TWI719925B - Mushroom harvesting system - Google Patents

Abstract

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

Mushroom harvesting system

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.

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.

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.

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.

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.

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.

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.

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.

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: base frame

1a: Long slot

1b: Through hole

10: Basket transfer device

11: Transfer board

12: The first linear transfer mechanism

13: The second linear transfer mechanism

14: Basket

15: Mushroom space bag

16: Mushroom

17: Conveyor belt mechanism

20: Basket positioning device

21: The first positioning component

22: The second positioning component

30: Space bag capture and transfer device

31: Mechanical arm mechanism

32: Full jig

33: The fourth linear transfer mechanism

40: Space bag grabbing and reprinting device

41: Fixture

42: The third linear transfer mechanism

43: Rotating mechanism

50: Cutting device

51: Power cutter

52: Fifth linear transfer mechanism

60: Basket removal device

61: drive mechanism

62: putter

70: Mushroom collection device

80: Space bag collection device

90: control unit

91: The first image capture device

92: Deep Learning Identification Module

93: The second image capture device

d1: first position

d2: second position

d3: third position

d4: fourth position

d5: cutting position

d6: gripping position

Figure 1 is a schematic diagram of the appearance of the implementation of the specific architecture of the present invention.

Figure 2 is a schematic front view of the implementation of the specific architecture of the present invention.

Figure 3 is a schematic top view of the implementation of the specific architecture of the present invention.

Fig. 4 is a schematic diagram of the first action implementation of the basket carrying device of the present invention.

Fig. 5 is a schematic diagram of the second action implementation of the basket carrying device of the present invention.

Fig. 6 is a schematic diagram of the third action implementation of the basket carrying device of the present invention.

Fig. 7 is a schematic diagram of the fourth action implementation of the basket carrying device of the present invention.

Fig. 8 is a schematic diagram of the fifth action implementation of the basket carrying device of the present invention.

Fig. 9 is a schematic diagram of the action implementation of the basket removal device of the present invention.

FIG. 10 is a schematic diagram of the circuit function block diagram of the specific structure of the present invention.

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:

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 basket carrying device 10, a basket positioning device 20, a space bag grabbing and transferring device 30, A space bag grabbing and transferring device 40, a cutting device 50, a basket removal device 60, a mushroom collecting device 70, a space bag collecting device 80 and other technical features. The basket carrying device 10 is arranged on a base frame 1 having a first position d1, a second position d2, and a third position d3. The basket carrying device 10 is used to transport the basket 14 containing a plurality of mushroom space bags 15 from the first position d1 to the second position d2. Each basket 14 is sent to the first position d1 one by one by manual or conveyor mechanism 17. The basket positioning device 20 is used to provide a positioning function when the basket 14 is located at the first position d1 and the second position d2. The space bag grabbing and transferring device 30 is installed on the base frame 1 and used for grabbing and transporting the plurality of mushroom space bags 15 in the basket 14 at the second position d2 to the third position d3 one by one. The space bag grabbing and transferring device 40 is arranged on the base frame 1 for grabbing the mushroom space bag 15 which is grabbed by the space bag grabbing and transferring device 30 and transported to the third position d3, rotating and transporting it to a cutting Location d5. The cutting device 50 is arranged at the base frame 1 adjacent to the cutting position d5, and includes a power cutter 51 for cutting the bases of a plurality of mushrooms 16 in the mushroom space bag 15 at the cutting position d5 , Separate the plurality of mushrooms 16 from the mushroom space bag 15. As shown in FIG. 9(a), the basket removal device 60 includes a push rod 62 driven by a driving mechanism 61 to make a deep contraction displacement. The push rod 62 is used to move the space at the second position d2 without mushrooms. The basket 14 of the bag 15 moves to one side to move away from the second position d2, as shown in FIG. 9(b). When the plurality of mushrooms 16 are separated from the mushroom space bag 15, the mushroom collecting device 70 is used to collect the plurality of mushrooms 16 dropped from the cutting position d5. When the plurality of mushrooms 16 are separated from the mushroom space bag 15, the space bag grabbing and reprinting device 40 releases the action of grabbing the mushroom space bag 15 so that the mushroom space bag 15 will naturally fall from the cutting position d5. The bag collecting device 80 is used to collect the mushroom space bag 15 dropped from the cutting position d5.

