TWI719925B - Mushroom harvesting system - Google Patents
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Abstract
本發明揭露一種菇類採收系統,其包括籃子載移裝置、籃子定位裝置、太空包抓取轉送裝置、太空包抓接轉載裝置、切割裝置、籃子移除裝置、成菇收集裝置及太空包收集裝置。籃子載移裝置將裝有菇類太空包的籃子自第一位置輸送至第二位置。太空包抓取轉送裝置將位於第二位置的籃子內的菇類太空包逐一抓取輸送至第三位置。太空包抓接轉載裝置抓取第三位置的菇類太空包及旋轉並輸送至切割位置。切割裝置之動力切刀用以切斷位於菇類太空包中的成菇基部,使各成菇與菇類太空包分離。籃子移除裝置用以將空籃子移離該第二位置。成菇收集裝置收集自切割位置落下的成菇。太空包收集裝置用以收集菇類太空包,俾能藉由自動化之結構設置而實現自動化切割採收菇類之目的,進而有效降低人力成本的支出。 The invention discloses a mushroom harvesting system, which includes a basket carrying device, a basket positioning device, a space bag grabbing and transferring device, a space bag grabbing and transferring device, a cutting device, a basket removal device, a mushroom collecting device and a space bag Collection device. The basket transfer device transports the basket containing the mushroom space bag from the first position to the second position. The space bag grabbing and transferring device grabs and transports the mushroom space bags in the basket in the second position one by one to the third position. The space bag grabbing and transferring device grabs the mushroom space bag at the third position, rotates it, and transports it to the cutting position. The power cutter of the cutting device is used to cut the base of the mushroom in the mushroom space bag, so that each mushroom is separated from the mushroom space bag. The basket removal device is used to move the empty basket away from the second position. The mushroom collecting device collects the mushrooms falling from the cutting position. The space bag collection device is used to collect mushroom space bags, so that the purpose of automatic cutting and harvesting of mushrooms can be realized by the automatic structure setting, thereby effectively reducing the expenditure of labor costs.
Description
本發明係有關一種菇類採收系統,尤指一種藉由自動化之結構設置而實現自動化切割採收菇類目的的菇類採收技術。 The present invention relates to a mushroom harvesting system, in particular to a mushroom harvesting technology that realizes the purpose of automatically cutting and harvesting mushrooms by means of an automated structure setting.
按,在台灣的食用菇產業從1909年起有了香菇段木人為栽種紀錄,截至目前已經有百年以上的發展歷史,而在國內種植之各式各樣的菇類當中,杏鮑菇在台灣起源於1996年,然而在短短十年內,杏鮑菇就已經取代金針菇成為產值第二高的菇種,於是不難發現杏鮑菇是唯一在近年產量仍保持成長且價格波動小之菇種。目前杏鮑菇與金針菇同樣是環境控制栽培的菇種,在自動化程度卻遠遠不及金針菇,原因包含一般業者是多數是以袋栽太空包進行生產,而非瓶栽式,其次是杏鮑菇相較其他菇種,自動化開發起步較晚,特別在採收流程這塊,而袋栽太空包的輪廓、尺寸相較於瓶栽的輪廓尺寸一致性低,以及台灣菌種商在國內數量佔比較少,主要以製包業者及栽培業者占大多數,凸顯出菌種少的問題,而這點也間接影響到杏鮑菇最終生成的外觀上,對於採收自動化有一定程度的影響。 According to the fact that the edible mushroom industry in Taiwan has a record of artificial cultivation of shiitake mushrooms since 1909, it has a history of more than a hundred years of development. Among the various mushrooms grown in China, Pleurotus eryngii is in Taiwan It originated in 1996. However, in just ten years, Pleurotus eryngii has replaced Flammulina velutipes as the second most valuable mushroom species, so it is not difficult to find that Pleurotus eryngii is the only mushroom that has maintained growth in production in recent years and has little price fluctuations. Kind. At present, Pleurotus eryngii and Flammulina velutipes are also cultivated under environmental control, but the degree of automation is far less than that of Flammulina velutipes. The reasons include that the general industry mostly uses bag-grown space bags for production instead of bottle-growing, followed by Pleurotus eryngii Compared with other mushroom species, automation development started late, especially in the harvesting process. The contour and size of the bag-grown space bag are less consistent than those of the bottle-grown, and the number of Taiwanese strain dealers in the country is relatively low. It is relatively small, mainly package manufacturers and cultivators, highlighting the problem of fewer strains, and this indirectly affects the final appearance of Pleurotus eryngii, and has a certain degree of impact on the automation of harvesting.
