An automatic Agaricus bisporus picking device and its self-buffering walking mechanism

Abstract

The invention relates to the technical field of mushroom picking, and in particular to an automatic Agaricus bisporus picking device and a self-buffering walking mechanism thereof. The self-buffering walking mechanism comprises a walking mechanism body, a counterweight block and a counterweight adjustment device. The counterweight adjustment device comprises a vibration sensor, a controller and a horizontal transmission mechanism. The vibration sensor obtains vibration signals of the front wheel and the rear wheel of the walking mechanism body. The controller obtains a target impact frequency according to a frequency domain signal of the vibration signal of the front wheel, thereby removing the affected component in the vibration signal of the rear wheel to avoid vibration impact on the rear wheel. Then, according to the two vibration signals, the horizontal transmission mechanism is controlled to drive the counterweight block to move toward a position where vibration is more severe. By weighting the position where vibration is more severe, the vibration degree of the walking mechanism body during walking can be reduced, the walking stability can be ensured, the stability and efficiency of Agaricus bisporus collection can be improved, and the problem of additional equipment loss can also be reduced.

Description

Technical Field

[0001] The invention relates to the technical field of mushroom picking, and in particular to an automatic Agaricus bisporus picking device and a self-buffering walking mechanism thereof. Background Art

[0002] The automatic picking device for Agaricus bisporus is a device specially designed for the field of agricultural automation, specifically for picking Agaricus bisporus, and can improve the efficiency and quality of picking Agaricus bisporus. For example, the utility model patent with the authorization announcement number CN 207443760 U discloses a collection device for Agaricus bisporus, including an automatic picking mechanism for Agaricus bisporus, a walking mechanism, and a storage basket, etc., wherein the walking mechanism is used for the walking movement of the collection device. Therefore, whether the walking mechanism can operate stably determines whether the Agaricus bisporus can be picked stably and efficiently. Moreover, if the walking mechanism cannot operate stably, it will also cause additional equipment losses in the automatic picking mechanism for Agaricus bisporus and the walking mechanism itself. Summary of the invention

[0003] In view of this, in order to solve the above technical problems, the present invention provides an automatic Agaricus bisporus picking device and a self-buffering walking mechanism thereof.

[0004] The technical solutions adopted are as follows:

[0005] A self-buffering walking mechanism of an automatic Agaricus bisporus picking device, comprising: a walking mechanism body, a counterweight block, and a counterweight adjustment device arranged on the walking mechanism body, the counterweight adjustment device comprising a vibration sensor, a controller and a horizontal transmission mechanism, the horizontal transmission mechanism is arranged along the walking direction of the walking mechanism body, the counterweight block is assembled on the horizontal transmission mechanism, and is used to control the counterweight block to move forward and backward in the horizontal direction;

[0006] The vibration sensor is used to obtain a first vibration signal at the front wheel and a second vibration signal at the rear wheel of the walking mechanism body; the controller obtains a target impact frequency based on a frequency domain signal corresponding to the first vibration signal, wherein the target impact frequency represents the vibration frequency that affects the vibration of the rear wheel; the component related to the target impact frequency in the frequency domain signal corresponding to the second vibration signal is removed to obtain an adjusted third vibration signal; based on the fluctuation correlation between the first vibration signal and the third vibration signal, the horizontal transmission mechanism is controlled to drive the counterweight to move.

[0007] In one embodiment, the process of acquiring the target impact frequency includes:

[0008] The first vibration signal is converted into a frequency domain space to obtain a first frequency domain signal, and an impact amplitude in the first frequency domain signal is obtained, wherein the impact amplitude represents other amplitudes in the first frequency domain signal that are associated with the maximum amplitude in the first frequency domain signal; the target impact frequency is a frequency corresponding to the impact amplitude in the first frequency domain signal.

[0009] In one embodiment, the impact amplitude is an amplitude in the first frequency domain signal whose amplitude difference from the maximum amplitude is less than a preset difference.

[0010] In one embodiment, the process of acquiring the third vibration signal includes:

[0011] Decomposing the second vibration signal to obtain signal components corresponding to each frequency;

[0012] The signal components related to the target impact frequency are obtained from the signal components corresponding to the frequencies, and the obtained signal components are deleted from the signal components corresponding to the frequencies, and the third vibration signal is obtained by recombining the retained signal components.

[0013] In one embodiment, the second vibration signal is decomposed to obtain signal components corresponding to each frequency, including:

[0014] Based on the EMD decomposition algorithm, the second vibration signal is subjected to EMD decomposition to obtain IMF components corresponding to each frequency.

[0015] In one embodiment, obtaining, among the signal components corresponding to the respective frequencies, a signal component related to the target impact frequency includes:

[0016] The target influencing frequency and each frequency corresponding to the signal component corresponding to each frequency are input into the KM matching algorithm for matching to obtain the frequency to be deleted. The frequency to be deleted is a frequency among the frequencies that has a matching relationship with the target influencing frequency, thereby obtaining the signal component corresponding to the frequency to be deleted.