Please refer to the embodiment shown in FIGS. 2 to 3, the basket positioning device 20 includes a first positioning component 21 that can be used for positioning the basket 14 carrying a plurality of mushroom space bags 15 carried by the basket carrying and moving device 10, respectively. And a second positioning component 22, the first positioning component 21 and the second positioning component are respectively located at the first position d1 and the second position d2.

Specifically, the middle section of the base frame 1 shown in Figures 2 to 3 has a long groove 1a extending along its axis. The end of the long groove 1a close to the first position d1 is an open end, and the opposite To the other end is the closed end. The basket transfer device 10 includes a transfer board 11, a first linear transfer mechanism 12 for driving the transfer board 11 to move back and forth relative to the base frame 1, and a first linear transfer mechanism 12 for driving the transfer board 11 relative to the base frame 1 The second linear carrying and moving mechanism 13 for longitudinally moving back and forth.

As mentioned above, when the basket 14 containing a plurality of mushroom space bags 15 reaches the first position d1 through a conveyor mechanism 17, the first linear transfer mechanism 12 drives the transfer plate 11 to move laterally to A hollow part at the end of the conveyor belt mechanism 17 (that is, the central axis part is hollowed out) is directly below the basket 14. As shown in FIG. 4, the second linear transfer mechanism 13 drives the transfer plate 11 to move vertically upward to move One end of the carrier plate 11 carries the basket 14; then, the first linear transport mechanism 12 drives the carrier plate 11 and the basket 14 to move backward and horizontally to the original position, so that the basket 14 can be positioned on the first positioning assembly 21 , As shown in Figure 5, next, the second linear transfer mechanism 13 drives the transfer plate 11 to move longitudinally downward to the original position; then, when the next basket 14 arrives near the first position d1, the first linear transfer The transfer mechanism 12 again drives the transfer board 11 to move laterally to the hollow part at the end of the conveyor belt mechanism 17 and directly under the next basket 14. As shown in FIG. 6, the second linear transfer mechanism 13 drives the transfer board 11 longitudinally. Move up so that the end of the transfer board 11 carries the basket 14, and at the same time, the end of the transfer board 11 carries the next basket 14. Then, the first linear transfer mechanism 12 drives the transfer board 11, the basket 14 and the next basket. 14 is moved to the top of the original position in the reverse direction. As shown in FIG. 7, when the basket 14 and the next basket 14 are respectively positioned on the second positioning assembly 22 and the first positioning assembly 21, the second linear transport mechanism 13 drives The transfer board 11 is moved down to the original position longitudinally, as shown in FIG. 8; and then the above-mentioned control action steps are repeated to form a cyclic action step of continuously carrying the basket 14 of the mushroom space bag 15.

Please refer to the embodiment shown in FIG. 9(a). When there is no mushroom space bag 15 in the basket 14 of the second positioning assembly 22, the second linear transfer mechanism 13 drives the transfer plate 11 and the empty The basket 14 is moved up longitudinally, and the push rod 62 is used to push the basket 14 to one side to move away from the second positioning component 22, as shown in Figure 9(b), so that a larger volume can be collected To collect the empty basket 14 that has been removed and dropped.

Please refer to the embodiment shown in FIGS. 1 and 3, the space bag grabbing and transferring device 30 includes a mechanical arm mechanism 31 and a holding fixture 32 at the third position d3. When a plurality of mushroom space bags are installed When the basket 14 of 15 is positioned at the second positioning assembly 22, the robotic arm mechanism 31 picks up one of the mushroom space bags 15 one by one and sends it to the holding fixture 32 for the space bag grasping and transferring device 40 to grab. Specifically, the space bag grabbing and transferring device 30 further includes a fourth linear transport mechanism 33 for transporting and transporting the holding fixture 32 from a fourth position d4 to a third position d3.

Please refer to the embodiment shown in FIGS. 1 to 3, the space bag grasping and transferring device 40 includes a clamp 41 for clamping and holding the mushroom space bag 15 in the holding fixture 32, and a transfer clamp 41 The third linear transfer mechanism 42 that is displaced from the third position d3 to the cutting position d5 and a rotating mechanism 43 arranged on the third linear transfer mechanism 42 to drive the clamp 41 to rotate; when the mushroom space bag 15 is clamped When the clamp 41 reaches the cutting position d5, the rotating mechanism 43 drives the clamp 41 to rotate 90 degrees, so that the power cutter 51 of the cutting device 50 cuts the mushroom space bag 15. As shown in FIGS. 1 and 3, the power cutter 51 of the cutting device 50 is longitudinally displaced through the fifth linear transport mechanism 52, so as to realize the function of cutting the mushroom space bag 15.

