on a growth medium, such as suitably treated compost, to which is added a mycelium. The mycelium is grown at a suitable temperature and humidity, supplemented with nutrients when needed, and covered with 10 layers of peat as necessary. Mushroom does not need light to grow. The mushrooms grown to a sufficient size are picked and several hundred are obtained from the medium. Breeding methods are well known and usually hand-picked.

The substrate is usually housed in shelves with multiple overlapping layers, effectively utilizing the floor area. Shelves are generally dimensioned so that manual picking from the entire substrate is possible, allowing the shelves to be long and narrow. For example, the shelves form different boxes in which the substrate is placed.

20 The substrate is often uneven or curved in shape.

• · ·

In accordance with the prior art, mushroom picking equipment has been developed which automatically locates mushrooms, performs mushroom picking, foot trimming and transfer of mushrooms either to a conveyor or to: *; 25 containers. One apparatus is disclosed in WO 91/11902, where • · · ·:. *. the apparatus includes cameras and suction cups for transferring the sponges to the containers. However, the transfer mechanism for the suction cups is complicated, heavy "** and takes up a lot of space. Several cameras must be attached to the equipment in order to. Capture the entire width of the substrate. Using only one camel '· 30 rays the image is very distorted - The inaccurate positioning of the sponge is determined by the fact that the height of the sponge also varies, since the substrate is usually placed in shallow shelves, so the camera must be placed very down, which in turn reduces the area that can be covered by the camera. - * ·: Adding 35 digits increases the cost and size of the device. * * · · * · 2 117742

One apparatus is disclosed in WO 93/00793, wherein the apparatus comprises a plurality of cameras and a suction cup attached to the end of a movable shaft for picking and dropping sponges on a moving belt. The task of the cameras is to scan the substrate and determine the location of the sponge. 5 The disadvantage of this apparatus, however, is that it does not recognize the height at which the sponge is. In practice, the height or position of the sponge varies considerably in practice. The equipment always lowers the moving arm to the same height, and the flexible structure of the suction cup ensures that the sponge is gripped. For the suction cup, there is no certainty that the suction cup 10 will adhere to the distant sponge and that it will be gentle enough. Moving the suction cup precisely to the sponge also requires movement of the trolley, which slows down picking.

Yet another apparatus, particularly for asparagus picking, is disclosed in US-A-4425751, which has a picking apparatus and a camera for detecting asparagus for picking.

The object of the present invention is to overcome the shortcomings of the prior art pickup devices.

20

The mushroom picking apparatus according to the invention is disclosed in claim 1.

• «* · * • *

A special advantage of the equipment is the low construction height. Low-frame • ·:. ·. In spite of 25 structure heights, the mechanisms of the equipment are constructed * * ·: * so that sufficient movement trails are achieved to pick mushrooms from varying heights and over a wide range and also to be taken to collectible - ***** boxes. The mechanisms of the equipment are chosen so that the movable masses are as light as possible. Some parts of the system • ·: 30 are integrated with a variety of components and functions, making the system compact and speeding up the picking process.

. * .. Automatically operating hardware suitable for shelf structures that • · · X! are currently in use, or only minor changes are required, e.g.

* ·; ** track installation if not already available.

:: *: 35 • · · * ·: ··· The mechanism by which the sponge-catching suction cup is moved to the right position is lightweight, so that sufficient movement speed is achieved 3 117742 quickly. The movements provided by the mechanism are much more versatile than in prior art devices.

The mechanism for suction cup transmissions 5 in the apparatus according to the invention is simple and shallow in structure, since the horizontal synchronized movements and levers of one or more actuators provide both suction cup lifting and lowering movements and a sufficiently large horizontal displacement movement. In one embodiment of the invention, the directional mechanism is specifically applied. The number of necessary members 10 is small, so that the structure is lightweight and can also accommodate a camera / scanner if desired. In particular, linear servomotors have been used as actuators. A particular advantage of the mechanism is that it allows the suction cup to be rocked and the swinging motion to be combined with the rotating movement of the suction cup. With these movements, the sponge 15 and its feet are released from the substrate.