[0017] In one embodiment, based on the fluctuation correlation between the first vibration signal and the third vibration signal, controlling the horizontal transmission mechanism to drive the counterweight to move includes:

[0018] Acquiring a first vibration fluctuation degree of the first vibration signal and a second vibration fluctuation degree of the third vibration signal;

[0019] According to the magnitude relationship between the first vibration fluctuation degree and the second vibration fluctuation degree, a first control instruction and a second control instruction are generated for controlling the action of the horizontal transmission mechanism, wherein the first control instruction is used to control the counterweight block to move forward, and the second control instruction is used to control the counterweight block to move backward.

[0020] In one embodiment, generating a first control instruction and a second control instruction for controlling the action of the horizontal transmission mechanism according to the magnitude relationship between the first vibration fluctuation degree and the second vibration fluctuation degree includes:

[0021] If the first vibration fluctuation degree is greater than the second vibration fluctuation degree, the first control instruction is generated; if the first vibration fluctuation degree is less than the second vibration fluctuation degree, the second control instruction is generated.

[0022] In one embodiment, the first control instruction includes a first adjustment distance of the counterweight block, and the calculation formula of the first adjustment distance of the counterweight block is as follows: ;

[0023] in, The first adjustment distance for the counterweight. The distance between the rearmost end of the horizontal transmission mechanism moving backward and the preset initial position of the counterweight block, is the distance between the front end of the horizontal transmission mechanism moving forward and the preset initial position of the counterweight block, is the first vibration fluctuation degree, is the second vibration fluctuation degree;

[0024] The second control instruction includes a second adjustment distance of the counterweight block, and the calculation formula of the second adjustment distance of the counterweight block is as follows: ;

[0025] in, The second adjustment distance for the counterweight.

[0026] An automatic Agaricus bisporus picking device comprises the above-mentioned self-buffering walking mechanism.

[0027] The present invention has at least the following beneficial effects: in the walking mechanism body of the self-buffering walking mechanism, a first vibration signal at the front wheel and a second vibration signal at the rear wheel of the walking mechanism body are obtained. The reason why both the front wheel and the rear wheel detect vibration signals is that the rear wheel will also pass through the ground after the front wheel has walked, and the vibration caused to the front wheel will also cause similar vibration to the rear wheel, and some vibrations of the rear wheel are caused by some vibrations of the front wheel. Therefore, first, according to the frequency domain signal corresponding to the first vibration signal of the front wheel, the target influence frequency is obtained, and the target influence frequency is the vibration frequency that can affect the vibration of the rear wheel. Then, the components related to the target influence frequency in the frequency domain signal corresponding to the second vibration signal of the rear wheel are removed, which will avoid the vibration signals corresponding to these frequencies from affecting the rear wheel. Vibration is caused, and the adjusted third vibration signal is a vibration signal of the rear wheel that eliminates the influence of the front wheel on the rear wheel, that is, an accurate vibration signal that eliminates the influence of the front wheel vibration is obtained, and then according to the fluctuation correlation between the vibration signals of the front and rear wheels, the horizontal transmission mechanism is controlled to drive the counterweight block to move accordingly, so that the center of gravity of the walking mechanism body is changed by the counterweight block, and the counterweight block is moved toward the position where the vibration is more serious. By increasing the weight of the position where the vibration is more serious, the vibration degree of the walking mechanism body during walking can be reduced, and the walking mechanism has the function of autonomous buffering, which ensures that the self-buffering walking mechanism walks stably, improves the stability and efficiency of Agaricus bisporus collection, and can also reduce the problem of additional equipment loss in the automatic picking mechanism of Agaricus bisporus and the walking mechanism itself. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the overall mechanical structure of the automatic Agaricus bisporus picking device;

[0029] Figure 2 It is a schematic diagram of the arrangement of the running wheels at the bottom of the vehicle body;

[0030] Figure 3 It is a partial structural diagram of the horizontal transmission mechanism;

[0031] Figure 4 It is a structural schematic diagram of the counterweight block part;

[0032] Figure 5 It is the control principle diagram of the counterweight adjustment device;

[0033] Figure 6 It is a schematic diagram of the data processing flow of the controller in the automatic picking device of Agaricus bisporus;

[0034] Figure 7 It is a schematic diagram of the position setting of the counterweight block;

[0035] In the figure, 1 is a vehicle body, 2 is a front wheel, 3 is a rear wheel, 4 is a slide rail, 5 is a slider, 6 is a counterweight, 7 is a driven gear 7, 8 is a rack, 9 is a mounting plate, 10 is a motor, 11 is a driving gear, 12 is a storage basket, 13 is a controller, 14 is a bearing, 15 is a locking bolt, and 16 is an Agaricus bisporus collection mechanism. DETAILED DESCRIPTION

[0036] Embodiment 1: This embodiment provides an automatic Agaricus bisporus picking device, which includes a self-buffering walking mechanism and other components, such as: Figure 1 As shown, the storage basket 12, the Agaricus bisporus collecting mechanism 16, etc., the storage basket 12 is used to place the collected Agaricus bisporus, and the Agaricus bisporus collecting mechanism 16 is used to collect Agaricus bisporus. Since the storage basket 12 and the Agaricus bisporus collecting mechanism 16 are conventional components of the automatic Agaricus bisporus picking device and are not the focus of this application, they will not be described in detail.