另一方面,杏鮑菇種植手法亦會影響外觀,像是調節室內二氧化碳濃度頻率,各栽種商所採用的通風時間、通風方式、出菇室配置不同,所生成的杏鮑菇外型也會有所不同。根據中國江蘇的食用菇栽種商,測試結果顯示,當每天通風4次,每次30分鐘,所生成杏鮑菇之外型類似保 齡球瓶,爾後改為每天16次,每次5分鐘,外型則變得較為直挺美觀,而這些也對後續自動化有一定程度的影響,所以為了採收自動化的普及性和相容性,勢必得考慮得更加周全。 On the other hand, pleurotus eryngii planting methods will also affect the appearance, such as adjusting the frequency of indoor carbon dioxide concentration. The ventilation time, ventilation method, and fruiting room configuration adopted by various growers are different, and the appearance of the pleurotus eryngii will also be generated. It's different. According to an edible mushroom grower in Jiangsu, China, the test results show that when ventilated 4 times a day for 30 minutes each time, the appearance of Pleurotus eryngii is similar to that of The bowling ball was later changed to 16 times a day, 5 minutes each time, and the appearance became more straight and beautiful, and these also have a certain degree of impact on subsequent automation, so for the popularity and compatibility of harvesting automation , Inevitably have to be more thoughtful.
近年來,於杏鮑菇等菇類之種植技術而言,大多是以自動化栽培技術及環控菇舍管理系統為主流,使得生產走向朝向高度自動化的方向發展。菇類目前在全球市場日益擴大,根據行政院農業委員會農糧署資料統計,台灣新鮮菇類產量年約14萬公噸,產值高達約新台幣88億元。一般而言,菇類於栽培過程中主要分成菌種製備、栽培、基質製作、接種、走菌、刺激出菇等步驟。隨著科技發展與進步,加上從事農業工作的人口日益減少等緣故,致使菇類作物之培育有快速走向自動化的趨勢。其中杏鮑菇於栽培上,常因作物對環境要求極為嚴苛,其生長於低溫高濕的環境中,並需要大量的新鮮且乾淨的空氣進行換氣,與適當的光照刺激生長,因此,在培育管理上需要做隨時的監控,於此,方能有較為可觀的栽培收穫。 In recent years, in terms of the cultivation technology of Pleurotus eryngii and other mushrooms, most of them are based on automated cultivation technology and environmentally controlled mushroom house management system as the mainstream, making the production trend towards a high degree of automation. Mushrooms are currently expanding in the global market. According to statistics from the Agriculture and Food Administration of the Council of Agriculture of the Executive Yuan, the annual output of fresh mushrooms in Taiwan is about 140,000 metric tons, and the output value is as high as NT$8.8 billion. Generally speaking, the cultivation process of mushrooms is mainly divided into the steps of strain preparation, cultivation, substrate preparation, inoculation, sterilization, and stimulating fruiting. With the development and advancement of science and technology, coupled with the declining population engaged in agricultural work, etc., the cultivation of mushroom crops has a rapid trend towards automation. Among them, the cultivation of Pleurotus eryngii is often due to the extremely strict environmental requirements of the crop. It grows in a low temperature and high humidity environment, and requires a lot of fresh and clean air for ventilation, and appropriate light to stimulate growth. Therefore, The cultivation management needs to be monitored at any time, only then can there be more considerable cultivation gains.
然而,習知菇類太空包採收方式,主要還都是以人工進行切割採收方式為主,由於在栽培室內架設自動化切割機具確實是一件困難的事情,所以至目前為止,尚未有一套完整的自動化採收系統的建構及問市。一般而言,袋式太空包菇類栽種方式,是於袋體裝填培養基質後,將袋體的束口套置套環,壓包後注射菌液接種,而成太空包。將數包太空包共裝於一籃子中,再將數個籃子擺置在層架上,而於控制溫溼度的環境中培養。直至菇類自太空包中長出至成熟,再進行切割採收。而一般習用的採收方式,都是以人工施作切割採收。 具體的作法,是先將層加上的籃子逐一取下抬至一切割採收區域,作業人員再以利刃將每一太空包上的成菇逐一割斷取下,由於習知技術無法藉由自動化辨識來辨識切割位置,所以無法實現自動切割成菇的功能,以致在切割採收上都必須仰賴以人工操作,而並未自動化作業,因而造成耗費人力成本之情事產生。 However, the conventional mushroom space bag harvesting methods are mainly manual cutting and harvesting. Since it is really difficult to set up an automatic cutting machine in the cultivation room, so far, there is no one set. The construction and market inquiry of a complete automated harvesting system. Generally speaking, the bag-type space bag mushroom cultivation method is to place the bag body with a collar after the bag body is filled with culture medium, and then inject the bacterial solution to inoculate the bag body to form a space bag. Put several packages of space bags in a basket, then place several baskets on the shelf, and cultivate in a controlled temperature and humidity environment. Until the mushrooms have grown from the space bag to maturity, they are then cut and harvested. The usual harvesting methods are manual cutting harvesting. The specific method is to first remove the stacked baskets one by one and lift them to a cutting and harvesting area, and then the operator uses a sharp blade to cut and remove the mushrooms on each space bag one by one. Because the conventional technology cannot be automated Recognition is used to identify the cutting position, so the function of automatically cutting into mushrooms cannot be realized. As a result, manual operations have to be relied on in cutting and harvesting, instead of automated operations, which causes labor costs.