In one embodiment of the invention, the apparatus further comprises a machine vision system scanner or camera for identifying the sponge and the position of the sponge. A particular advantage is that the camera or scanner 20 is arranged to be movable, so that even one camera or scanner can capture the entire area from which the mushrooms are picked. The camera image or scan result is not distorted if the edges of the fungi are photographed directly from above. Camera or scanner: * ·]: Interpretation by machine vision system due to transferability; The position of the 25 sponges in the XYZ coordinate system is much more accurate: than in the prior art because of the slight distortion. In one * · ♦ embodiment, the apparatus further uses a measuring device to determine and verify the position of the sponge Z * · “*.

· ·: 30 In one embodiment of the invention, the camera or scanner is attached to the picking head itself, which performs the picking, or to the same moving device. ! \ but with the structure with the picking head. Thanks to this, the range, ♦ ♦ * .11 *. from which to be picked next, shooting or scanning can be **: · * combined with different stages of the picking process. A special advantage is that separate functions are not required: · * · 35 devices and elements are not needed to move the camera / scanner, so *: ··: the equipment length does not increase. At the same time, the equipment is made compact, especially when the camera or scanner, or other necessary device, is located as close as possible to the pick-up head. Because the camera / scanner and pickup head are in the same moving structure, they do not collide with each other. Preferably, the camera / scanner and the pickup suction cup are positioned one after the other in the direction of travel of the apparatus.

5

There are several options for determining the position of a sponge in the XYZ coordinate system. In addition to the horizontal X and Y directions, the camera / scanner and its associated machine vision system also determine in Z direction how high the sponge reaches. The removable camera-10 ran / scanner eliminates distortions and provides more reliable configuration. The suction cup can be positioned quickly at a suitable distance above the sponge and then gently gripped to minimize damage. The design of the suction cup is simplified since no long flexible structure is required.

15

For controlling the sponge height, the machine vision system is assisted, if desired, by a separate measuring device, which is located, for example, in the picking head or near the suction cup.

20 The suction cup and camera / scanner, as well as the aforementioned gauge, if desired, are placed in the same moving structure so that the equipment provides: .. [· 1 compact without the need for multiple linear guides, motors or actuators.

·: ··: This particularly affects the length of the equipment, making the structure compact and easier to handle.

An embodiment of the apparatus further comprises a camera for depicting; :: V1 the sponge from the side so that the cut-off point of the sponge's foot can be optimized. The foot varies in length and shape and may be contaminated with other fungi, so the choice of cut point must be made individually. The total weight and quality of the Kat-f 30 stripped sponge strongly depend on the choice of cleavage site.

«·» • · «

The equipment is particularly suitable for picking mushrooms, but picking other mushrooms is possible, especially if the mushroom cap shape: 35 matches the mushroom cap.

* 1 1 1 «· 5 117742

The invention will now be described in more detail with reference to the accompanying drawings, in which: Figure 1 illustrates a first embodiment of the apparatus, Figure 2 shows a detail of the apparatus of Figure 1 and its position in a first step, 4d illustrate the principle and operating mode of the second embodiment of the apparatus in different stages of work, and Figures 5a-5d illustrate the principle and mode of operation of the third embodiment of the apparatus in different working stages.

20 Parts of the equipment which, in different figures, correspond in structure or function to each other are identified by the same reference numerals.

Figure 1 illustrates an embodiment of the invention for automatic sponge picking apparatus. The apparatus 1 comprises a carriage 2 for which a *. 25 Catching devices and mechanisms are placed. The carriage 2 comprises, for example, a * * ♦ | 'V frame made of sheet metal and aluminum profiles, which is provided for movement; for example: wheels 3, by means of wheels 3, for moving the carriage 2 back and forth, for example along rails, which are installed on both sides of the area where the mushrooms grow. | .i I 30 The width of the area corresponds to the width of the wagon 2. At the front of the carriage 2 is located a winding coil 4 for the electric cable and, if necessary, also for the pneumatic hose and / or the data transmission wires. Coil 4 is equipped with torque control. Reel 4 is not necessary.

