Research And Realization Of Special Robot For Measuring Mushrooms

In view of the weak ability of automatic information collection in the production of shiitake mushrooms,especially the inconsistency of industrial information in the production of shiitake mushrooms in the process of picking,targeted research was carried out.Combined with the actual needs of mushroom production enterprises,in order to realize the automatic acquisition of mushroom measurement and other information in the production and picking process,a special robot for mushroom measurement has been developed that integrates mushroom measurement and intelligent navigation functions.The functions of automatic collection of measurement information and automatic navigation have solved the problems of difficult information collection,difficult data connection,and large labor workload of mushroom enterprises in the picking process.The main research contents are as follows:(1)Overall scheme design of the special robot system for mushroom measurementAiming at a factory’s difficulty in collecting information in the mushroom picking process,difficulty in data connection and the needs of mushroom handling,on the basis of in-depth research and extensive solicitation of opinions,the function and design scheme of a special robot for mushroom measurement were designed and optimized.The functions of the robot include the precise and automatic collection of data such as mushroom collectors,mushroom measurement information,and automatic robot handling and navigation in the mushroom greenhouse environment.Face recognition,QR code scanning,and automatic upload of mushroom weight and other information are required.It is proposed to adopt a modular structure and integrate power supply,lidar sensor and intelligent control system on the basis of the robot chassis structure.Further,the weight sensor and cargo support frame,face recognition system,two-dimensional code generation and scanning device,and real-time communication system are integrated on the chassis in turn.(2)Research on synchronous positioning and mapping algorithm and path planning algorithmRobot navigation system design planning.Combined with the characteristics of the shiitake mushroom production factory environment,aiming at the cumulative error of the frontend pose estimation of the Cartographer mapping algorithm,a quadratic interpolation method was introduced to eliminate the multi-sensor pose estimation bias.The repetition rate,the simulation experiment proves the effectiveness of the improved algorithm.Aiming at the problems of unique target point and many turning points in the global path planning of the traditional A* algorithm,the Euclidean distance is used as the cost function of target point selection to realize multi-target point path planning.And using the feature of no obstacles at both ends of the three adjacent turning points,redundant turning points are eliminated to reduce the number of turning points.Aiming at the problem that the DWA algorithm is prone to fall into local optimum,a new method based on improved A* global path planning and DWA local path planning is proposed.Fusion algorithm for path planning.Simulation experiments show that the fusion algorithm can plan a low inflection point and a smoother motion route between the starting point and multiple target points on the basis of successfully avoiding obstacles.(3)Realization of special robot system for mushroom measurementAccording to the actual needs of the fruiting factory,the research and development plan of the special robot for measuring mushrooms is established.Through the comprehensive application of Internet of Things technologies such as face recognition,two-dimensional code recognition and voice recognition,the operator’s information can be quickly and easily obtained;through the self-inductive electronic weighing system Combined with the two-dimensional code image recognition technology,the real-time and automatic acquisition of information such as the weight of shiitake mushrooms is realized,and the calculation of the work efficiency information of the operators is realized.The system realizes the precise navigation operation of multi-target points of the robot in complex environment.In addition,a mobile robot control software based on Qt5.11 and Android is designed,which realizes the functions of mushroom mobile measurement,motion control and real-time image monitoring.Robots and control software have repeated a large number of experiments in the mushroom shed simulation environment and the long corridor environment,such as environmental mapping experiments,autonomous navigation experiments,obstacle avoidance experiments,and information collection.The experimental results show that the method mentioned in this paper has a certain practical application effect.The designed special robot for mushroom measurement can realize the functions of mushroom measurement and handling in the environment of mushroom shed,which provides a seamless connection for the information of mushroom enterprises in the picking process.basis and premise.