Edible mushroom cut-log stacker crane

Abstract

The invention discloses an edible mushroom cut-log stacking machine, and relates to the technical field of edible mushroom planting. The stacker crane comprises a machine body, a clamping mechanism, a driving device, a central control system and a movable supporting device in a containing cavity. A wood three-dimensional geometric model is constructed through a laser scanner and a near infrared spectrum camera, and a concave-convex surface geometric difference value and a hole hypha activity area are recognized; and the central control system carries out interlayer coupling matching calculation based on the standard timber model, generates a pre-stacking position and dynamically adjusts a clamping angle to avoid an active area. After stacking, directional acting force is applied to the unstable timbers through the supporting device to compensate the stability, and when the preset layer number or the stability coefficient threshold value is reached, supporting is relieved. Through cooperation of three-dimensional modeling, a complementary coupling algorithm and dynamic supporting, the problem that a traditional stacker crane slips due to the shape difference of wood is solved, meanwhile, ventilation of a hypha activity area is guaranteed, the strain pollution rate is reduced, and efficient and stable automatic stacking is achieved.

Description

Technical Field

[0001] The present invention relates to the field of edible mushroom cultivation, and specifically, to a stacking machine for edible mushroom logs. Background Art

[0002] A stacking machine stacks items in a certain arrangement on a pallet or stack board for automatic stacking. It can stack multiple layers and then push them out, facilitating forklift transportation to the warehouse for storage. A stacking machine is a device that automatically stacks the material bags, cartons, or other packaging materials conveyed by a conveyor into a stack according to the working mode required by the customer's process and transports the stacked materials.

[0003] Traditional wood stacking machines are usually used for precision-processed wood that has been trimmed and removed to a fixed shape, size, and diameter. Therefore, its center of gravity is relatively stable and not prone to tipping over. However, the wood used in the cultivation of edible mushroom logs, in order to retain the nutrients in the wood, is often only roughly processed by trimming branches and leaves and cutting into a certain size. There are not only differences in diameter between the woods, but also different shapes. If a traditional stacking machine is simply applied to edible mushroom logs, it is easy to cause the wood to slip, thereby contaminating the already planted strains. Therefore, in the cultivation of edible mushroom logs, manual stacking is often used, but this method not only has low efficiency but also has the problem of contaminating the strains.

[0004] In the prior art, Chinese Utility Model Patent CN215665945 shows a stacking machine for edible mushroom frames. The device includes a frame clamping assembly and a stacking device. The frame clamping assembly fixes the frame and then transports it to the next process. However, the fixing method of the frame clamping assembly of this device is single, and it can only clamp frames with regular shapes and cannot meet the fixing requirements of woods with different shapes. Summary of the Invention

[0005] To solve the technical problem of easy slippage during the stacking of edible mushroom cultivation logs in the above-mentioned prior art, the present invention provides a stacking machine for edible mushroom logs to overcome the problem of insufficient stacking stability of edible mushroom logs due to differences in shape and diameter in the prior art.

[0006] This object is achieved by the following technical solutions:

[0007] By arranging a movable support device inside the machine body to form a clamping support for the wood and fix the position of the wood.

[0008] The specific structure includes:

[0009] A machine body;

[0010] A clamping mechanism arranged on the machine body for clamping the wood;

[0011] A driving device correspondingly arranged with the clamping mechanism for driving the clamping mechanism;

[0012] A central control system for controlling a clamping mechanism and a driving device;

[0013] The fuselage has a receiving chamber, and a supporting device is arranged in the receiving chamber. The supporting device can movably support the wood in the receiving chamber. The supporting device includes at least one supporting member evenly distributed along the circumferential direction of the chamber. The supporting member has a first contact end and a second fixed end. The second fixed end of the supporting member is fixed to the fuselage, and the first contact end contacts the wood through linear motion.

[0014] The supporting device is controlled by the central control system. When the central control system detects that the wood needs to be supported, the central control system controls the contact end of the supporting member at the position corresponding to the wood to be supported in the supporting device to perform linear motion, so as to form contact support for the wood.