[0037] The self-buffering walking mechanism is a walking mechanism of an automatic Agaricus bisporus picking device, including a walking mechanism body. The walking mechanism body is an existing walking mechanism, such as a mobile frame used in an Agaricus bisporus collection device disclosed in a utility model patent with authorization announcement number CN 207443760 U, including a body and walking wheels at the bottom of the body.

[0038] In this embodiment, the walking mechanism body includes a vehicle body 1 and walking wheels at the bottom of the vehicle body.

[0039] The traveling wheels include a front wheel 2 and a rear wheel 3, and each of the front wheel 2 and the rear wheel 3 can be provided with only one, and other supporting mechanisms are required to cooperate to support the entire traveling mechanism body to ensure stability; the front wheel 2 and the rear wheel 3 can also be provided with at least two, for example, the front wheel 2 and the rear wheel 3 are provided with two, forming the most common four-wheel traveling mechanism, such as Figure 2 shown.

[0040] like Figure 3 and Figure 4 As shown, the self-buffering walking mechanism also includes a counterweight block 6 and a counterweight adjustment device. The counterweight block 6 is a block-shaped object with a certain weight, which can be made of metal or other materials. Moreover, the specific weight, specific shape, specific volume, etc. of the counterweight block 6 are set according to actual needs.

[0041] The counterweight adjustment device is arranged on the vehicle body 1, and the counterweight adjustment device includes a vibration sensor, a controller 13 and a horizontal transmission mechanism. Figure 5As shown, the signal output end of the vibration sensor is connected to the signal input end of the controller 13, and the signal output end of the controller 13 is connected to the signal input end of the horizontal transmission mechanism. The signal connection mode between the controller 13 and the vibration sensor and the horizontal transmission mechanism can be a wired connection or a wireless connection. When a wired connection mode is adopted, the wiring problem of the signal transmission line needs to be considered, and the normal operation of other mechanisms and the self-buffering walking mechanism cannot be affected.

[0042] The vibration sensor is used to obtain a first vibration signal at the front wheel 2 of the walking mechanism body and a second vibration signal at the rear wheel 3. As a specific embodiment, the vibration sensor includes two vibration sensors. The first vibration sensor is arranged at the front wheel 2 of the walking mechanism body to obtain the first vibration signal at the front wheel 2, and the second vibration sensor is arranged at the rear wheel 3 of the walking mechanism body to obtain the second vibration signal at the rear wheel 3. It should be understood that if the number of the front wheel 2 and the number of the rear wheel 3 are one, the first sensor is arranged at the front wheel 2 of the walking mechanism body to obtain the first vibration signal at the front wheel 2, and the second sensor is arranged at the rear wheel 3 of the walking mechanism body to obtain the second vibration signal at the rear wheel 3. If the number of the front wheel 2 and the number of the rear wheel 3 are two, the first vibration sensor can be arranged at the middle position of the two front wheels 2, and the first vibration signal obtained is used as the vibration signal of the front wheel 2. Similarly, the second vibration sensor can be arranged at the middle position of the two rear wheels 3, and the second vibration signal obtained is used as the vibration signal of the rear wheel 3. Similarly, even if more front wheels 2 and more rear wheels 3 are provided, the first vibration sensor can be provided at the middle position of all the front wheels 2 , and the second vibration sensor can be provided at the middle position of all the rear wheels 3 .

[0043] The controller 13 may be a CPU, an FPGA control unit, etc. The specific location of the controller 13 is set according to actual needs, such as being set in the storage basket 12. A special area may be set in the storage basket 12 to place the controller 13. In order to ensure the stable operation of the controller 13, the controller 13 may be set in a control box. The controller 13 receives the first vibration signal and the second vibration signal, performs data processing on the first vibration signal and the second vibration signal, and finally generates a control signal for controlling the action of the horizontal transmission mechanism.

[0044] The horizontal transmission mechanism is arranged along the travel direction of the vehicle body 1, that is, it is arranged horizontally, and the movement direction of the horizontal transmission mechanism is the travel direction of the vehicle body 1. The horizontal transmission mechanism can be fixed on the side plate of the vehicle body 1, or it can be fixed on the bottom of the vehicle body 1, that is, the bottom plate of the vehicle body. In order to ensure the stability of the counterweight, the horizontal transmission mechanism is fixed on the bottom of the vehicle body 1, and is fixed at the middle position of the bottom of the vehicle body 1, such as Figure 1 and Figure 2 shown.