因鑑於目前尚無一種可對太空包的成菇做自動切割採收的設備等相關技術、專利或是論文的公開或是發表,因此,該習知技術確實未臻完善,仍然有再改善的必要性。緣是,本發明人乃積極投入研發,終而有本發明的研發成果產出。若是過於依賴人工施作會造成耗工耗時、栽培生產效率低落以及形成極大的人力成本浪費情事。台灣現有菇類產業正面臨人力短缺、菌種老化、技術升級轉型及中國崛起等內部問題,在全球市場競爭下,更需面臨提高生產效率、確保價格競爭優勢與降低人力成本等問題。 Since there is currently no related technology, patents or papers that can automatically cut and harvest the mushrooms of the space bag, the related technology, patents or thesis are published or published. Therefore, the conventional technology is indeed not perfect, and there is still room for improvement. necessity. The reason is that the inventor actively invests in research and development, and finally has the research and development results of the present invention. If it relies too much on manual operations, it will cause time-consuming and labor-consuming cultivation, low efficiency of cultivation and production, and a huge waste of labor costs. Taiwan's existing mushroom industry is facing internal problems such as manpower shortage, aging strains, technological upgrading and transformation, and the rise of China. In the global market competition, it needs to face issues such as improving production efficiency, ensuring price competitiveness and reducing labor costs.
本發明第一目的,在於提供一種菇類採收系統,主要是藉由自動化之結構設置而實現自動化切割採收菇類之目的,進而有效降低人力成本。達成本發明第一目的所採用之技術手段,係包括籃子載移裝置、籃子定位裝置、太空包抓取轉送裝置、太空包抓接轉載裝置、切割裝置、籃子移除裝置、成菇收集裝置及太空包收集裝置。籃子載移裝置將裝有菇類太空包的籃子自第一位置輸送至第二位置。太空包抓取轉送裝置將位於第二位置的籃子內的菇類太空包逐一抓取輸送至第三位置。太空包抓接轉載裝置抓取第三位置的菇類太空包及旋轉並輸送至切割位置。切割裝置之動力切刀用以切斷位於菇類太空包 中的成菇基部,使各成菇與菇類太空包分離。籃子移除裝置用以將空籃子移離該第二位置。成菇收集裝置收集自切割位置落下的成菇。太空包收集裝置收集菇類太空包。 The first objective of the present invention is to provide a mushroom harvesting system, which mainly realizes the purpose of automatically cutting and harvesting mushrooms through an automated structure setting, thereby effectively reducing labor costs. The technical means used to achieve the first object of the invention include a basket transfer device, a basket positioning device, a space bag capture and transfer device, a space bag capture and transfer device, a cutting device, a basket removal device, a mushroom collection device, and Space bag collection device. The basket transfer device transports the basket containing the mushroom space bag from the first position to the second position. The space bag grabbing and transferring device grabs and transports the mushroom space bags in the basket in the second position one by one to the third position. The space bag grabbing and transferring device grabs the mushroom space bag at the third position, rotates it, and transports it to the cutting position. The power cutter of the cutting device is used to cut the mushroom space bag In the base of the mushroom, separate each mushroom from the mushroom space bag. The basket removal device is used to move the empty basket away from the second position. The mushroom collecting device collects the mushrooms falling from the cutting position. The space bag collection device collects mushroom space bags.