Please refer to the embodiment shown in FIG. 3, the base frame 1 is provided with a through hole 1b at a position directly below the cutting device 50 for the cut mushroom space bag 15 to pass through when it is dropped.

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.

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 control unit 90 further includes a second image capture Device 93; the second image capturing device 93 is used to capture images of the plurality of mushroom space bags 15 in the basket 14 of the second positioning component 22 as mushroom images; the deep learning recognition module 92 can The mushroom body image is processed for image recognition, and the clamping position d6 of each mushroom space bag 15 in the basket 14 is calculated according to the recognition result, and then the corresponding control signal is output according to each clamping position d6 to drive the machine The arm mechanism 31 enables the mechanical arm mechanism 31 to pick up a plurality of mushroom space bags 15 one by one according to each control signal and transport them to the holding fixture 32.

Therefore, based on the detailed description of the above specific embodiments, the present invention does have the following features:

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. 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. 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. 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.

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: base frame

10: Basket transfer device

14: Basket

15: Mushroom space bag

16: Mushroom

17: Conveyor belt mechanism

30: Space bag capture and transfer device

31: Mechanical arm mechanism

32: Full jig

41: Fixture

42: The third linear transfer mechanism

43: Rotating mechanism

50: Cutting device

51: Power cutter

52: Fifth linear transfer mechanism

70: Mushroom collection device

80: Space bag collection device

93: The second image capture device

Claims (10)