* * • 35 When viewed in the driving direction, the front 2 of the carriage 2 has a housing 8 which contains the electrical equipment, electronics, processors, communication equipment, control system and machine vision system required for the device and the suction controls required for the suction cup. In this regard, prior art components, the selection and application of which according to the invention is obvious from the description below, are provided to provide the actuators required by the apparatus 1, such as power supply and control, actuator movements, motion sensing, the control system with its programming could be designed for use and automatic operation.

»10 In the central part of the carriage 2, a linear servo motor 5 and a linear guide / linear guides 6 are arranged transversely to the driving direction, by means of which the pick-up head 7 can be reciprocated. The parts 5 and 6 are attached to the vertical wall of the carriage 2. The protruding pick-up head 7 is directed towards the rear of the carriage 2. The carriage 2 may comprise two or more plurality of picking heads 7 which are parallel to each other in the driving direction and are fixed to the linear guide 6. At the same time, the movable picking head 7 forms a structure to which other devices are attached.

At the rear of the carriage 2 is a circular blade 9, which is preferably rotatable and 20 is used to cut the sponge foot. A brush 10 is connected to the blade 9 for cleaning the suction cup of the suction cup assembly 17 and rotating with the blade 9. There is also a space on the back of the carriage 2 for the · »... ... boxes 23 where the mushrooms are collected. The trolley also has a camera 22 for depicting the sponge picked from the side. In this example, camera 22 is positioned adjacent to blade 9 and is part of a machine vision system which: * V, based on a side view of a sponge, defines the point at which the sponge foot is cut off. The pick-up head 7 and its associated mechanisms take care of moving and positioning.

j; ': 30 Figure 2 shows in more detail the picking head 7 located in the carriage 2 of Figure 1. The first linear servo · is located in the picking head 7. a motor 11 and a second linear servomotor 12 disposed superposed on each other and parallel to the driving direction. They also have a first linear guide 13 and a second linear guide 14 having:; *. 35, the first levers 15 and the second levers 16 of the picking head 7 are swiveled to and fro horizontally and reciprocally. Parts 11, 12, 13, and 14 are attached to a vertical wall of pick-up head 7 parallel to the driving direction of carriage 2. The protruding pick-up head 7 is directed towards the rear of the carriage 2. The first linear servo motor 11 and associated structures form a movable first member to which the first lever 5 15 engages. Correspondingly, the second linear servomotor 12 and its associated structures form a movable second member to which the second lever 16 engages.

The rigid levers 15,16 are constant in length and both are secured at their outermost ends by means of an attachment joint to the suction cup apparatus 17. As the linear aroma motors 11, 12 move relative to one another, the attachment joints 24, 26 of the levers 15, 16 also move relative to one another position determines the height at which the suction cup assembly 17 is located. When the linear servo motors 11, 12 move in the same direction and in the same direction, the elevation position of the suction cup assembly 17 is not changed, so that a horizontal direct transmission is obtained. Vertical direct transmission of the suction cup assembly 17 is achieved when the movements of the linearizer motors 11, 12 are suitably synchronized. Without synchronized movements, the vertical movement of the suction cup assembly 17 is ka-20.

It is possible to keep the suction cup assembly 17 in an upright position and · downwardly by a parallelogram mechanism formed by a first lever 15 and a control lever 18 attached thereto (Fig. 3).

The attachment joints of the lever 15 and the control lever 18 are spaced from one another and engage the first member on the one hand and the suction cup assembly 17 on the other. The control lever 18 may also function as a rod or adjusting rod. An alternative position of the control lever 18 is adjacent to the second lever 16. The purpose of the runner mechanism is to maintain the position and orientation of the suction cup apparatus 30 independent of height.

Alternatively, the linear servomotor may be replaced by an actuator which, by means of a motor and a rotary screw, drives a member which moves along the linear guide. Alternatively, up to:. 35 including a motor and belt, wire or chain transmission using the above-mentioned motor.

body. Preferably, linear servomotors are used which are compact and easy to integrate with position sensors.

