TWM604106U - Mushroom harvesting system - Google Patents

Abstract

The invention discloses a mushroom harvesting system, which includes a basket carrying and transferring assembly, a positioning device, a grasping and transferring mechanism, a grasping and transferring mechanism, a cutting mechanism, a basket removing mechanism, a mushroom collecting mechanism and a space bag collecting mechanism. The basket loading and moving component transports the basket containing the mushroom space bag from the first position to the second position. The grabbing and transferring mechanism grabs and transports the mushroom space bags in the basket in the second position one by one to the third position. The grasping and transferring mechanism grasps the mushroom space bag at the third position, rotates and transports it to the cutting position. The power cutter of the cutting mechanism is used to cut the base of the mushroom in the mushroom space bag to separate each mushroom from the mushroom space bag. The basket removal mechanism is used to move the empty basket away from the second position. The mushroom collecting mechanism collects the mushrooms falling from the cutting position. The space bag collection agency collects the mushroom space bag, so as to realize the purpose of automatic cutting and harvesting of mushrooms through the automatic structure setting, thereby effectively reducing the labor cost.

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 automatic structure setting.

The edible mushroom industry in Taiwan has a record of artificial cultivation of shiitake mushrooms since 1909. It has a history of more than 100 years of development. Among the various mushrooms grown in China, Pleurotus eryngii originated in Taiwan In 1996, however, in just ten years, Pleurotus eryngii had replaced Flammulina velutipes as the second most valuable mushroom species. It can be found that Pleurotus eryngii is the only mushroom species whose production has maintained growth in recent years and has little price fluctuations. 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 most of the general operators use bag-grown space bags for production instead of bottle-growing, and the degree of automation Compared with other mushroom species, the development of automation 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 mainly composed of package manufacturers and cultivators, which highlights the problem of fewer strains, which indirectly affects the final appearance of Pleurotus eryngii and has a certain degree of impact on harvesting automation.

In addition, the method of planting Pleurotus eryngii 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 produced is also completely different. According to the edible mushroom grower in Jiangsu, China, the test The results show that when ventilated 4 times a day for 30 minutes each time, the appearance of the produced pleurotus eryngii is similar to a bowling pin, and then changed to 16 times a day for 5 minutes each time, and the appearance becomes more straight and beautiful. It also has a certain degree of impact on subsequent automation, so in order to gain popularity and compatibility of harvesting automation, it is bound 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 approximately 140,000 metric tons, with an output value of approximately 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 stimulation of fruiting. With the development and progress 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 crops. 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 a considerable cultivation harvest.

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-style space bag mushroom cultivation method is to put the bag body with the culture medium, put the collar on the bag body, and then inject the bacterial solution to inoculate the bag to form the space bag. Put several bags 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 grow from the space bag to maturity, then Cut and harvest. However, the commonly used 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, resulting in labor costs.

Since there is currently no related technology, patent or paper publication or publication that can automatically cut and harvest the grown mushrooms of the space bag, the known technology is indeed not perfect, and there is still room for improvement. necessity. The reason is that the creators of the new model actively invest in research and development, and eventually the new research and development results are produced. If it relies too much on manual operations, it will cause labor-consuming and time-consuming, low cultivation and production efficiency, 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 object of the present invention is to provide a mushroom harvesting system, which mainly realizes the purpose of automatic cutting and harvesting of mushrooms through automatic structure setting, thereby effectively reducing labor costs. The technical means used to achieve the first objective of the new model include basket transfer assembly, positioning device, grasping and transferring mechanism, grasping and transferring mechanism, cutting mechanism, basket removal mechanism, mushroom collection mechanism and space bag collection mechanism. The basket loading and moving component transports the basket containing the mushroom space bag from the first position to the second position. The grabbing and transferring mechanism grabs and transports the mushroom space bags in the basket in the second position one by one to the third position. The grasping and transferring mechanism grasps the mushroom space bag at the third position, rotates and transports it to the cutting position. Cutting mechanism The power cutter is used to cut the base of the mushroom in the mushroom space bag to separate each mushroom from the mushroom space bag. The basket removal mechanism is used to move the empty basket away from the second position. The mushroom collecting mechanism collects the mushrooms falling from the cutting position. The space bag collection agency 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 purpose of the new model include basket transfer components, positioning devices, grasping and transferring mechanisms, grasping and transferring mechanisms, cutting mechanisms, basket removal mechanisms, mushroom collection mechanisms, and space bag collection mechanisms. The basket loading and moving component transports the basket containing the mushroom space bag from the first position to the second position. The grabbing and transferring mechanism grabs and transports the mushroom space bags in the basket in the second position one by one to the third position. The grasping and transferring mechanism grasps the mushroom space bag at the third position, rotates and transports it to the cutting position. The power cutter of the cutting mechanism is used to cut the base of the mushroom in the mushroom space bag to separate each mushroom from the mushroom space bag. The basket removal mechanism is used to move the empty basket away from the second position. The mushroom collecting mechanism collects the mushrooms falling from the cutting position. The space bag collection agency 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, and 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 carrier component is not adjusted; If the proportion of the substrate is between 1/3~1, adjust the cutting position of the third linear carrier component to adjust the displacement in the direction of the plurality of mushrooms, and capture the real-time image of the cross-section mushroom Image is a deep learning model stored in the deep learning recognition module; when the proportion of the substrate is less than 1/6, the cutting position of the third linear carrier component is adjusted to adjust the displacement toward the substrate, and The cross-sectional mushroom body image captured in real time is stored in the deep learning model.