[0015] The palletizer also has a first identification unit. The first identification unit includes a laser scanner arranged on the fuselage. The laser scanner scans the wood to be stacked to generate point cloud data including the outer contour of the wood. The identification unit also includes a data processing module. The data processing module is used to receive the point cloud data obtained by the laser scanner scanning detection, construct a three-dimensional geometric model of the wood, and transmit the three-dimensional geometric model to the central control system. Among them, the three-dimensional geometric model at least includes the wood contour curve and the radial diameter parameter.

[0016] The first identification unit is used to detect the wood to be stacked and obtain detection information;

[0017] The detection information includes: the shape of the wood to be stacked and the diameter size of the wood to be stacked;

[0018] According to the detection information, the identification unit establishes a model for the wood to be stacked;

[0019] The central control system has a data storage unit. Based on the standard wood model stored in the data storage unit, it matches the wood model to be stacked, and identifies the geometric difference and diameter difference between the concave and convex surfaces of the wood to be stacked;

[0020] The data storage unit of the central control system is also used to store the three-dimensional geometric model of each layer of stacked wood and the action parameters of the corresponding wood supporting device. The central control system generates an interlayer coupling matching instruction based on the historical data in the data storage unit, so that the concave and convex contours of the wood to be stacked are complementary to the stacked wood;

[0021] According to the geometric difference, the central control system performs pre-coupling matching calculation on the wood to be stacked and the stacked wood, and obtains the pre-stacking position according to the calculation result;

[0022] Based on the pre-stacking position, the central control system generates a confirmed stacking instruction for the pre-stacking position and controls the clamping device to stack the wood;

[0023] Based on the diameter difference, the central control system performs a stacking stability calculation on the stacked lumber, analyzes the center of gravity offset of each layer of lumber, and determines the stability coefficient.

[0024] Based on the stability coefficient, the central control system triggers a stability compensation instruction to control the support device to apply a directional force to the unstable lumber and maintain the stability of the entire stack of lumber.

[0025] According to the compensation instruction, after the compensation is executed, the central control system performs a stability coefficient judgment. If the stability coefficient does not meet the expectation, it returns to continue the compensation until the instability correction of the entire stack of lumber is completed.

[0026] In the prior art, there are two methods: manual placement or fixed mechanical placement. In manual placement, not only is the efficiency extremely low, but it is also easy to contaminate the strains. In fixed mechanical placement, it cannot solve the problem that the differences in edible mushroom lumber are large and traditional stacking is prone to rolling. This application systematically solves the above problems through the coordination of interlayer coupling and dynamic support. The lumber to be stacked is identified and modeled by the identification unit through the identification station. The central control system obtains the geometric difference and diameter difference between the lumber to be stacked and the standard lumber model by comparing with the standard lumber model. According to the geometric difference, the concave-convex surface pre-coupling calculation is performed between the lumber to be stacked and the stacked lumber, and the best stacking position is obtained according to the calculation result for stacking.

[0027] The central control system performs a stability calculation after stacking. When it identifies that the lumber is unstable, it controls the support device to extend to support the lumber. This application realizes the adaptive palletizing of lumber with complex shapes through data-driven decision-making and multi-module collaborative control, and solves the problems of stable and differential palletizing that cannot be solved by traditional manual labor or palletizers.

[0028] Furthermore, the palletizer also has a second identification unit. The second identification unit includes a near-infrared spectral camera. The near-infrared spectral camera performs spectral analysis on the surface of the lumber, identifies the position of the holes and detects the hyphal activity in the holes. According to the detection result of the hyphal activity, the corresponding areas of the holes are marked as ordinary areas and avoidance areas, and the marking information is associated with the three-dimensional geometric model and transmitted to the central control system.

[0029] Based on the spatial position information of the avoidance area, the central control system controls the clamping mechanism to perform dynamic adjustment of the stacking angle and contact points. The dynamic adjustment includes making the ordinary areas of the lumber to be stacked form contact support with the ordinary areas of the stacked lumber, and completing the stacking stability verification after the adjustment.