8 117742

A second linear servomotor 12, i.e. a second member, and a second linear guide 14 and a second lever 16 are not necessary if the position of the parallelogram mechanism is controlled by an actuator mounted on a first link 15 securing link 24, 5 or alternatively a control lever 18 (Fig. 3). that pivots the lever or the control lever. The actuator in question moves with the first member.

In the embodiment of Figure 2, a pick-up camera 7 or a scanner 19 is also disposed in the picking head 7, which depicts or scans an area where fungi of varying sizes and lengths grow below the carriage 2. The camera / scanner 19 is mounted at a position of the first member which has an unobstructed view of the substrate. The camera / scanner 19 does not increase the length of the apparatus 1 and there is no risk of collision with the pick-15 pin 7. The system is usually accompanied by lighting suitable for the machine vision system, for example, from the side. The sponge is suitable for picking if the cap diameter is large enough. The actual position of the fungus in the XYZ coordinate is determined by the machine vision system. The location of the carriage 2 and its various devices is also known, so that the positioning of the devices for picking the sponge is possible.

In the embodiment of Figure 2, a measuring device 20 is also attached to the suction cup assembly 17, which follows the distance of the suction cup assembly 17 relative to the sponge to be picked up. For example, a measuring device 20 based on a laser beam directed to the sponge cap. * ·: The device 20 determines the Z-coordinate of the actual location of the sponge: · The exact location of the sponge speeds up the operation and simplifies the structure of the suction cup assembly 17.

:: * · 30 Measuring device 20 is not necessary if the machine vision system is configured ♦ · · ·. ** ·. this Z coordinate is accurate and reliable enough. The determination of the actual height of the sponge * ·] is based, for example, on image analysis, where two images taken by the camera / scanner 19 are compared with each other and • * »inferred from spatial positioning: *. ·. 35. The camera / scanner 19 moves horizontally between images of a predetermined distance. When the measuring device 20 is attached to the suction cup device 17, which remains vertical due to the parallelogram mechanism, the measuring device 20 is always directed at the sponge to be picked for inspection and no separate step for measurement is required. The measuring device 20 may also be located elsewhere in the carriage 2 or in the structure of the picking head 7.

5

In Figure 2, the picking head 7 is in the picking position where it has removed the sponge from the substrate. In Figure 3, the picking head 7, in turn, is in a position where the sponge is released into the box 23.

Figures 4a-4d show another embodiment of the apparatus 1 according to the invention, in which the camera / scanner 19 is also disposed in the same movable structure with the pickup head 7 but separate from the first member (including the first linear servo motor 11). The pick-up head 7 forms a T-shape structure 15 which is supported by one or more linear servo motors 5 and linear guides 6. The camera / scanner 19 is located at the front of the carriage 2. The structure of the pick-up head 7, in which the suction cup assembly 17 is located, faces in the driving direction, which also has a box 23 for sponges. In this embodiment, the measuring device 20 is fixed to the second member 20 (including the second linear servo motor 12). The measuring device 20 is located above the pick-up area when the suction cup assembly 17 is discharged. the sponge 21 to be cut and the box 23. Alternatively, the measuring device 20 may be attached to the first member.

Figures 4a-4d illustrate, in stages, the movements of the first member (e.g., the first linear servomotor 11) and the second member • ·: · * (including the second linear servomotor 12) , which allow different movements of the suction cup assembly 17 for picking, cutting, placing the sponge 21 in the box 23 and measuring.

:. ·. Figures 5a-5d show a third *: ** embodiment of the apparatus 1 according to the invention, which is a modification of the embodiment shown in Figures 4a-4d. The pick-up head 7 forms a movable structure of the I-shape supported at both ends by one or more lines. * .e 35 with the help of the AAR servo motor 5 and the linear guide 6. The suction cup assembly 17 * is located in the center of the carriage 2. In this embodiment, the measuring device 20 is attached to the first member (including the first linear servo motor 11). The first linear conductor 13 Qa, the first linear conductor motor 11) and the second linear conductor 14 (and the second linear servo motor 12) are disposed sequentially. The suction cup assembly 17 is located between the first member and the second member.