A mushroom harvesting system, which includes: A basket carrying and moving device, which is arranged on a base frame; the base frame has a first position, a second position and a third position; the basket carrying and moving device is used to first move a space containing a plurality of mushrooms The bag basket is transported from the first position to the second position; A basket positioning device for providing positioning when the basket is located at the first position and the second position; A space bag grabbing and transferring device installed on the base frame for grabbing and transporting the plurality of mushroom space bags in the basket at the second position one by one to the third position; A space bag grabbing and transferring device, which is arranged on the base frame, and used for grabbing and transporting the mushroom space bag to the third position by the space bag grabbing and transferring device to a cutting position; A cutting device, which is arranged at the base frame adjacent to the cutting position, and includes a power cutter for cutting the bases of a plurality of grown mushrooms in the mushroom space bag at the cutting position, Separate the plurality of mushrooms from the mushroom space bag; and A basket removal device, which includes a push rod driven by a driving mechanism for displacement, the push rod is used to move the basket at the second position and without the mushroom space bag to one side to move away from the second position Two positions. The mushroom harvesting system according to claim 1, wherein the basket positioning device includes a first positioning component capable of positioning the basket with a plurality of mushroom space bags carried by the basket transfer device, and A second positioning element, the first positioning element and the second positioning element are respectively located at the first position and the second position. The mushroom harvesting system according to claim 2, wherein the middle section of the base frame extends along its axis with a long groove, and one end of the long groove close to the first position is an open end, and the reverse The other end is a closed end; the basket transfer device includes a transfer board, a first linear transfer mechanism for driving the transfer board to move back and forth horizontally relative to the base frame, and a first linear transfer mechanism for driving the transfer The second linear loading and moving mechanism for the board to move longitudinally back and forth relative to the base frame; when the basket containing the plurality of mushroom space bags arrives close to the first position through a conveyor belt mechanism, the first linear loading and moving mechanism The mechanism drives the transfer plate to move laterally to a hollow part at the end of the conveyor belt mechanism to be directly below the basket, and the second linear transfer mechanism drives the transfer plate to move vertically upward, and one end of the transfer plate carries the Basket, the first linear transfer mechanism drives the transfer plate and the basket reversely moves to the top of the original position, so that the basket is positioned on the first positioning assembly, and the second linear transfer mechanism drives the transfer The plate moves down to the original position in the longitudinal direction; when the next basket arrives close to the first position, the first linear transfer mechanism drives the transfer plate to move laterally to the hollow part at the end of the conveyor belt mechanism to face down Under one of the baskets, the second linear transfer mechanism drives the transfer board to move vertically upward, so that the end of the transfer board carries the basket, and the end of the transfer board carries the next basket, and the first linear load The transfer mechanism then drives the transfer board, the basket, and the next basket to move to the top of the original position in the reverse direction. When the basket and the next basket are positioned on the second positioning assembly and the first positioning assembly, respectively, The second linear transfer mechanism drives the transfer board to move down to the original position longitudinally. The mushroom harvesting system according to claim 3, wherein, when there is no mushroom space bag in the basket located in the second positioning component, the second linear transfer mechanism drives the transfer plate and the empty The basket is moved vertically upward, and the push rod is used to push the basket to one side to move away from the second positioning assembly. The mushroom harvesting system according to claim 1, wherein the space bag grabbing and transferring device includes a mechanical arm mechanism and a holding jig at the third position, when a plurality of mushroom space bags are installed When the basket is positioned on the second positioning assembly, the robotic arm mechanism picks up one of the mushroom space bags one by one and sends them to the holding fixture for the space bag grasping and transferring device to grasp take. The mushroom harvesting system according to claim 5, wherein the space bag grabbing and transferring device further includes a fourth linear carrier for moving the holding fixture from a fourth position to the third position移机构。 Move agencies. The mushroom harvesting system according to claim 5, wherein the space bag grabbing and reproducing device includes a clamp for gripping the mushroom space bag in the holding fixture, and a clamp for moving the clamp A third linear loading and moving mechanism that is displaced from the third position to the cutting position and a rotating mechanism that is provided on the third linear loading and moving mechanism to drive the fixture to rotate; when the fixture for picking up the mushroom space bag arrives In the cutting position, the rotating mechanism drives the clamp to rotate 90 degrees, so that the power cutter of the cutting device cuts the mushroom bag. The mushroom harvesting system according to claim 7, further comprising a control unit, the control unit comprising a first image capturing device and a deep learning recognition module; when the power cutter cuts the mushroom space When the plurality of mushrooms in the bag are formed into the base of the mushroom, the first image capturing device captures and image the cross section of the plurality of mushrooms into a cross-sectional mushroom body image; the deep learning recognition module can perform deep learning on the mushroom body image According to the image recognition processing of the mushroom space bag, it is judged whether the cutting position is the best cutting position according to the proportion of the substrate in the mushroom space bag; when the proportion of the substrate is between 1/6 and 1/3, the first cutting position is not adjusted. The cutting position positioned by the three-linear loading and moving mechanism; when the proportion of the matrix is between 1/3 to 1, the cutting position of the third linear loading and moving mechanism is adjusted to the direction of the plurality of mushrooms to adjust the displacement, and The real-time captured image of the cross-section mushroom body is stored in a deep learning model of the deep learning recognition module; when the proportion of the matrix is less than 1/6, the cutting of the third linear transfer mechanism is adjusted The position adjusts the displacement in the direction of the substrate, and the real-time captured image of the cross-section mushroom body is stored in the deep learning model. The mushroom harvesting system according to claim 8, wherein the control unit further includes a second image capturing device; the second image capturing device is used for aligning the second positioning component The plurality of mushroom space bags in the basket are captured and imaged as a mushroom body image; the deep learning recognition module can perform image recognition processing on the mushroom body image, and calculate each of the mushroom bodies in the basket according to the recognition result. The gripping position where the mushroom space bag is located, and then output corresponding control signals according to each gripping position to drive the robotic arm mechanism, so that the robotic arm mechanism can grip the plural numbers one by one according to each control signal The mushroom space bag is transported to the holding fixture. The mushroom harvesting system according to claim 1, further comprising a mushroom collecting device and a space bag collecting device; when the plurality of mushrooms are separated from the mushroom space bag, the mushroom collecting device is used Collect the plurality of mushrooms falling from the cutting position; when the plurality of mushrooms are separated from the mushroom space bag, the space bag catching and transferring device releases the action of grabbing the mushroom space bag to make the mushroom The space bag is naturally dropped from the cutting position, and the space bag collection device is used to collect the mushroom space bag dropped from the cutting position; the base frame is provided with a space for cutting the mushrooms at the position below the cutting device. The through hole that the bag passes through when it is dropped.

Images