[0030] In the prior art, stackers place wood randomly, which causes clogging of holes between stacks, making it impossible for the fungus to get a good ventilation environment, which can easily damage the mycelium. The present application adds an identification unit, namely a near-infrared spectral camera, based on the interlayer coupling and dynamic adjustment in the previous step. When the near-infrared spectral camera detects the activity of mycelium based on the absorbance, the holes are judged according to the absorbance. If the absorbance reaches the threshold, the hole area is marked as an avoidance area. If it does not reach the threshold, it is marked as a normal area. When the central control system performs interlayer coupling matching, the avoidance area is automatically excluded to ensure ventilation of active mycelium and provide a good growth environment for mycelium. Under the technical solution of the present application, the regional avoidance technology allows the mycelium to obtain good ventilation, greatly reducing the damage to mycelium caused by poor ventilation.

[0031] Furthermore, the central control system is further used to control the supporting device to perform a retracting action to release the support for the wood according to a predefined threshold value, the threshold value comprising at least one of a first layer number threshold value or a second stability coefficient threshold value, wherein;

[0032] The first layer number threshold represents the minimum number of stacked layers that are allowed to release the support;

[0033] The second stability coefficient threshold represents the minimum stability coefficient of the entire stack of wood; when the central control system detects that the current number of stacked layers reaches the first layer threshold, or the stability coefficient of the entire stack reaches the second stability coefficient threshold, the support device is triggered to retract.

[0034] The central control system is further used to obtain the stacking and fitting position information of the wood to be stacked based on the position information of the general area; and to adjust the stacking and fitting position of the wood to be stacked when the wood to be stacked is stacked based on the stacking and fitting position information of the wood to be stacked.

[0035] The stacking and fitting position information of the wood to be stacked is obtained in the following manner:

[0036] Based on the position information of the general area, the position information of the center line of the hole in the general area is obtained; the purpose of obtaining the center line of the hole is to facilitate the adjustment of the direction of the hole so that it avoids the upper or lower fitting position and avoids the direction toward the inside of the pile body;

[0037] The stacking and fitting positions of the wood to be stacked are adjusted so that the center line is horizontal and the hole openings in the common area are facing the outside of the stacked wood.

[0038] One or more technical solutions provided by the present invention have at least the following technical effects or advantages:

[0039] Compared with the traditional palletizers in the prior art, this application dynamically stores the three-dimensional model data of the lumber through the central control system, and combines the linear compensation design of the movable support device to achieve the stability adaptive control based on the differences in the shape and diameter of the lumber, solve the technical problems of slippage and stability coefficient caused by geometric diversity in traditional equipment, accurately calculate the complementary stacking positions of the concave and convex surfaces through the modeling and interlayer coupling matching algorithm, and support the unstable lumber.

[0040] At the same time, the near-infrared spectroscopy detection unit is used to identify the activity of the hyphae in the holes, dynamically mark the avoidance areas and optimize the stacking ventilation. This solution realizes the efficient and stable operation of the edible mushroom log palletizing through the cooperation of multiple modules and data-driven decision-making, provides automated support for industrialized cultivation, has both economic benefits and ecological value, and is suitable for large-scale industrial promotion. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, and constitute a part of the present invention, but do not limit the embodiments of the present invention;

[0042] Figure 1 It is a schematic diagram of the frame structure of the present invention;

[0043] Figure 2 It is a schematic side view of the whole of the present invention;

[0044] Figure 3 It is a schematic diagram of the specific structure of the fuselage side wall and the support device of the present invention;

[0045] Figure 4 It is a schematic diagram of the support device structure of the present invention;

[0046] Figure 5 It is a schematic diagram of the implementation process of the present invention;

[0047] Marks in the drawings and corresponding component names:

[0048] Fuselage 1, fuselage side wall 11, support device 12, first contact end 121 of the support member, second fixed end 122 of the support member, clamping mechanism 2, clamping mechanism servo motor 21, ball screw 22, universal joint 23, clamping part 24, moving device 3, tray 4. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0049] In order to more clearly understand the above objects, features and advantages of the present invention, the present invention will be further described in detail below with reference to the drawings and specific embodiments. It should be noted that, without conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0050] In the following description, numerous specific details are set forth to provide a thorough understanding of the present invention. However, the present invention may be practiced in other ways than those described within the scope hereof. Therefore, the scope of the present invention is not limited by the specific embodiments disclosed below.