The third object of the present invention is to provide a mushroom harvesting system with 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 new type include basket transfer assembly, positioning device, grasping and transferring mechanism, grasping and transferring mechanism, cutting mechanism, basket removal mechanism, mushroom collection mechanism and space bag collection mechanism. The basket loading and moving component transports the basket containing the mushroom space bag from the first position to the second position. The grabbing and transferring mechanism grabs and transports the mushroom space bags in the basket in the second position one by one to the third position. The grasping and transferring mechanism grasps the mushroom space bag at the third position, rotates and transports it to the cutting position. The power cutter of the cutting mechanism is used to cut the base of the mushroom in the mushroom space bag to separate each mushroom from the mushroom space bag. The basket removal mechanism is used to move the empty basket away from the second position. The mushroom collecting mechanism collects the mushrooms falling from the cutting position. The space bag collection agency 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, so that the robotic arm 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

1a: Long slot

1b: Through hole

10: Basket loading and moving components

11: Transfer board

12: The first linear transfer component

13: The second linear transfer component

14: Basket

15: Mushroom space bag

16: into mushroom

17: Conveyor belt mechanism

20: positioning device

21: The first positioning component

22: The second positioning component

30: Crawl forwarding agency

31: Robotic arm

32: full jig

33: The fourth linear transfer component

40: Catch and reprint mechanism

41: Fixture

42: The third linear transfer component

43: Rotating mechanism

50: Cutting mechanism

51: Power cutter

52: Fifth linear transfer component

60: Basket removal mechanism

61: drive components

62: putter

70: Mushroom Collection Organization

80: Space Bag Collection Agency

90: control unit

91: The first image capture device

92: Deep Learning Identification Module

93: 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 new specific architecture.

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

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

Fig. 4 is a schematic diagram of the implementation of the first action of the new basket loading and moving assembly.

Fig. 5 is a schematic diagram showing the implementation of the second action of the new basket loading and moving assembly.

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

Fig. 7 is a schematic diagram of the fourth action implementation of the new basket loading and moving assembly.

Figure 8 is a schematic diagram of the fifth action implementation of the basket carrying and moving assembly of the present invention.

Figure 9 is a schematic diagram of the action implementation of the new basket removing and moving device.

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

In order to allow your reviewers to further understand the overall technical features of the new model and the technical means to achieve the new purpose, a detailed description is given with specific examples and drawings as follows:

Please refer to Figures 1 to 3 and Figure 10. The first embodiment to achieve the first purpose of the new style includes a basket carrying assembly 10, a positioning device 20, a grasping and transferring mechanism 30, and a grasping The reprinting mechanism 40, a cutting mechanism 50, a basket removal mechanism 60, a mushroom collection mechanism 70, and a space bag collection mechanism 80 are technical features. The basket loading and moving assembly 10 is arranged on a base 1 having a first position d1, a second position d2, and a third position d3. The basket transfer assembly 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 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 grabbing and transferring mechanism 30 is set on the machine base 1 to transfer the device at the second position d2 The plurality of mushroom space bags 15 in the basket 14 are grabbed one by one and transported to the third position d3. The grasping and transferring mechanism 40 is arranged on the base 1 for grasping the mushroom space bag 15 which is grasped by the grasping and transferring mechanism 30 and transported to the third position d3, and rotates and transports it to a cutting position d5. The cutting mechanism 50 is arranged at the base 1 adjacent to the cutting position d5, and includes a power cutter 51, which is used to cut the base 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 assembly 61 to make displacement. The push rod 62 is used to move the space bag at the second position d2 without mushrooms. The basket 14 of 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 mechanism 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 grasping and reprinting mechanism 40 releases the action of grabbing the mushroom space bag 15 so that the mushroom space bag 15 naturally falls from the cutting position d5, and the space bag is collected The mechanism 80 is used for collecting the mushroom space bag 15 dropped from the cutting position d5.

Please refer to the embodiment shown in FIGS. 2 to 3, the positioning device 20 includes a first positioning component 21 and 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 component 10, respectively 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, as shown in Figures 2 to 3, the middle section of the base 1 has a long slot 1a extending along its axis. One end of the long slot 1a close to the first position d1 is an open end, and the opposite end is closed. end. The basket transfer assembly 10 includes a transfer board 11, a first linear transfer assembly 12 for driving the transfer board 11 to move laterally to the base 1 and a first linear transfer assembly 12 for driving the transfer board 11 relative to the base 1 The second linear loading and moving component 13 for longitudinally moving back and forth.

As mentioned above, when the basket 14 containing a plurality of mushroom space bags 15 passes through When a conveyor belt mechanism 17 arrives close to the first position d1, the first linear transfer assembly 12 drives the transfer plate 11 to move laterally to a hollow portion at the end of the conveyor belt mechanism 17 (that is, the central axis portion is hollow). Directly below the basket 14, as shown in FIG. 4, the second linear transfer assembly 13 drives the transfer board 11 to move up in the longitudinal direction to carry the basket 14 at one end of the transfer board 11; then, the first linear transfer assembly 12 Then drive the transfer board 11 and the basket 14 to move to the original position in the reverse direction, so that the basket 14 is positioned on the first positioning assembly 21, as shown in FIG. 5; next, the second linear transfer assembly 13 drives the transfer board 11 longitudinally move down to the original position; then when the next basket 14 arrives close to the first position d1, the first linear transfer assembly 12 again drives the transfer plate 11 to move laterally to the hollow part at the end of the conveyor belt mechanism 17 to be straight Below the next basket 14, as shown in Fig. 6, the second linear transfer assembly 13 drives the transfer board 11 to move vertically upward, so that the end of the transfer board 11 carries the basket 14 and the end of the transfer board 11 carries the next The basket 14, then, the first linear transfer assembly 12 drives the transfer board 11, the basket 14 and the next basket 14 to move backward and horizontally to the top of the original position, as shown in Figure 7, when the basket 14 and the next When the basket 14 is respectively positioned at the second positioning component 22 and the first positioning component 21, the second linear loading and moving component 13 drives the transfer plate 11 to move down to the original position longitudinally, as shown in FIG. 8; then the above control action is repeated Steps can form a cyclic action step of continuously carrying the basket 14 containing 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 vertically upward, 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 it can be collected and removed through a larger volume collection tube Falling empty basket 14.

Please refer to the embodiments shown in FIGS. 1 and 3, the grabbing and transferring mechanism 30 includes a mechanical arm 31 and a holding fixture 32 at the third position d3. When a basket containing a plurality of mushroom space bags 15 14 When positioned at the second positioning assembly 22, the robotic arm 31 One of the mushroom space bags 15 is picked up and sent to the holding fixture 32 for the grasping and reproducing mechanism 40 to grasp. Specifically, the grasping and transferring mechanism 30 further includes a fourth linear transfer component 33 for transferring 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 grasping and transferring mechanism 40 includes a clamp 41 for clamping and holding the mushroom space bag 15 in the holding fixture 32, and a clamping fixture 41 for transferring The third linear loading and moving component 42 at the three positions d3 to the cutting position d5 and a rotating mechanism 43 arranged on the third linear loading and moving component 42 to drive the clamp 41 to rotate; when the clamp 41 of the mushroom space bag 15 is clamped When reaching 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 mechanism 50 cuts the mushroom capsule 15. As shown in FIGS. 1 and 3, the power cutter 51 of the cutting mechanism 50 is longitudinally displaced through the fifth linear carrying and moving component 52 to realize the function of cutting the mushroom space bag 15.