[0045] The counterweight 6 is assembled on the horizontal transmission mechanism, and the horizontal transmission mechanism is used to control the counterweight 6 to move forward and backward in the horizontal direction. As a specific embodiment, the horizontal transmission mechanism includes a slide rail 4, a slider 5, a driven gear 7, a rack 8, a mounting plate 9, a motor 10, and a driving gear 11. The slide rail 4 is horizontally arranged and the extension direction is the walking direction of the walking mechanism body. The counterweight 6 is slidably assembled on the slide rail 4 through the slider 5. The counterweight 6 is connected to the driven gear 7 through the bearing 14. The output shaft of the motor 10 is connected to the driving gear 11. The driven gear 7 and the driving gear 11 are meshed. The rack 8 is arranged along the slide rail 4 (that is, the rack 8 is arranged in the same direction as the slide rail 4, and the two are arranged in parallel), and the driven gear 7 is meshed with the rack 8. In this embodiment, locking bolts 15 can also be arranged on both sides of the counterweight 6 to better fix the counterweight 6 in its position to avoid easy shaking. The motor 10 is fixedly connected to the counterweight 6 through the mounting plate 9, so the motor 10 and the driving gear 11 are also fixed to the counterweight 6. When the counterweight 6 moves, the motor 10 and the driving gear 11 also move together. When the motor 10 rotates, the driving gear 11 drives the driven gear 7 to rotate, and the driven gear 7 drives the counterweight 6 to move horizontally along the rack 4 under the action of the rack 4, that is, the counterweight 6 moves back and forth in the horizontal direction on the slide rail 4. It should be understood that the horizontal transmission mechanism is an existing structure, and other existing mechanisms with the same functions can be adopted, for example: the horizontal transmission mechanism includes a slide rail, a gear, a rack and a motor. The slide rail is arranged horizontally and extends in the walking direction of the walking mechanism body. The counterweight block is slidably assembled on the slide rail, the rack is arranged along the slide rail, the rack is fixedly connected to the counterweight block, the gear is meshingly connected to the rack, and the bearing of the motor is connected to the gear shaft. When the motor rotates, it drives the gear to rotate, and the gear drives the rack to make horizontal linear motion. Under the action of the slide rail, the counterweight block moves back and forth in the horizontal direction.

[0046] After the controller receives the first vibration signal and the second vibration signal, Figure 6 As shown, the following data processing process is performed:

[0047] The first step is to obtain the target impact frequency according to the frequency domain signal corresponding to the first vibration signal, wherein the target impact frequency represents the vibration frequency that affects the vibration of the rear wheel. According to the frequency domain analysis of the first vibration signal, the vibration frequency that affects the vibration of the rear wheel is obtained, and in the subsequent analysis of the vibration of the rear wheel, these influences can be eliminated, thereby improving the accuracy of the vibration signal of the rear wheel.

[0048] As a specific implementation, the process of obtaining the target impact frequency includes:

[0049] Since the collected first vibration signal is a time domain signal, the first vibration signal is first converted to the frequency domain space to obtain a first frequency domain signal, wherein a vibration curve corresponding to the first vibration signal is obtained, and the vibration curve is converted to the frequency domain space through Fourier transform to obtain the first frequency domain signal.

[0050] Obtain the influencing amplitude in the first frequency domain signal, the influencing amplitude represents other amplitudes in the first frequency domain signal that are associated with the maximum amplitude in the first frequency domain signal. Specifically, obtain the maximum amplitude value in the first frequency domain signal, the maximum amplitude value represents the main amplitude brought to the front wheel by the ground. Thus, the amplitude in the first frequency domain signal is divided into two categories, namely the maximum amplitude and other amplitudes except the maximum amplitude. Then, obtain the amplitude associated with the maximum amplitude among other amplitudes, and these obtained amplitudes are the influencing amplitudes required. Among them, the association means that there is a certain correlation. In this embodiment, the correlation is characterized by the amplitude difference between the amplitudes, that is, the amplitude difference between each amplitude value in other amplitudes and the maximum amplitude value is obtained. The smaller the amplitude difference, the stronger the correlation. Then, the amplitude with an amplitude difference less than the preset difference is obtained as the influencing amplitude.

[0051] As an example, the absolute value of the amplitude difference between each amplitude value in other amplitudes and the maximum amplitude value is calculated, and then divided by the maximum amplitude value to obtain the amplitude difference of each amplitude value. The preset difference is set according to actual needs. In this embodiment, it is set to 0.3, that is, the amplitude with an amplitude difference less than 0.3 is obtained as the influencing amplitude.

[0052] The impact amplitude obtained represents the secondary amplitude of the ground on the front wheels, that is, the fluctuation caused by the unevenness of the ground. The amplitude difference represents the degree of similarity to the main amplitude of the ground on the front wheels. The smaller the amplitude difference, the greater the degree of similarity, indicating that the impact of the amplitude noise is greater, and the cause of the noise is more likely to cause vibration to the rear wheels.

[0053] The target impact frequency is obtained according to the impact amplitude, and the target impact frequency is the frequency of the impact amplitude in the first frequency domain signal. It should be understood that the impact amplitude may have multiple amplitude values, and each impact amplitude corresponds to a frequency.