[0051] Those skilled in the art should understand that in the disclosure of the present invention, the orientation or positional relationships indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings. These are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limiting the present invention.

[0052] It can be understood that the term "a" should be construed as "at least one" or "one or more". That is, in one embodiment, the number of an element can be one, while in other embodiments, the number of this element can be multiple. The term "a" should not be construed as limiting the quantity.

[0053] Embodiment 1;

[0054] As Figure 1 shown in and Figure 2 associated with the figure, which shows the overall structure of the present invention, mainly composed of the following modules: the fuselage 1 as the overall framework of the device, the clamping mechanism 2, the moving device 3, the tray 4, and the central control system for controlling the clamping mechanism 2.

[0055] The main body of the fuselage 1 is a frame structure made of metal. The frame encloses to form an accommodation chamber for storing palletized lumber. A tray 4 is provided inside the chamber to support the lumber for later transfer. The clamping mechanism 2 is provided above the fuselage. The clamping mechanism 2 can movably clamp the lumber. The moving device 3 is provided below the fuselage for moving the device.

[0056] In this embodiment, the upper part of the fuselage 1 is open to provide the required stroke for the clamping mechanism 2. The top of the clamping mechanism 2 is provided with a solid lead screw that runs through the fuselage and is centered. The two ends of the solid lead screw are fixed above the fuselage frame. There are chutes inside the fuselage frame. There are fixing parts between the lead screws for fixing the servo motor below the solid lead screw. When the motor starts, it drives the lead screw to rotate, providing the up-and-down movement power for the servo motor. The two end pulleys slide in the chutes of the fuselage frame, causing the clamping mechanism 2 to move back and forth along the solid lead screw.

[0057] It is connected to one end of the ball screw below the servo motor. The ball screw has an external thread structure, and the outer peripheral wall of the rod is wrapped by a nut sleeve. The inside of the nut sleeve has an internal thread. Through the thread fit, the ball screw can be rotatably placed in the nut sleeve. When the servo motor starts, the ball screw rotates. As the screw rod rotates, the nut sleeve also moves up and down accordingly.

[0058] The end of the nut sleeve of the clamping mechanism 2 adopts a universal joint design, and this structure is connected to the I-shaped claw below. In this embodiment, the claw adopts a horizontal clamping scheme, and by clamping both ends of the wood, the main body is avoided from contacting, thereby protecting the surface integrity of the wood. Both ends of the claw are telescopic structures, and the length of the I-shaped claw can be adjusted accordingly according to the different lengths of the wood to be clamped.

[0059] When the clamping mechanism 2 works, the central control system controls the servo motor to start. The solid lead screw located above rotates, and the fixing piece converts the rotational force into a lateral moving force, so that the clamping mechanism can move back and forth along the solid lead screw. After reaching the predetermined position, the servo motor does work on the ball screw below, and the power is transmitted to the ball screw. Through the thread fit, the nut sleeve sleeved outside the ball screw gradually descends, and the claw hangs above the wood. The central control system controls the I-shaped claw to open, clamps both ends of the wood, and completes the coherent actions of lifting, translating, and clamping.

[0060] It should be noted that the specific structure of the clamping mechanism 2 mentioned above should not be construed as a specific limitation to this application. Obviously, as long as the device or equipment can achieve the wood clamping function, such as a manipulator, a V-shaped claw, etc., can be applied to this application.

