Design Of Intelligent Picking Mushroom Robot For Factory-made Brown Mushroom Cultivation

In the industrial mushroom cultivation,the brown mushroom grows on the multilayer mushroom bed and carries on the growth day and night.And the traditional manual picking workers need to climb multilayer mushroom bed day and night,and they prone their body into the mushroom bed interlayer space for selective picking,the labor intensity of workers is high,the picking efficiency is low,the cost of choosing and employing persons for brown mushroom plant factories is high,which all severely restrict the development of brown mushroom industry scale,so the industry needs to develop a intelligent mushroom picking robots for factory mushroom cultivation.In this study,with the support of the three new projects of Jiangsu province agricultural machinery,an intelligent mushroom picking robot was designed and tested for the mushroom house environment with multi-layer arrangement and uneven illumination of the planting environment of industrial brown mushrooms.The main contents of this paper are as follows:1.Design the structure of the mushroom picking robot and the verification of its strength and stability by finite element analysis.The design parameters of mushroom picking robot were determined according to the constraints and requirements of mushroom picking and planting environment in the factory planting mode,and the mushroom picking robot was designed with the modular design method,including mobile lifting platfonn,telescopic guide rail system,picking arm system,flexible picking claw system,visual recognition and positioning camera and robot measurement and control system.In the designed mechanical structure,the finite element statics analysis and modal analysis are carried out on the key parts to ensure the reliability and stability of the robot structure,and to effectively reduce the mass and inertia of the moving components at the end of the robot.2.Kinematics and dynamics analysis of mushroom picking robot and optimization of picking arm size.D-H method was used to establish the kinematics equation of the mushroom picking robot,the forward kinematics solution of the picking robot was used to calculate the spatial pose transformation matrix,and the expression of the inverse kinematics equation was derived.On the basis of the kinematics of the robot,Lagrange method was used to establish the dynamics equation of the picking robot arm.By establishing a multi-objective optimization model with picking efficiency as the optimization function,the structure size of the picking arm was optimized by genetic algorithm.Finally,Adams virtual prototype software was used to verify the optimization results.Simulation results show that the optimized structure can effectively reduce the picking time compared with the pre-optimized structure3.Develop the measurement and control system of mushroom picking robot,including the design of hardware system and software system.In the hardware system,the industrial PC was used as the main controller to receive the mushroom position and height information obtained by the camera,and the motion control instructions of each lower computer were obtained through inverse kinematics solution.In the software system,the upper computer software operation interface is developed based on the Visual Studio 2015 development platform to obtain robot sensor information and realize the control operation of robot motion.4.Research on mushroom real-time identification and measuring method based on machine vision.In view of the dim light of mushroom growing environment,the characteristics that mushroom bed mycelium and mushroom imaging are similar,the mushroom bed depthimage collected by SR300 depth camera with structural light was used for online identification and measurement of mushrooms.Using the mode of depth information in the mushroom bed image,an adaptive dynamic threshold was selected for image segmentation,and an improved Hough transform algorithm was used for identification of adhesive mushrooms to obtain their position,size radius,deviation Angle and inclination Angle information.5.The performance of the picking robot is verified by experiments.The results show that the structure of the picking robot is stable,the position can be precisely controlled by the measuring and controlling system,the mushroom can be identified and measured in real time by the visual system,and the single picking takes 3 seconds.The rationality of the design scheme of mushroom picking robot is verified.This article is written for factory automation picking robots,brown mushroom cultivation mode for mushroom picking robot structure design,kinematics and dynamics analysis,measurement and control system,machine vision recognition and positioning,and so on are studied,developed a simple structure,operating space is large,strong environmental suitability of mushroom picking robot,to promote brown mushroom scale planting has a certain practical significance.