本發明第二目的,在於提供一具備影像深度學習功能來辨識最佳成菇切割深度以提升成菇採收品質與效能的菇類採收系統。達成本發明第二目的所採用之技術手段,係包括籃子載移裝置、籃子定位裝置、太空包抓取轉送裝置、太空包抓接轉載裝置、切割裝置、籃子移除裝置、成菇收集裝置及太空包收集裝置。籃子載移裝置將裝有菇類太空包的籃子自第一位置輸送至第二位置。太空包抓取轉送裝置將位於第二位置的籃子內的菇類太空包逐一抓取輸送至第三位置。太空包抓接轉載裝置抓取第三位置的菇類太空包及旋轉並輸送至切割位置。切割裝置之動力切刀用以切斷位於菇類太空包中的成菇基部,使各成菇與菇類太空包分離。籃子移除裝置用以將空籃子移離該第二位置。成菇收集裝置收集自切割位置落下的成菇。太空包收集裝置收集菇類太空包。其更包含一控制單元,該控制單元包含一第一影像擷取裝置及一深度學習辨識模組;當該動力切刀切斷該菇類太空包中的複數成菇基部時,該第一影像擷取裝置則擷取該複數成菇之斷面成像為斷面菇體影像;該深度學習辨識模組可對該菇體影像做深度學習的影像辨識處理,並依據該菇類太空包中之基質所佔比例來判斷該切割位置是否為最佳切割位置;當該基質所佔比例介於1/6~1/3則不調整該第三線性載移機構所定位的該切割位置;當該基質所佔比例介於1/3~1則調整該第三線性載移機構之該切割位置往該複數成菇方向調整位 移,並將即時擷取之該斷面菇體影像儲存於該深度學習辨識模組的一深度學習模型;當該基質所佔比例少於1/6時,則調整該第三線性載移機構之該切割位置往該基質方向調整位移,並將即時擷取之該斷面菇體影像儲存於該深度學習模型。 The second objective of the present invention is to provide a mushroom harvesting system with image deep learning function to identify the best cut depth of the mushrooms to improve the harvest quality and efficiency of the mushrooms. The technical means used to achieve the second objective of the invention include a basket transfer device, a basket positioning device, a space bag capture and transfer device, a space bag capture and transfer device, a cutting device, a basket removal device, a mushroom collection device, and Space bag collection device. The basket transfer device transports the basket containing the mushroom space bag from the first position to the second position. The space bag grabbing and transferring device grabs and transports the mushroom space bags in the basket in the second position one by one to the third position. The space bag grabbing and transferring device grabs the mushroom space bag at the third position, rotates it, and transports it to the cutting position. The power cutter of the cutting device is used to cut the base of the mushroom in the mushroom space bag, so that each mushroom is separated from the mushroom space bag. The basket removal device is used to move the empty basket away from the second position. The mushroom collecting device collects the mushrooms falling from the cutting position. The space bag collection device collects mushroom space bags. It further includes a control unit, the control unit includes a first image capture device and a deep learning recognition module; when the power cutter cuts a plurality of mushroom bases in the mushroom space bag, the first image The capturing device captures the cross-sectional image of the plurality of mushrooms as a cross-sectional mushroom body image; the deep learning recognition module can perform deep learning image recognition processing on the mushroom body image based on the mushroom body image The proportion of the substrate is used to determine whether the cutting position is the best cutting position; when the proportion of the substrate is between 1/6 and 1/3, the cutting position positioned by the third linear transfer mechanism is not adjusted; If the proportion of the substrate is between 1/3~1, adjust the cutting position of the third linear transfer mechanism to the direction adjustment position of the plural mushrooms. And store the real-time captured image of the cross-section mushroom body in a deep learning model of the deep learning recognition module; when the proportion of the matrix is less than 1/6, the third linear transfer mechanism is adjusted The cutting position is adjusted to shift toward the substrate, and the real-time captured image of the mushroom body is stored in the deep learning model.
本發明第三目的,在於提供一具備影像辨識夾取位置功能以大幅提升提高機械手臂夾取成功率的菇類採收系統。達成本發明第三目的所採用之技術手段,係包括籃子載移裝置、籃子定位裝置、太空包抓取轉送裝置、太空包抓接轉載裝置、切割裝置、籃子移除裝置、成菇收集裝置及太空包收集裝置。籃子載移裝置將裝有菇類太空包的籃子自第一位置輸送至第二位置。太空包抓取轉送裝置將位於第二位置的籃子內的菇類太空包逐一抓取輸送至第三位置。太空包抓接轉載裝置抓取第三位置的菇類太空包及旋轉並輸送至切割位置。切割裝置之動力切刀用以切斷位於菇類太空包中的成菇基部,使各成菇與菇類太空包分離。籃子移除裝置用以將空籃子移離該第二位置。成菇收集裝置收集自切割位置落下的成菇。太空包收集裝置收集菇類太空包。其中,該控制單元更包含一第二影像擷取裝置;該第二影像擷取裝置用以對位於該第二定位組件之該籃子內之該複數菇類太空包進行影像擷取成像為菇體影像;該深度學習辨識模組可對該菇體影像做影像辨識處理,並依據辨識結果計算出籃子中之每一該菇類太空包所處位置的該夾取位置,再依據各該夾取位置而輸出相應的控制訊號來驅動該機械手臂機構,使該機械手臂機構得以依據各該控制訊號而逐一夾取該複數菇類太空包輸送至該盛放治具內。 The third object of the present invention is to provide a mushroom harvesting system that has the function of image recognition and clamping position to greatly improve the success rate of mechanical arm clamping. The technical means used to achieve the third objective of the invention include a basket transfer device, a basket positioning device, a space bag capture and transfer device, a space bag capture and transfer device, a cutting device, a basket removal device, a mushroom collecting device and Space bag collection device. The basket transfer device transports the basket containing the mushroom space bag from the first position to the second position. The space bag grabbing and transferring device grabs and transports the mushroom space bags in the basket in the second position one by one to the third position. The space bag grabbing and transferring device grabs the mushroom space bag at the third position, rotates it, and transports it to the cutting position. The power cutter of the cutting device is used to cut the base of the mushroom in the mushroom space bag, so that each mushroom is separated from the mushroom space bag. The basket removal device is used to move the empty basket away from the second position. The mushroom collecting device collects the mushrooms falling from the cutting position. The space bag collection device collects mushroom space bags. Wherein, the control unit further includes a second image capturing device; the second image capturing device is used for image capturing and imaging the plurality of mushroom space bags in the basket of the second positioning component into a mushroom body Image; the deep learning recognition module can perform image recognition processing on the mushroom body image, and calculate the clamping position of each mushroom space bag in the basket according to the recognition result, and then according to each clamping Position and output corresponding control signals to drive the robotic arm mechanism, so that the robotic arm mechanism can pick up the plurality of mushroom space bags one by one according to the control signals and transport them to the holding fixture.