[0061] In addition, in actual production, in order to retain the activity and nutrition of the wood itself for cultivating edible fungi, only a rough processing method such as simple pruning is often used. The wood obtained in this way has different shapes and large diameter differences. When the wood is stacked in the next layer, the wood in the upper layer often slips from the stack due to unstable center of gravity, resulting in damage to the wood and contamination of the strains.

[0062] In order to solve the problem of insufficient stability when stacking wood, in this embodiment, before stacking the wood to be stacked, the recognition unit is used to recognize the situation of the wood in advance, and according to the recognized information, the central control system makes a dynamic adjustment and stability judgment on the stacking position.

[0063] Specifically, it includes the following steps:

[0064] First, the recognition unit recognizes and detects the wood to be stacked. The detection information includes the diameter and shape of the wood, and a three-dimensional model of the wood is established according to the diameter and shape.

[0065] In this embodiment, the recognition unit adopts a modular laser scanner, which is mainly composed of three core components: a top curtain scanning terminal, an end face scanning terminal, and a data processing module.

[0066] The laser scanner is installed at the feeding end of the palletizer and maintains a certain distance from the clamping mechanism to ensure sufficient processing time. In this embodiment, it is preferably 1.5 meters. It can also be installed independently or above the conveying mechanism. However, the same is true that the recognition unit must be before the clamping mechanism 2 extracts the wood, that is, in the technical solution of this application, the recognition process of the recognition unit must be before the wood stacking process.

[0067] When the conveying mechanism transports the wood through the recognition station, the laser scanner of the recognition unit performs scanning in the order of first longitudinal and then transverse:

[0068] First, the top curtain scanning terminal continuously emits a laser plane when the wood passes through, forming a light curtain covering the entire length of the wood to identify the shape of the wood. The conveying mechanism triggers a scan every 2 mm of movement, achieving a sampling density of 100 cross-sections per second. Each cross-section obtains 128 discrete point cloud data, and the point spacing is 2 mm.

[0069] When the wood completely passes through the top curtain scanning terminal, the end face scanning terminals on both sides are synchronously activated to perform end face scanning on the cross-section of the wood, that is, the diameter of the wood, according to cylindrical coordinates. The laser line is projected onto the cross-section of the wood at an incident angle of 30°. According to the principle of triangulation, the imaging offset is calculated to determine the cross-sectional morphology, and 256 discrete point cloud data with a radial resolution of 0.8 mm are obtained.

[0070] When the data processing module of the recognition unit receives the point cloud data scanned by the laser scanner, it processes the original point cloud data and then performs modeling. The specific process is as follows:

[0071] Since two types of coordinate systems are generated during scanning, the data processing module first needs to uniformly convert the Cartesian coordinates of the curtain scanning and the cylindrical coordinates of the end face scanning to the world coordinate system to ensure spatial consistency and avoid model errors.

[0072] Based on the coordinate unification, the data processing module performs the next main axis positioning through the principal component analysis algorithm (PCA). The purpose of the main axis positioning is to extract the length direction of the wood from the unordered point cloud, providing a benchmark for subsequent axial slicing and three-dimensional model establishment.

[0073] The main axis positioning is mainly divided into five steps:

[0074] The first step is to input the complete point cloud data after the unified coordinate system;

[0075] Step 2: Start the centroid calculation. The centroid is used to represent the average position of the point cloud and serves as the reference point for subsequent covariance calculations.

[0076] Step 3: Based on the centroid calculation, construct the covariance matrix. The covariance matrix is used to describe the distribution characteristics of the point cloud in three-dimensional space and reflects the geometric shape of the wood.

[0077] Step 4: Perform eigenvalue decomposition to extract the direction of the maximum variance of the covariance matrix.

[0078] Step 5: According to the maximum eigenvalue obtained from the eigenvalue decomposition, the corresponding eigenvector is the main axis direction.

[0079] After the data processing module completes the positioning of the main axis of the wood through the PCA algorithm, further perform axial slicing and three-dimensional model reconstruction on the point cloud data.