Please refer to the embodiment shown in FIG. 3, the base 1 is provided with a through hole 1b through which the cut mushroom space bag 15 passes when it is dropped.

Please refer to FIG. 10, in order to achieve the second embodiment of the second objective of the new type, this embodiment includes a control unit 90 in addition to the overall technical features of the above-mentioned first embodiment. The control unit 90 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 section of the mushroom 16 is captured and imaged as a section of the mushroom body image; the deep learning recognition module 92 can perform deep learning image recognition processing on the mushroom body image based on the proportion of the substrate in the mushroom space bag 15 To judge whether the cutting position d5 is the best cutting position d5; when the proportion of the matrix is between 1/6 and 1/3, the cutting position d5 positioned by the third linear carrier component 42 is not adjusted; when the proportion of the matrix is medium At 1/3~1, adjust the cutting position d5 of the third linear transfer unit 42 to reciprocate and adjust the displacement in 16 directions, and store the real-time captured image of the mushroom body in the deep learning recognition model A deep learning model of group 92; when the proportion of the matrix is less than 1/6, adjust the cutting position d5 of the third linear carrier component 42 to adjust the displacement in the direction of the matrix, and then capture the real-time image of the mushroom body Stored in the deep learning model.

Please refer to FIG. 10 in order to achieve the third embodiment of the new third objective. In addition to the overall technical features of the second embodiment, the control unit 90 further includes a second image capture Device 93; the second image capturing device 93 is used to capture and image the plurality of mushroom space bags 15 in the basket 14 of the second positioning component 22 into a mushroom image; 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 corresponding control signals are output according to each clamping position d6 to drive the machine The arm 31 enables the robotic arm 31 to pick up the mushroom space bags 15 one by one according to the control signals 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 new model can realize the purpose of automatic cutting and harvesting of mushrooms through the automatic structure setting, thereby effectively reducing labor costs.

2. This new model 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 new model does have the function of image recognition and gripping position to greatly improve the success rate of gripping by the robotic arm.

4. The new model 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 and manual handling are added, 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 present invention The scope of the patent, any equivalent implementation of other changes based on the content, characteristics and spirit of the following claims, shall be included in the patent scope of the present model. This model is specifically defined in the structural characteristics of the claim, which is not found in similar articles, and is practical and progressive. It has already met the requirements of an invention patent. The application is filed in accordance with the law. I would like to ask the Jun Bureau to approve the patent in accordance with the law to protect this The legitimate rights and interests of the applicant.

1: base

10: Basket loading and moving components

14: Basket

15: Mushroom space bag

16: into mushroom

17: Conveyor belt mechanism

30: Crawl forwarding agency

31: Robotic arm

32: full jig

41: Fixture

42: The third linear transfer component

43: Rotating mechanism

50: Cutting mechanism

51: Power cutter

52: Fifth linear transfer component

70: Mushroom Collection Organization

80: Space Bag Collection Agency

93: second image capture device

Claims (11)