1:基架 1: base frame
1a:長槽 1a: Long slot
1b:通孔 1b: Through hole
10:籃子載移裝置 10: Basket transfer device
11:移載板 11: Transfer board
12:第一線性載移機構 12: The first linear transfer mechanism
13:第二線性載移機構 13: The second linear transfer mechanism
14:籃子 14: Basket
15:菇類太空包 15: Mushroom space bag
16:成菇 16: Mushroom
17:輸送帶機構 17: Conveyor belt mechanism
20:籃子定位裝置 20: Basket positioning device
21:第一定位組件 21: The first positioning component
22:第二定位組件 22: The second positioning component
30:太空包抓取轉送裝置 30: Space bag capture and transfer device
31:機械手臂機構 31: Mechanical arm mechanism
32:盛放治具 32: Full jig
33:第四線性載移機構 33: The fourth linear transfer mechanism
40:太空包抓接轉載裝置 40: Space bag grabbing and reprinting device
41:夾具 41: Fixture
42:第三線性載移機構 42: The third linear transfer mechanism
43:旋轉機構 43: Rotating mechanism
50:切割裝置 50: Cutting device
51:動力切刀 51: Power cutter
52:第五線性載移機構 52: Fifth linear transfer mechanism
60:籃子移除裝置 60: Basket removal device
61:驅動機構 61: drive mechanism
62:推桿 62: putter
70:成菇收集裝置 70: Mushroom collection device
80:太空包收集裝置 80: Space bag collection device
90:控制單元 90: control unit
91:第一影像擷取裝置 91: The first image capture device
92:深度學習辨識模組 92: Deep Learning Identification Module
93:第二影像擷取裝置 93: The second image capture device
d1:第一位置 d1: first position
d2:第二位置 d2: second position
d3:第三位置 d3: third position
d4:第四位置 d4: fourth position
d5:切割位置 d5: cutting position
d6:夾取位置 d6: gripping position
圖1係本發明具體架構實施的外觀示意圖。 Figure 1 is a schematic diagram of the appearance of the implementation of the specific architecture of the present invention.
圖2係本發明具體架構實施的前視示意圖。 Figure 2 is a schematic front view of the implementation of the specific architecture of the present invention.
圖3係本發明具體架構實施的俯視示意圖。 Figure 3 is a schematic top view of the implementation of the specific architecture of the present invention.
圖4係本發明籃子載移裝置的第一動作實施示意圖。 Fig. 4 is a schematic diagram of the first action implementation of the basket carrying device of the present invention.
圖5係本發明籃子載移裝置的第二動作實施示意圖。 Fig. 5 is a schematic diagram of the second action implementation of the basket carrying device of the present invention.
圖6係本發明籃子載移裝置的第三動作實施示意圖。 Fig. 6 is a schematic diagram of the third action implementation of the basket carrying device of the present invention.
圖7係本發明籃子載移裝置的第四動作實施示意圖。 Fig. 7 is a schematic diagram of the fourth action implementation of the basket carrying device of the present invention.
圖8係本發明籃子載移裝置的第五動作實施示意圖。 Fig. 8 is a schematic diagram of the fifth action implementation of the basket carrying device of the present invention.
圖9本發明籃子除移裝置的動作實施示意圖。 Fig. 9 is a schematic diagram of the action implementation of the basket removal device of the present invention.