[0080] Specifically, the data processing unit first performs equidistant slicing along the main axis direction of the wood at an interval of 5 mm. Each slicing plane is perpendicular to the determined main axis, and the following operations are performed on each slice:

[0081] Step 1: Extract all the point cloud data within the slice, and use the Alpha Shape algorithm to generate the slice contour polygon to capture the concave and convex features of the wood surface.

[0082] Step 2: Connect the adjacent slice contours through the triangulation algorithm to generate the three-dimensional mesh model of the wood surface.

[0083] Step 3: Calculate the equivalent diameter of each slice;

[0084] Step 4: Mark the regions with diameter mutations. For example, when the change rate of the equivalent diameter between adjacent slices exceeds 15%, the marking is triggered.

[0085] The main purpose of this axial slicing step is to accurately capture the local geometric features of the wood, such as protrusions, depressions, and bifurcations, and focus on the local diameter mutations between adjacent slices to cooperate with the model matching of the central control system to be detailed below.

[0086] After completing the above steps, encapsulate the key parameters of the three-dimensional model into a data packet and transmit it to the central control system. The parameters include the length of the wood, the diameter of the wood, the sequence of three-dimensional contour vertex coordinates, the sequence of axial equivalent diameters, and the diameter mutation marking bit.

[0087] The central control system receives the three-dimensional model data of the wood to be stacked from the central control system, and automatically calls the standard wood model stored in the data storage unit to perform comparison calculations with the three-dimensional model data of the wood to be stacked. The standard wood model is configured as an ideal cylinder in this embodiment, with a specific length of 1000 mm and a diameter of 160 mm.

[0088] Specifically, it is divided into two steps:

[0089] First, calculate the average absolute error of the actual equivalent radius of the three-dimensional model data of the wood to be stacked and the radius of the standard wood model.

[0090] After obtaining the contour geometric difference, the central control system then calculates the diameter difference.

[0091] Through the calculation of the contour geometric difference and the diameter difference, the central control system obtains the average deviation between the actual wood and the standard cylinder model and the fluctuation range of the wood diameter. Combining the local geometric feature data obtained from the previous axial slicing, the accurate model geometric difference and diameter difference are obtained. The model geometric difference is used for the inter-layer coupling pre-matching of the subsequent wood, while the diameter difference is used for the central control system to calculate the center of gravity offset of the stacked wood and evaluate the stability coefficient of the wood stack.

[0092] Among them, the calculation methods of the contour geometric difference and the diameter difference can adopt the existing calculation methods in the field, and the present invention does not make specific limitations or elaborations.

[0093] After obtaining the model geometric difference and diameter difference data, the central control system performs inter-layer coupling pre-matching on the top-layer model data of the stacked wood and the model data to be stacked in the data storage module through their model geometric differences. Specifically, the concave-convex surface pre-matching is performed through the iterative closest point (ICP) algorithm:

[0094] Align the model of the wood to be stacked with the model of the top-layer stacked wood in space.

[0095] Statistical matching ratio of concave and convex points of the model of the wood to be stacked, and calculate the coupling score for the concave and convex points of the model of the top-layer stacked wood.

[0096] Based on the concave and convex points detected for the stacked wood and the wood to be stacked, the central control system calculates the coupling score. According to the coupling score and multiple placeable areas obtained from the preset threshold, the central control system selects the position with the maximum coupling score and marks it as the pre-stacking position, and issues a confirmation stacking instruction for this position. The servo motor of the central control system starts, the clamping mechanism 2 expands the I-beam jaws, and clamps the wood to be stacked to this position for stacking.

[0097] After the stacking of the wood to be stacked is completed, the central control system calculates and analyzes the center of gravity offset of the stacked wood model according to the diameter difference, and judges whether the stability coefficient reaches the target value.

[0098] First, calculate the center of gravity offset of a single piece of wood in the stacked wood model. The center of gravity offset of each piece of wood is calculated through the radial difference between the equivalent diameter and the standard model detailed above.