[0054] In this embodiment, in order to further ensure the accuracy of the first vibration signal and reduce the interference of noise in the first vibration signal, the first vibration signal can also be filtered. Among them, the filtering algorithm used can be mean filtering, bilateral filtering, Gaussian filtering, etc. As a specific implementation, according to the acquired target impact frequency, the first vibration signal is filtered by bilateral filtering. The specific process is: for the frequency domain signal corresponding to the first vibration signal, a bilateral filter is constructed. The bilateral filter is usually composed of two parts in the frequency domain: a band stop filter (corresponding to the target impact frequency) for suppressing noise, and a high-pass filter for maintaining the edge and high-frequency characteristics of the signal. The band stop filter: the center is at the target impact frequency, and the bandwidth is narrow enough to suppress only the noise frequency. The high-pass filter: allows all frequencies above a certain cutoff frequency to pass to retain the high-frequency characteristics of the signal; then, the bilateral filter is applied to the frequency domain signal, which involves multiplying the filter with the frequency domain signal; then, the filtered frequency domain signal is converted back to the time domain using the inverse fast Fourier transform (IFFT) to obtain the filtered vibration signal.

[0055] Step 2: Remove the component related to the target impact frequency from the frequency domain signal corresponding to the second vibration signal to obtain the adjusted third vibration signal. The vibration component corresponding to the target impact frequency will affect the vibration of the rear wheel. Therefore, after obtaining the target impact frequency, remove the component related to the target impact frequency from the frequency domain signal corresponding to the second vibration signal to eliminate the impact and obtain the adjusted third vibration signal.

[0056] As a specific implementation, the process of acquiring the third vibration signal includes:

[0057] (1) Decomposing the second vibration signal to obtain signal components corresponding to each frequency. The EMD decomposition algorithm is a commonly used signal decomposition method for decomposing an original signal into signal components of multiple frequencies. Moreover, each IMF component obtained by decomposition has the same length as the original signal curve. Therefore, in this embodiment, based on the EMD decomposition algorithm, the second vibration signal is subjected to EMD decomposition to obtain IMF components corresponding to each frequency.

[0058] (2) Obtain the signal components related to the target influencing frequency from the signal components corresponding to each frequency, that is, determine the signal components related to the target influencing frequency from the IMF components corresponding to each frequency. In this embodiment, the frequencies corresponding to all IMF components can be involved in the relevant processing with the target influencing frequency, or the frequencies corresponding to other amplitudes other than the maximum amplitude can be selected in the same way as the first vibration signal. Then, for each IMF component, it is converted to the frequency domain space through Fourier transform, and then the amplitudes of the frequencies corresponding to the various IMF components are obtained, and the amplitudes other than the maximum amplitude are taken as the required amplitudes. The frequencies corresponding to the required amplitudes are used to participate in the relevant processing with the target influencing frequency. For the convenience of explanation, the frequency corresponding to the IMF component corresponding to the required amplitude is set as the required frequency.

[0059] The KM matching algorithm is a method of calculating the matching relationship between the left data and the right data, that is, a one-to-one matching of the left and right data can minimize the overall matching difference.

[0060] The target impact frequency and the required frequency are input into the KM matching algorithm for matching. Specifically, the target impact frequency is used as the left node in the KM matching algorithm, and each required frequency is used as the right node. Each node on the left is connected to each node on the right. Through KM matching, a one-to-one matching relationship between the left and right nodes is calculated, thereby obtaining the required frequency related to (i.e., matching) the target impact frequency. The required frequency obtained by matching is defined as the frequency to be deleted. Then, the frequency to be deleted is the frequency corresponding to the second vibration signal that has a matching relationship with the target impact frequency, thereby obtaining the IMF component corresponding to the frequency to be deleted. The IMF component curve corresponding to the frequency to be deleted is the IMF component curve of the vibration of the front wheel affecting the rear wheel.

[0061] (3) The IMF components corresponding to the frequencies to be deleted are deleted from all IMF components to obtain multiple IMF components that are retained. The retained IMF components are reorganized (i.e., the inverse process of the EMD decomposition algorithm is used for reorganization). The reorganized vibration signal is the third vibration signal. Then, the vibration effect of the front wheel vibration on the rear wheel is eliminated in the third vibration signal.

[0062] The third step is to control the horizontal transmission mechanism to drive the counterweight to move based on the fluctuation correlation between the first vibration signal and the third vibration signal.

[0063] The fluctuation correlation between the first vibration signal and the third vibration signal reflects the overall vibration of the vehicle body 1. The control signal of the horizontal transmission mechanism can be generated according to the overall vibration of the vehicle body 1 to control the horizontal transmission mechanism to drive the counterweight 6 to move. It can be realized that the abnormal vibration at a certain position is more serious, which means that the load at that position needs to be increased. Therefore, the counterweight 6 is moved to the corresponding position through the horizontal transmission mechanism to ensure walking stability and avoid rapid wear of the equipment.