5

Figures 5a-5d illustrate the steps of the first member (including the first linear servomotor 11) and the second member (including the second linear servomotor 12), allowing different movements of the suction cup assembly 17 for picking, cutting, placing the sponge 21 in box 23 and measuring.

The camera / scanner 19 shown in Figures 4a and 5a may be arranged to be movable separately, for example by means of a linear motor 5 and a linear guide 6, separately from the pick-up head 7 and the accompanying structure 15. Preferably, the camera / scanner 19 moves transversely to the driving direction of the carriage 2, parallel to the pickup head 7.

The invention is not limited to the above embodiments and examples, but may vary according to the appended claims.

* · ♦ * 1 • »•« · • • • • • 1 «• 1 • • • • • • * 1 · ·· 2 '• 1 • ·» »· · M1 1 • 1 · *« • «* · · • Ψ ··· '• 1 1 • · · 1 * · 1 • 1 •« • · 1. .

• · · * 1 1 • · · · - · • 1 · • 1 • · * »· * ♦ · * · · • 1 · 2 •« ««

Claims (10)

117742 A mushroom picking apparatus, comprising: a carriage (2) in which various means of the picking apparatus (1) are located, at least one picking head (7) connected to the carriage (2) and arranged to move horizontally back and forth relative to the carriage (2). when the carriage (2) is mounted over the area in which the sponges grow, 10. a suction cup device (17) for gripping the sponges for picking, characterized in that the picking device (1) further comprises: a first member (11) engaged 15 pickup heads (7) and arranged to move horizontally back and forth for the horizontal movement of the suction cup assembly (17), and a guided parallelogram mechanism (15, 18), in the suction cup assembly. ton (17) for lifting and lowering through which the suction • • 20 cup assembly (17) is connected to the first member.! (11), and arranged to maintain the position of the suction cup device (17) regardless of the height at which the suction cup device (17) is. Apparatus according to claim 1, characterized in that the picking apparatus (1) further comprises: a second member (12) coupled. to the picking head: ***; (7) and arranged to move horizontally back and forth and parallel to the first member (11): 30, * φ · '' *; · * - lever (16), parallelogram mechanism (15) , 18) movement by means of which the suction cup apparatus (17) and the directional: * ·· cashmere mechanism (15, 18) are connected to another member • · * (12). Apparatus according to Claim 2, characterized in that the first member (11) and the second member (12) are disposed either overlapping or in succession in a movable structure comprising a pick-up head (7). Apparatus according to one of claims 1 to 3, characterized in that the picking apparatus (1) further comprises a camera or a scanner (19) which is movable and arranged to depict said area in which the fungi grow. Apparatus according to claim 4, characterized in that the camera or scanner (19) is connected to the same movable structure together with the picking head (7). Apparatus according to one of Claims 1 to 5, characterized in that the suction cup apparatus (17) is arranged to move horizontally and reciprocally with respect to the picking head (7), the movement direction being transverse to the movement direction of the picking head (7) and vertically back and forth. * «* • · Apparatus according to one of Claims 1 to 6, characterized in that the picking apparatus (1) further comprises a measuring device (20) arranged for determining or correcting the actual height of the picking seed (21) for picking. Z-coordinate system. • · • · · * * Apparatus according to claim 7, characterized in that the measuring device (20) is coupled together in the same moving structure. . *. with the mint head (7). • · * • · · • * Apparatus according to one of Claims 1 to 8, characterized in that: *** the extraction apparatus (1) further comprises a camera (22) arranged to represent the picked fungus held by the suction cup apparatus (17): from the side. * ·· · • · ♦ • · • · Apparatus according to one of claims 1 to 9, characterized in that the trolley (2) is arranged to move back and forth in a multilayer shelf for growing mushrooms and that the trolley (2) is movable from one layer to another. 117742