立体层架栽培香菇选择性采摘机器人设计与试验

Design and Implementation of Robotic System for Selective Harvesting of Shiitake Mushrooms in Three-dimensional Shelf Cultivation

摘要:

针对立体层架式栽培中香菇人工采摘劳动强度大、成本高、选择性采摘机器人研究不足等问题,结合香菇生长特性与工厂化农艺要求,本文设计了一种集自主移动、菌棒取放、选择性采摘与收集于一体的香菇采摘机器人。针对多层立体种植结构,设计升降-夹持机构,通过升降平台与丝杆模组的联动,实现不同层内菌棒的无损取放与夹持固定。采用多视角视觉系统获取菌盖表型与菌褶开合状态信息,通过改进的YOLOv8模型与基于几何约束的跨视角目标匹配规则,实现待采香菇的识别与定位。为避免采摘过程中对菌盖及菌棒造成损伤,依据香菇形态与受力特性,仿人工动作设计夹持末端执行器,通过菌柄侧向夹持施力,实现分离采摘。在立体层架种植菇房内的实地试验结果表明,该机器人香菇采摘成功率达91.6%,单果平均采摘耗时为16.5s,损伤率为15.9%。

Abstract:

In response to the problems in three-dimensional shelf cultivation of shiitake mushrooms, such as high labor intensity, high cost of manual picking, and insufficient research on selective picking robots, an integrated shiitake picking robot was proposed that combined autonomous movement, mushroom stick handling, selective picking and shiitake collection, taking into account the growth characteristics of shiitake mushrooms and the agronomic requirements of factory-based production. To adapt to the multi-layer three-dimensional shelf structure, a lifting-clamping mechanism was developed. Through the linkage between the lifting platform and the lead screw module, this mechanism enabled the non-destructive handling and clamping fixation of mushroom sticks in different layers, effectively solving the problem of handling mushroom sticks in multi-layer shelf environments that were both difficult and prone to damage. A multi-view vision system was adopted to collect multi-dimensional information, including the phenotypic characteristics of shiitake caps and the opening-closing state of gills. An improved YOLO v8 model was used to enhance the accuracy of target detection, and a cross-view target matching rule based on geometric constraints was designed to associate the detection results of different views. This combination enabled the accurate identification and positioning of shiitake mushrooms that were ready for picking, laying a foundation for subsequent selective picking operations. To avoid damage to shiitake caps and mushroom sticks during the picking process, a clamping end-effector was designed by simulating manual picking actions based on the morphological characteristics and force-bearing properties of shiitake mushrooms. By applying a lateral clamping force on the shiitake stipes, the end-effector achieved the separation and picking of shiitake mushrooms without causing damage to the caps or affecting the subsequent growth of mushroom sticks. The field experimental results indicated that the picking success rate of the robot reached 91. 6% , with an average picking time of 16. 5 s per shiitake mushroom and a damage rate of 15. 9% .