圖10係本發明具體架構的電路功能方塊示意圖。 FIG. 10 is a schematic diagram of the circuit function block diagram of the specific structure of the present invention.
為讓 貴審查委員能進一步瞭解本發明整體的技術特徵與達成本發明目的之技術手段,玆以具體實施例並配合圖式加以詳細說明: In order for your reviewer to further understand the overall technical features of the present invention and the technical means to achieve the purpose of the invention, a detailed description is given with specific examples and accompanying drawings:
請配合參看圖1~3及圖10所示,為達成本發明第一目的之第一實施例,係包括一籃子載移裝置10、一籃子定位裝置20、一太空包抓取轉送裝置30、一太空包抓接轉載裝置40、一切割裝置50、一籃子移除裝置60、一成菇收集裝置70及一太空包收集裝置80等技術特徵。該籃子載移裝置10係設置於一基架1上,該基架1具有一第一位置d1、一第二位置d2及一第三位置d3。該籃子載移裝置10用以將裝有複數個菇類太空包15的籃子14自第一位置d1輸送至第二位置
d2。每一個籃子14是由人工或輸送帶機構17逐一地被送至第一位置d1。該籃子定位裝置20用以使籃子14位於第一位置d1及第二位置d2時提供定位作用。該太空包抓取轉送裝置30設置於基架1上,用以將位於第二位置d2的籃子14內的複數個菇類太空包15逐一抓取並輸送至第三位置d3。該太空包抓接轉載裝置40設置於基架1上,用以抓取經由太空包抓取轉送裝置30所抓取而輸送至第三位置d3的菇類太空包15及旋轉並輸送至一切割位置d5。該切割裝置50設置基架1鄰近切割位置d5處,其包括一動力切刀51,該動力切刀51用以切斷位於切割位置d5的菇類太空包15中的複數個成菇16之基部,使複數個成菇16與菇類太空包15分離。如圖9(a)所示,該籃子移除裝置60包含一由驅動機構61驅動而做深縮位移的推桿62,該推桿62用以將位於第二位置d2且已無菇類太空包15的籃子14朝一側推移而移離第二位置d2,如圖9(b)所示。當複數個成菇16與菇類太空包15分離時,該成菇收集裝置70用以收集自切割位置d5落下的複數個成菇16。當複數個成菇16與菇類太空包15分離時,該太空包抓接轉載裝置40解除對菇類太空包15抓取之動作而使菇類太空包15自切割位置d5自然落下,該太空包收集裝置80用以收集自切割位置d5落下的菇類太空包15。
Please refer to Figures 1 to 3 and Figure 10. In order to achieve the first object of the invention, the first embodiment includes a
請配合參看圖2~3所示的實施例,該籃子定位裝置20包含可分別供籃子載移裝置10所載移裝有複數個菇類太空包15之籃子14定位的一第一定位組件21及一第二定位組件22,該第一定位組件21及第二定位分別部位於第一位置d1及第二位置d2上。
Please refer to the embodiment shown in FIGS. 2 to 3, the
具體的,如圖2~3所示之基架1中段係沿著其軸線延伸開設有一長槽1a,該長槽1a接近第一位置d1的一端為開放端,其反
向另端則為封閉端。該籃子載移裝置10包含一移載板11、一用以驅動移載板11相對基架1做橫向往復位移的第一線性載移機構12及一用以驅動移載板11相對基架1做縱向往復位移的第二線性載移機構13。
Specifically, the middle section of the
承上所述,當裝有複數個菇類太空包15的籃子14透過一輸送帶機構17抵達靠近第一位置d1時,該第一線性載移機構12則驅動移載板11橫向位移至輸送帶機構17末端的一鏤空部(即中軸線部位呈鏤空狀)而正對籃子14下方,如圖4所示,該第二線性載移機構13驅動移載板11縱向上移而以移載板11一端承載籃子14;接著,該第一線性載移機構12再驅動移載板11及籃子14反向橫移至原位置上方,於是即可使籃子14定位在第一定位組件21,如圖5所示,緊接著,該第二線性載移機構13驅動移載板11縱向下移至原位置;繼而,當下一個籃子14抵達靠近第一位置d1時,該第一線性載移機構12則再度驅動移載板11橫向位移至輸送帶機構17末端的鏤空部而正對下一個籃子14下方,如圖6所示,該第二線性載移機構13驅動移載板11縱向上移,使移載板11末端承載籃子14,同時使移載板11一端承載下一個籃子14,接著,該第一線性載移機構12再驅動移載板11、籃子14及下一個籃子14做反向橫移至原位置上方,如圖7所示,當籃子14及下一個籃子14分別定位在第二定位組件22及第一定位組件21時,該第二線性載移機構13驅動移載板11縱向下移至原位置,如圖8所示;然後重覆上述控制動作步驟,即可形成連續載送盛裝菇類太空包15之籃子14的循環動作步驟。
As mentioned above, when the
請配合參看圖9(a)所示的實施例,當位於第二定位組件22之籃子14已無菇類太空包15時,該第二線性載移機構13則驅動移載板11及空的籃子14做縱向上移,並以推桿62將籃子14朝一側推移而移離第二定位組件22,如圖9(b)於是即可透過一體積更大的收集
筒來收集受到移離掉落的空籃子14。
Please refer to the embodiment shown in FIG. 9(a). When there is no
請配合參看圖1、3所示的實施例,該太空包抓取轉送裝置30包含一機械手臂機構31及一位於第三位置d3的盛放治具32,當裝有複數個菇類太空包15之籃子14定位於第二定位組件22時,該機械手臂機構31則逐一夾起其中一個菇類太空包15送至盛放治具32內,以供太空包抓接轉載裝置40抓取。具體的,該太空包抓取轉送裝置30更包含一用以載移盛放治具32自一第四位置d4位移至第三位置d3的第四線性載移機構33。