A mushroom harvesting system, which includes: A basket carrying and moving assembly is arranged on a machine base; the machine base has a first position, a second position and a third position; the basket carrying and moving assembly 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 grasping and transferring mechanism, which is set on the base, and is used to gradually grasp and transport at least one of the plurality of mushroom space bags in the basket at the second position to the third position; A grasping and transferring mechanism, which is arranged on the base, and used for grasping the mushroom space bag which is grasped by the grasping and transferring mechanism and transported to the third position and transported to a cutting position; A cutting mechanism, which is arranged at the base adjacent to the cutting position, and includes a power cutter for cutting the bases of a plurality of mushrooms in the mushroom space bag at the cutting position, Separate the plurality of adult mushrooms from the mushroom space bag; and A basket removal mechanism, which includes a push rod driven by a drive assembly for displacement. The push rod is used to move the basket in the second position and without the mushroom bag to one side to move away from the first position. Two positions. The mushroom harvesting system according to claim 1, further comprising a positioning device for providing positioning when the basket is located at the first position and the second position, and the positioning device includes a device that can be used to carry the basket separately A first positioning component and a second positioning component for positioning the basket with a plurality of mushroom space bags carried by the moving component are moved. The first positioning component and the second positioning component are respectively located at the first position and the first position Second position. The mushroom harvesting system according to claim 2, wherein the middle section of the base has a long groove extending along its axis, and one end of the long groove close to the first position is an open end, and the opposite end of the long groove is Closed end; the basket transfer assembly includes a transfer board, a to drive the transfer A first linear loading and moving component for moving the board horizontally to the base relative to the base and a second linear loading and moving member for driving the moving plate to move back and forth longitudinally relative to the base; when the plurality of mushrooms are installed When the basket of the space bag reaches the first position through a conveyor belt mechanism, the first linear transfer assembly 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 , The second linear transfer component drives the transfer board to move up in the longitudinal direction to carry the basket with one end of the transfer board, and the first linear transfer component drives the transfer board and the basket to move backward and horizontally to the original Position above, so that the basket is positioned at the first positioning assembly, and the second linear transfer assembly drives the transfer plate to move down to the original position; when the next basket arrives near the first position, the first linear The transfer assembly again drives the transfer board to move laterally to the hollow part at the end of the conveyor belt mechanism to be directly below the next basket. The second linear transfer assembly drives the transfer board to move up longitudinally, so that the transfer The end of the board carries the basket, and one end of the transfer board carries the next basket, and the first linear transfer assembly drives the transfer board, the basket, and the next basket to move backward and horizontally to the original position. When the basket and the next basket are respectively positioned at the second positioning component and the first positioning component, the second linear transfer component 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 transport component 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 grabbing and transferring mechanism includes a mechanical arm and a holding jig at the third position, when the basket is positioned with a plurality of mushroom bags When the second positioning assembly is used, the robotic arm picks up one of the mushroom space bags one by one and sends it to the holding fixture for the grasping and transferring mechanism to grab. The mushroom harvesting system according to claim 5, wherein the grabbing and transferring mechanism further includes A fourth linear loading and moving component used for moving the holding fixture from a fourth position to the third position. The mushroom harvesting system according to claim 5, wherein the grasping and reproducing mechanism includes a clamp for clamping the mushroom space bag in the holding fixture, and a clamp for transferring the clamp from the The third linear carrying and moving component displaced from the third position to the cutting position and a rotating mechanism arranged on the third linear carrying and moving component for driving the clamp to rotate; when the clamp for clamping the mushroom bag reaches the cutting In the position, the rotating mechanism drives the clamp to rotate 90 degrees, so that the power cutter of the cutting mechanism 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 identification module; when the power cutter cuts the mushroom space When the plurality of mushrooms in the bag form the base of the mushroom, the first image capturing device captures and images the cross section of the mushroom into a cross-sectional mushroom image; the deep learning recognition module can perform deep learning on the mushroom image According to the image recognition processing of the mushroom space bag, determine 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 The cutting position positioned by the three-linear loading and moving component; when the proportion of the substrate is between 1/3~1, the cutting position of the third linear loading and moving component is adjusted to the direction of the plural mushrooms, and the displacement will be adjusted immediately The captured image of the cross-sectional 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 position of the third linear transport component is adjusted to The displacement of the substrate direction is adjusted, 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 in the basket A plurality of mushroom space bags 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 according to the recognition result The gripping position of each mushroom space bag in the basket is output, and corresponding control signals are output according to the gripping positions to drive the robotic arm, so that the robotic arm can be controlled according to the control signals. Pick up the plurality of mushroom space bags one by one and transport them to the holding fixture. The mushroom harvesting system according to claim 1, further comprising a mushroom collection mechanism and a space bag collection mechanism; when the plurality of mushrooms are separated from the mushroom space bag, the mushroom collection mechanism is used Collect the plurality of mushrooms that fall from the cutting position; when the plurality of mushrooms are separated from the mushroom space bag, the grasping and reprinting mechanism cancels the action of grabbing the mushroom space bag to make the mushroom space The bag naturally falls from the cutting position, and the space bag collection mechanism is used to collect the mushroom space bag dropped from the cutting position. The mushroom harvesting system according to claim 1, wherein the machine base is provided with a through hole at the position below the cutting mechanism for passing through when the cut mushroom space bag falls.

Images