[0064] As a specific implementation, a first vibration fluctuation degree of the first vibration signal and a second vibration fluctuation degree of the third vibration signal are obtained. In this embodiment, the vibration fluctuation degree is represented by variance, so the first vibration fluctuation degree is the variance of the vibration value of the first vibration signal, and the second vibration fluctuation degree is the variance of the vibration value of the second vibration signal.

[0065] Then, according to the magnitude relationship between the first vibration fluctuation degree and the second vibration fluctuation degree, the first control instruction and the second control instruction for controlling the action of the horizontal transmission mechanism are generated, wherein the first control instruction is used to control the counterweight 6 to move forward, and the second control instruction is used to control the counterweight 6 to move backward. Specifically, if the first vibration fluctuation degree is greater than the second vibration fluctuation degree, it means that the greater the vibration fluctuation degree of the front wheel 2, the more violent the vibration at the front wheel 2, and the counterweight 6 needs to be moved forward to reduce the vibration intensity at the front wheel 2, and the first control instruction is generated; similarly, if the first vibration fluctuation degree is less than the second vibration fluctuation degree, it means that the greater the vibration fluctuation degree at the rear wheel 3, the more violent the vibration at the rear wheel 3, and the counterweight 6 needs to be moved backward to reduce the vibration intensity at the rear wheel 3, and the second control instruction is generated. Then, the control instruction is essentially a control signal for controlling the forward or reverse rotation of the motor 10. Among them, the first control instruction and the second control instruction can be qualitative control, that is, the moving distance of the corresponding specific counterweight block 6 is not determined according to the numerical relationship between the first vibration fluctuation degree and the second vibration fluctuation degree, but only the counterweight block 6 is controlled to move forward or backward. The specific moving distance can be pre-set to a fixed value. This method can solve the technical problem to a certain extent, but there is still room for improvement. Correspondingly, in order to achieve precise control, the first control instruction includes a first adjustment distance of the counterweight block, and the second control instruction includes a second adjustment distance of the counterweight block.

[0066] Counterweight first adjustment distance The calculation formula is as follows: ;

[0067] in, The distance between the rearmost end of the horizontal transmission mechanism and the preset initial position of the counterweight. The distance between the front end of the horizontal transmission mechanism moving forward and the preset initial position of the counterweight block. is the first vibration fluctuation degree, is the second vibration fluctuation degree.

[0068] like Figure 7 As shown, x1 is the preset initial position of the counterweight 6, x2 is the rearmost end of the horizontal transmission mechanism, that is, the rearmost position of the counterweight 6, and x3 is the frontmost end of the horizontal transmission mechanism, that is, the frontmost position of the counterweight 6. The preset initial position of the counterweight 6 in the horizontal transmission mechanism is set according to actual needs, and can be the center of gravity of the vehicle body, the middle position of the horizontal transmission mechanism, or other positions (other positions are the frontmost position of the forward movement and the rearmost position of the backward movement of non-horizontal transmission mechanisms). If the center of gravity of the vehicle body is not the same as the middle position of the horizontal transmission mechanism, then and If the initial position of the counterweight is set to the middle position of the horizontal transmission mechanism, then and Equal, both defined as , then the above calculation formula can be adjusted to: ;

[0069] Therefore, when the first vibration fluctuation degree is greater than the second vibration fluctuation degree, it means that the vibration of the front wheel 2 is more serious than the vibration of the rear wheel 2. The smaller it is, the larger the value of the first adjustment distance of the counterweight block obtained after calculation, that is, the larger the adjustment distance of the counterweight block 6, the longer the distance moved in the direction of the front wheel 2, and the closer the counterweight block 6 is to the front wheel 2. By adding counterweight to the front wheel 2, the position of the front wheel 2 is made heavier and the operation is smoother.

[0070] Similarly, the second adjustment distance of the counterweight The calculation formula is as follows: ;

[0071] If the preset initial position of the counterweight is the middle position of the horizontal transmission mechanism, then and Equal, both defined as , then the above calculation formula can be adjusted to: ;

[0072] Therefore, when the second vibration fluctuation degree is greater than the first vibration fluctuation degree, it means that the vibration of the rear wheel 3 is more serious than the vibration of the front wheel 2. The smaller it is, the larger the value of the second adjustment distance of the counterweight block obtained after calculation, that is, the larger the adjustment distance of the counterweight block 6, the longer the distance moved in the direction of the rear wheel 3, and the closer the counterweight block 6 is to the rear wheel 3. By adding counterweight to the rear wheel 3, the position of the rear wheel 3 is heavier and the operation is smoother.

[0073] Under the effect of the specific counterweight adjustment distance obtained according to the actual vibration fluctuation degree, the accurate movement of the counterweight 6 is achieved.

[0074] The controller 13 obtains the specific first adjustment distance of the counterweight block Or the second adjustment distance of the counterweight After that, it is converted into an electrical control signal of the rotation direction and the number of revolutions of the motor 10, and the electrical control signal is sent to the motor 10 to control the motor 10 to rotate accordingly. Then, the motor 10 drives the driven gear 7 to rotate through the driving gear 11. Under the action of the rack 4, the driven gear 7 makes a horizontal linear motion along the rack 4, that is, the counterweight block 6 moves accordingly on the slide rail 4. The counterweight block 6 moves the first adjustment distance of the counterweight block Or the second adjustment distance of the counterweight In this way, by accurately controlling the position of the counterweight 6, a more stable and efficient operation can be achieved, the function of autonomous buffering can be realized, and the operating efficiency and safety can be improved.