Please refer to the embodiment shown in FIGS. 1 and 3, the space bag grabbing and transferring
請配合參看圖1~3所示的實施例,該太空包抓接轉載裝置40包含一用以夾取盛放治具32內之菇類太空包15的夾具41、一用以載移夾具41自第三位置d3位移至切割位置d5的第三線性載移機構42及一設於第三線性載移機構42上用以驅動夾具41旋轉的旋轉機構43;當夾取菇類太空包15的夾具41抵達切割位置d5時,該旋轉機構43則驅動夾具41旋轉90度,以供切割裝置50之動力切刀51切斷菇類太空包15。如圖1、3所示,切割裝置50之動力切刀51係透過第五線性載移機構52做縱向的位移,藉以實現切割菇類太空包15的功能。
Please refer to the embodiment shown in FIGS. 1 to 3, the space bag grasping and transferring
請配合參看圖3所示的實施例,該基架1正對切割裝置50下方位置貫穿設有一供已切割之菇類太空包15掉落時通過的通孔1b。
Please refer to the embodiment shown in FIG. 3, the
請配合參看圖10所示,為達成本發明第二目的之第二實施例,本實施例除了包括上述第一實施例的整體技術特徵之外,更包含一控制單元90,該控制單元90包含一第一影像擷取裝置91及一深度學習辨識模組92;當動力切刀51切斷菇類太空包15中的複數成菇16基部時,該第一影像擷取裝置91則對複數成菇16之斷面進行影像擷取成像為斷面菇體影像;該深度學習辨識模組92可對菇體影像做 深度學習的影像辨識處理,並依據菇類太空包15中之基質所佔比例來判斷切割位置d5是否為最佳切割位置d5;當基質所佔比例介於1/6~1/3則不調整第三線性載移機構42所定位的切割位置d5;當基質所佔比例介於1/3~1則調整第三線性載移機構42之切割位置d5往複數成菇16方向調整位移,並將即時擷取之斷面菇體影像儲存於深度學習辨識模組92的一深度學習模型;當基質所佔比例少於1/6時,則調整第三線性載移機構42之切割位置d5往基質方向調整位移,並將即時擷取之斷面菇體影像儲存於深度學習模型。 Please refer to FIG. 10, in order to achieve the second embodiment of the second object of the present invention, this embodiment not only includes the overall technical features of the above-mentioned first embodiment, but also includes a control unit 90, which includes A first image capturing device 91 and a deep learning identification module 92; when the power cutter 51 cuts the base of the plurality of mushrooms 16 in the mushroom space bag 15, the first image capturing device 91 is The cross-section of mushroom 16 is imaged as a cross-section mushroom body image; the deep learning recognition module 92 can perform image capture on the mushroom body image Deep learning image recognition processing, and judge whether the cutting position d5 is the best cutting position d5 according to the proportion of the substrate in the mushroom space bag 15; when the proportion of the substrate is between 1/6 and 1/3, it will not be adjusted The cutting position d5 located by the third linear transport mechanism 42; when the proportion of the matrix is between 1/3~1, the cutting position d5 of the third linear transport mechanism 42 is adjusted to reciprocate into a 16-direction adjustment displacement, and The cross-sectional mushroom body image captured in real time is stored in a deep learning model of the deep learning recognition module 92; when the proportion of the substrate is less than 1/6, the cutting position d5 of the third linear transport mechanism 42 is adjusted to the substrate Adjust the displacement in the direction, and store the real-time captured image of the mushroom body in the deep learning model.
