This application relates to a collaborative control method for a picking robot based on collaborative picking and collection of mushrooms, including the following steps: picking, by a suction cup, the mushrooms, and conveying, by a built-in conveying apparatus, the mushrooms to a discharge port; dynamically adjusting a movement path of the picking robot; synchronously moving a receiving mechanism and the picking robot, and ensuring the receiving mechanism to be aligned to the discharge port; separating, by a separating apparatus, mushrooms that meet a quality standard and unqualified mushrooms, where the mushrooms that meet a quality standard and the unqualified mushrooms respectively enter a first dropping hopper and a second dropping hopper; grading the mushrooms in the first dropping hopper for a second time, classifying the mushrooms based on volumes and diameters of the mushrooms; when any dropping hopper is to be fully loaded, triggering the receiving mechanism to alternately operate.

This application relates to a collaborative control method for a picking robot based on collaborative picking and collection of mushrooms, including the following steps: picking, by a suction cup, the mushrooms, and conveying, by a built-in conveying apparatus, the mushrooms to a discharge port; dynamically adjusting a movement path of the picking robot; synchronously moving a receiving mechanism and the picking robot, and ensuring the receiving mechanism to be aligned to the discharge port; separating, by a separating apparatus, mushrooms that meet a quality standard and unqualified mushrooms, where the mushrooms that meet a quality standard and the unqualified mushrooms respectively enter a first dropping hopper and a second dropping hopper; grading the mushrooms in the first dropping hopper for a second time, classifying the mushrooms based on volumes and diameters of the mushrooms; when any dropping hopper is to be fully loaded, triggering the receiving mechanism to alternately operate.

A factory mushroom picking robot includes a mobile platform, a chassis (100), a lifting device (200), a mushroom stick take-up device (300) and a mushroom picking device (400). The mushroom stick take-up device (300) is configured to take mushroom sticks out of a mushroom rack (4), and the mushroom sticks from different layers are taken through the lifting device (200). The mushroom picking device (400) includes a mechanical arm (402) and an execution end (403). The image data of the mushroom sticks are acquired through three depth cameras. Mushroom targets to be picked are identified through multi-view target matching and are divided in terms of the quality grade, so as to achieve graded picking. A vision-based graded picking method, a mushroom detection and grading method based on multi-view fusion and a non-transitory storage medium of executing corresponding method are further provided.

A factory mushroom picking robot includes a mobile platform, a chassis (100), a lifting device (200), a mushroom stick take-up device (300) and a mushroom picking device (400). The mushroom stick take-up device (300) is configured to take mushroom sticks out of a mushroom rack (4), and the mushroom sticks from different layers are taken through the lifting device (200). The mushroom picking device (400) includes a mechanical arm (402) and an execution end (403). The image data of the mushroom sticks are acquired through three depth cameras. Mushroom targets to be picked are identified through multi-view target matching and are divided in terms of the quality grade, so as to achieve graded picking. A vision-based graded picking method, a mushroom detection and grading method based on multi-view fusion and a non-transitory storage medium of executing corresponding method are further provided.

A mushroom picking system includes a picking tool having a gripper for engaging a mushroom cap, and a cleaning unit for periodically cleaning the gripper.

The gripper has a wall part made of a flexible polymeric material defining a surface for engaging a mushroom cap. The cleaning unit has a blade defining a scraping edge configured to engage with the engaging surface of the gripper.

A robotic mushroom crop manager periodically or continuously receives mushroom bed data corresponding to a mushroom bed including growing mushrooms at a plurality of times. A trained mushroom bed model is used to process the mushroom bed data to generate mushroom bed state vectors respectively characterizing corresponding states of the mushroom bed at the plurality of times. Crop management equipment is controlled to perform a crop management program comprising a sequence of actions to be performed by crop management equipment comprising, for each current action in the sequence of actions, selecting, based on corresponding a current mushroom bed state vector, a selected crop management tool from a plurality of crop management tools. The crop management equipment is controlled to use the selected crop management tool to perform the current action on the mushroom bed.

A robotic mushroom crop manager periodically or continuously receives mushroom bed data corresponding to a mushroom bed including growing mushrooms at a plurality of times. A trained mushroom bed model is used to process the mushroom bed data to generate mushroom bed state vectors respectively characterizing corresponding states of the mushroom bed at the plurality of times. Crop management equipment is controlled to perform a crop management program comprising a sequence of actions to be performed by crop management equipment comprising, for each current action in the sequence of actions, selecting, based on corresponding a current mushroom bed state vector, a selected crop management tool from a plurality of crop management tools. The crop management equipment is controlled to use the selected crop management tool to perform the current action on the mushroom bed.

A robotic mushroom crop manager periodically or continuously receives mushroom bed data corresponding to a mushroom bed including growing mushrooms at a plurality of times. A trained mushroom bed model is used to process the mushroom bed data to generate mushroom bed state vectors respectively characterizing corresponding states of the mushroom bed at the plurality of times. Crop management equipment is controlled to perform a crop management program comprising a sequence of actions to be performed by crop management equipment comprising, for each current action in the sequence of actions, selecting, based on corresponding a current mushroom bed state vector, a selected crop management tool from a plurality of crop management tools. The crop management equipment is controlled to use the selected crop management tool to perform the current action on the mushroom bed.

A robotic mushroom crop manager periodically or continuously receives mushroom bed data corresponding to a mushroom bed including growing mushrooms at a plurality of times. A trained mushroom bed model is used to process the mushroom bed data to generate mushroom bed state vectors respectively characterizing corresponding states of the mushroom bed at the plurality of times. Crop management equipment is controlled to perform a crop management program comprising a sequence of actions to be performed by crop management equipment comprising, for each current action in the sequence of actions, selecting, based on corresponding a current mushroom bed state vector, a selected crop management tool from a plurality of crop management tools. The crop management equipment is controlled to use the selected crop management tool to perform the current action on the mushroom bed.

A mushroom handling apparatus is provided for handling and packing mushrooms grown in a plurality of vertically spaced mushroom growing beds arranged on trays in vertically tiered relationship on shelving The apparatus includes a frame, a mushroom transfer device mounted on the frame and incorporating a guide adapted to extend circumferentially around the mushroom growing beds, a plurality of mushroom holders mounted on the guide at spaced locations therealong, a drive associated with the guide for moving the mushroom holders to transfer mushrooms carried thereon between the mushroom growing beds and a mushroom packing device at one end of the frame, the mushroom packing device including a box support and means for automatically delivering mushrooms from the mushroom holders of the mushroom transfer device into a box located on the box support.