[0075] It should be understood that in the subsequent control process, the current position of the counterweight block 6 can be used as the starting position, and then the distance between the current starting position and the rearmost end of the rearward movement of the horizontal transmission mechanism and the frontmost end of the forward movement of the horizontal transmission mechanism is obtained. Based on these two distances and the two latest vibration fluctuation degrees obtained by data processing, the counterweight block adjustment distance is calculated to achieve continuous updating and adjustment of the position of the counterweight block 6.

[0076] Embodiment 2: This embodiment provides an automatic Agaricus bisporus picking device, which is different from Embodiment 1 in that: in this embodiment, two front wheels and two rear wheels are provided, and correspondingly, four vibration sensors are provided to respectively collect the vibration signal of the first front wheel, the vibration signal of the second front wheel, the vibration signal of the first rear wheel, and the vibration signal of the second rear wheel.

[0077] For the vibration signals corresponding to the two front wheels, the vibration signal processing process given in Example 1 is followed to obtain the impact amplitudes corresponding to the two vibration signals and the target impact frequencies corresponding to the impact amplitudes, wherein the impact amplitude of the vibration signal corresponding to the first front wheel and the corresponding target impact frequency can be referred to as the first impact amplitude and the first target impact frequency, and the impact amplitude of the vibration signal corresponding to the second front wheel and the corresponding target impact frequency can be referred to as the second impact amplitude and the second target impact frequency. Then, the final target impact frequency corresponding to the front wheels is determined based on the first target impact frequency and the second target impact frequency. In order to obtain a more comprehensive impact, this embodiment uses the union of the first target impact frequency and the second target impact frequency as the final target impact frequency.

[0078] It should be understood that the vibration signal corresponding to the first front wheel may be filtered according to the first target impact frequency, and the vibration signal corresponding to the second front wheel may be filtered according to the second target impact frequency.

[0079] For the vibration signals corresponding to the two rear wheels, in combination with the final target impact frequency, the processing method in the first embodiment is adopted to respectively obtain the IMF components corresponding to the to-be-deleted frequency of the vibration signal of the first rear wheel, delete it from all the IMF components corresponding to the vibration signal of the first rear wheel, and reorganize according to the retained IMF components, and the reorganized vibration signal is the adjusted vibration signal of the first rear wheel; obtain the IMF components corresponding to the to-be-deleted frequency of the vibration signal of the second rear wheel, delete it from all the IMF components corresponding to the vibration signal of the second rear wheel, and reorganize according to the retained IMF components, and the reorganized vibration signal is the adjusted vibration signal of the second rear wheel.

[0080] In the process of obtaining the first vibration fluctuation degree and the second vibration fluctuation degree, the larger value of the vibration fluctuation degree of the vibration signal corresponding to the first front wheel and the vibration fluctuation degree of the vibration signal corresponding to the second front wheel is used as the first vibration fluctuation degree, specifically: the variance of the vibration value of the vibration signal corresponding to the first front wheel and the variance of the vibration value of the vibration signal corresponding to the second front wheel are obtained, and the larger value of the two variances is used as the first vibration fluctuation degree. Similarly, the larger value of the vibration fluctuation degree of the adjusted vibration signal corresponding to the first rear wheel and the vibration fluctuation degree of the adjusted vibration signal corresponding to the second rear wheel is used as the second vibration fluctuation degree, specifically: the variance of the vibration value of the adjusted vibration signal corresponding to the first rear wheel and the variance of the vibration value of the adjusted vibration signal corresponding to the second rear wheel are obtained, and the larger value of the two variances is used as the second vibration fluctuation degree.

[0081] The subsequent adjustment and control process of the counterweight according to the first vibration fluctuation degree and the second vibration fluctuation degree is the same as that in the first embodiment and will not be described in detail.

[0082] Embodiment 3: This embodiment provides a self-buffering walking mechanism of an automatic Agaricus bisporus picking device. The structure, operation process, etc. of the self-buffering walking mechanism have been described in detail in Embodiment 1 and will not be repeated here.

[0083] Embodiment 4: This embodiment provides a self-buffering walking mechanism of an automatic Agaricus bisporus picking device. The structure, operation process, etc. of the self-buffering walking mechanism have been described in detail in Embodiment 2 and will not be repeated here.