請配合參看圖10所示,為達成本發明第三目的之第三實施例,本實施例除了包括上述第二實施例的整體技術特徵之外,該控制單元90更包含一第二影像擷取裝置93;該第二影像擷取裝置93用以對位於第二定位組件22之籃子14內之複數菇類太空包15進行影像擷取成像為菇體影像;該深度學習辨識模組92可對菇體影像做影像辨識處理,並依據辨識結果計算出籃子14中之每一菇類太空包15所處位置的夾取位置d6,再依據各夾取位置d6而輸出相應的控制訊號來驅動機械手臂機構31,使機械手臂機構31得以依據各控制訊號而逐一夾取複數菇類太空包15輸送至盛放治具32內。
Please refer to FIG. 10, in order to achieve the third embodiment of the third object of the invention, this embodiment includes the overall technical features of the second embodiment described above, and the
因此,藉由上述具體實施例的詳細說明,本發明確實具備下列所述的特點: Therefore, based on the detailed description of the above specific embodiments, the present invention does have the following features:
1.本發明確實可藉由自動化之結構設置而實現自動化切割採收菇類之目的,進而有效降低人力成本支出。 1. The present invention can indeed realize the purpose of automatic cutting and harvesting of mushrooms through the automatic structure setting, thereby effectively reducing labor costs.
2.本發明確實具備影像深度學習功能,以辨識最佳成菇切割深度而提升成菇採收品質與效能。 2. The present invention does have the image deep learning function to identify the best cut depth of the mushrooms to improve the harvest quality and efficiency of the mushrooms.
3.本發明確實具備影像辨識夾取位置功能,以大幅提升提高機械手臂夾取成功率。 3. The present invention does have the function of image recognition and gripping position, so as to greatly improve the success rate of gripping by the robotic arm.
4.本發明不一定需要搭配倉儲式栽培庫,也可以連接一般傳統栽培庫,只要加上一小段的輸送帶及利用人工搬運即可實現自動完株採收菇類作物之目的。 4. The present invention does not necessarily need to be matched with a storage-type cultivation warehouse, but can also be connected to a general traditional cultivation warehouse. As long as a small conveyor belt is added and manual handling is used, the purpose of automatically harvesting mushroom crops can be realized.
以上所述,僅為本發明之可行實施例,並非用以限定本發明之專利範圍,凡舉依據下列請求項所述之內容、特徵以及其精神而為之其他變化的等效實施,皆應包含於本發明之專利範圍內。本發明所具體界定於請求項之結構特徵,未見於同類物品,且具實用性與進步性,已符合發明專利要件,爰依法具文提出申請,謹請 鈞局依法核予專利,以維護本申請人合法之權益。 The above are only feasible embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent implementation of other changes based on the content, characteristics and spirit of the following claims shall be It is included in the scope of the patent of the present invention. The structural features of the invention specifically defined in the claim are not found in similar articles, and are practical and progressive. They have already met the requirements of a patent for invention. The application is filed in accordance with the law. I would like to request that the Bureau of Junction approve the patent in accordance with the law to protect this The legitimate rights and interests of the applicant.
1:基架 1: base frame
10:籃子載移裝置 10: Basket transfer device
14:籃子 14: Basket
15:菇類太空包 15: Mushroom space bag
16:成菇 16: Mushroom
17:輸送帶機構 17: Conveyor belt mechanism
30:太空包抓取轉送裝置 30: Space bag capture and transfer device
31:機械手臂機構 31: Mechanical arm mechanism
32:盛放治具 32: Full jig
41:夾具 41: Fixture
42:第三線性載移機構 42: The third linear transfer mechanism
43:旋轉機構 43: Rotating mechanism
50:切割裝置 50: Cutting device
51:動力切刀 51: Power cutter
52:第五線性載移機構 52: Fifth linear transfer mechanism
70:成菇收集裝置 70: Mushroom collection device
80:太空包收集裝置 80: Space bag collection device
93:第二影像擷取裝置 93: The second image capture device
Claims (10)
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Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
TW200611633A (en) * | 2004-05-14 | 2006-04-16 | Lin Jason | Method for cultivating Agaricus Blazei Murill |
CN101015257A (en) * | 2006-02-10 | 2007-08-15 | 林宪秋 | Process for culturing Brazilian mushroom |
TW200800001A (en) * | 2006-06-13 | 2008-01-01 | Yu-Xiu Huang | Overlay soil mushroom cultivation method and the structure thereof |
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Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
TW200611633A (en) * | 2004-05-14 | 2006-04-16 | Lin Jason | Method for cultivating Agaricus Blazei Murill |
CN101015257A (en) * | 2006-02-10 | 2007-08-15 | 林宪秋 | Process for culturing Brazilian mushroom |
TW200800001A (en) * | 2006-06-13 | 2008-01-01 | Yu-Xiu Huang | Overlay soil mushroom cultivation method and the structure thereof |
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