[0084] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A self-buffering walking mechanism of an automatic Agaricus bisporus picking device, characterized in that: include: A walking mechanism body, a counterweight block, and a counterweight adjustment device arranged on the walking mechanism body, wherein the counterweight adjustment device comprises a vibration sensor, a controller, and a horizontal transmission mechanism, wherein the horizontal transmission mechanism is arranged along the walking direction of the walking mechanism body, and the counterweight block is assembled on the horizontal transmission mechanism to control the counterweight block to move forward and backward in the horizontal direction; The vibration sensor is used to obtain a first vibration signal at the front wheel and a second vibration signal at the rear wheel of the walking mechanism body; the controller obtains a target impact frequency according to a frequency domain signal corresponding to the first vibration signal, wherein the target impact frequency represents the vibration frequency affecting the vibration of the rear wheel; removes a component related to the target impact frequency in the frequency domain signal corresponding to the second vibration signal to obtain an adjusted third vibration signal; and controls the horizontal transmission mechanism to drive the counterweight to move based on the fluctuation correlation between the first vibration signal and the third vibration signal; The process of acquiring the third vibration signal includes: Decomposing the second vibration signal to obtain signal components corresponding to each frequency; Acquire the signal components related to the target impact frequency among the signal components corresponding to the respective frequencies, delete the acquired signal components from the signal components corresponding to the respective frequencies, and reassemble the retained signal components to obtain the third vibration signal; Based on the fluctuation correlation between the first vibration signal and the third vibration signal, controlling the horizontal transmission mechanism to drive the counterweight to move includes: Acquiring a first vibration fluctuation degree of the first vibration signal and a second vibration fluctuation degree of the third vibration signal; Generate a first control instruction and a second control instruction for controlling the action of the horizontal transmission mechanism according to the magnitude relationship between the first vibration fluctuation degree and the second vibration fluctuation degree, wherein the first control instruction is used to control the counterweight to move forward, and the second control instruction is used to control the counterweight to move backward; Obtain the variance of the vibration value of the vibration signal corresponding to the first front wheel and the variance of the vibration value of the vibration signal corresponding to the second front wheel, and use the larger value of the two variances as the first vibration fluctuation degree. Similarly, use the larger value of the vibration fluctuation degree of the adjusted vibration signal corresponding to the first rear wheel and the vibration fluctuation degree of the adjusted vibration signal corresponding to the second rear wheel as the second vibration fluctuation degree, specifically: obtain the variance of the vibration value of the adjusted vibration signal corresponding to the first rear wheel and the variance of the vibration value of the adjusted vibration signal corresponding to the second rear wheel, and use the larger value of the two variances as the second vibration fluctuation degree; Generating a first control instruction and a second control instruction for controlling the action of the horizontal transmission mechanism according to the magnitude relationship between the first vibration fluctuation degree and the second vibration fluctuation degree, including: If the first vibration fluctuation degree is greater than the second vibration fluctuation degree, the first control instruction is generated; if the first vibration fluctuation degree is less than the second vibration fluctuation degree, the second control instruction is generated; The first control instruction includes a first adjustment distance of the counterweight block, and the calculation formula of the first adjustment distance of the counterweight block is as follows: ; in, The first adjustment distance for the counterweight. is the distance between the rearmost end of the horizontal transmission mechanism moving backward and the preset initial position of the counterweight block, is the distance between the front end of the horizontal transmission mechanism moving forward and the preset initial position of the counterweight block, is the first vibration fluctuation degree, is the second vibration fluctuation degree; The second control instruction includes a second adjustment distance of the counterweight block, and the calculation formula of the second adjustment distance of the counterweight block is as follows: ; in, The second adjustment distance for the counterweight.

2. The self-buffering walking mechanism of the automatic Agaricus bisporus picking device according to claim 1 is characterized in that: The process of acquiring the target impact frequency includes: The first vibration signal is converted into a frequency domain space to obtain a first frequency domain signal, and an impact amplitude in the first frequency domain signal is obtained, wherein the impact amplitude represents other amplitudes in the first frequency domain signal that are associated with the maximum amplitude in the first frequency domain signal; the target impact frequency is a frequency corresponding to the impact amplitude in the first frequency domain signal.

3. The self-buffering walking mechanism of the automatic Agaricus bisporus picking device according to claim 2 is characterized in that: The impact amplitude is an amplitude in the first frequency domain signal whose amplitude difference with the maximum amplitude is less than a preset difference.

4. The self-buffering walking mechanism of the automatic Agaricus bisporus picking device according to claim 1 is characterized in that: Decomposing the second vibration signal to obtain signal components corresponding to each frequency includes: Based on the EMD decomposition algorithm, the second vibration signal is subjected to EMD decomposition to obtain IMF components corresponding to each frequency.

5. The self-buffering walking mechanism of the automatic Agaricus bisporus picking device according to claim 1 is characterized in that: Acquiring, among the signal components corresponding to the respective frequencies, a signal component related to the target impact frequency, comprising: The target influencing frequency and each frequency corresponding to the signal component corresponding to each frequency are input into the KM matching algorithm for matching to obtain the frequency to be deleted. The frequency to be deleted is a frequency among the frequencies that has a matching relationship with the target influencing frequency, thereby obtaining the signal component corresponding to the frequency to be deleted.

6. An automatic Agaricus bisporus picking device, characterized in that: It comprises the self-buffering walking mechanism described in any one of claims 1 to 5.

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