[0099] After calculating the center of gravity offset of each piece of wood, the central control system traverses the center of gravity offset of each piece of wood in each layer and selects wood that meets the following conditions;

[0100] When unstable wood is detected, the central control system issues corresponding support instructions to the support device to compensate for the stability of the stacked wood. In this embodiment, in order to achieve the support function, the device is further configured as follows:

[0101] The fuselage 1 adopts a semi-enclosed structure design. The top and bottom of the cavity inside the fuselage are connected, and the cavity wall is formed by at least two groups of symmetrically distributed enclosing side panels. The enclosing side panels are matched to form the fuselage side walls, and a supporting device is integrated on the inner surface of the side wall, which is used to compensate for the stability of the wood.

[0102] Specifically, the supporting device includes a plurality of groups of supporting members evenly distributed along the circumference of the accommodating chamber. In the present embodiment, there are three supporting members in a group, and three groups of each group are arranged in an array on the side wall of the fuselage. A single supporting member is configured as a retractable movable supporting column, which is mainly composed of a first contact end formed by a retractable hydraulic rod and a second fixed end embedded in the side wall of the fuselage.

[0103] The second fixed end is fixed to the side wall of the fuselage and is hollow inside to accommodate the contracted first contact end. The surface of the first contact end is provided with a pressure sensor to monitor the contact pressure with the wood in real time.

[0104] The first contact end of the support column is powered by a hydraulic cylinder (not shown) and is directly controlled by the central control system. Under normal circumstances, the first contact end is retracted in the second fixed end. When the central control system determines that the stability of the wood is insufficient and needs support, it issues a command to the support member relative to the required supporting wood. The first contact end extends from the second fixed end and presses against the wood through linear movement to fix its position. That is, the required supporting wood is clamped and supported in a fixed position by the support member to prevent the wood from loosening.

[0105] The supporting members arranged opposite to each other may be one end of the wood or both ends of the wood, and can be adjusted according to actual production.

[0106] The stability compensation coefficient that the supporting device needs to provide for each unstable wood is calculated by the central control system through the moment balance equation. The specific calculation method is the existing method and the present invention will not be repeated accordingly.

[0107] In this application, a specific embodiment is provided as follows:

[0108] Assume there is a sample of bent beech wood to be stacked, and its actual physical characteristics are;

[0109] It is curved in an arc along the axis, with a depression in the middle with a depth of 20 mm. The diameter at both ends is 150 mm, the diameter at the middle depression is 130 mm, the length is 1000 mm, the density: preset to 0.7 g / cm³, and the density can be varied according to different sample woods and is not unique. For example, the density of oak is 600 - 900 kg / m³, pine is 400 - 500 kg / m³, and balsa wood is as low as 100 - 200 kg / m³.

[0110] When the sample wood passes through the identification station and is scanned by the laser scanner in this embodiment, it first passes through the scanning light curtain set at the top of the laser scanner. At this time, the transmission mechanism accumulates a displacement of 300 mm. The scanning light curtain at the top collects one cross-section every 2 mm, a total of 500 cross-sections, and detects that the Z-axis height drops from 0 mm to -20 mm and then returns to 0 mm, forming a depression feature.

[0111] Then, through end face scanning, the identified data shows an equivalent diameter of 150 mm, a polar radius of 75 mm, a baseline distance of 200 mm, a laser incident angle of 30°, and a sensor resolution of 1024 pixels.

[0112] After the data identification is completed, the data processing unit performs coordinate transformation and model construction on the identified data;

[0113] Curtain data conversion: The Y-axis is superimposed with the conveyor belt displacement of 300 mm, and the coordinates of the middle depression point are corrected to X = 0 mm, Y = 800 mm, Z = -20 mm;

[0114] End face data conversion: The coordinates of the end cross-section are corrected to X = 1053 mm, Y = 53 mm, Z = 0 mm;

[0115] By using the PCA algorithm, the main axis vector of the wood is determined to be 0.894, -0.225, 0.032, which reflects the bending trend.

[0116] Then, three-dimensional modeling and feature extraction are carried out. Along the main axis, slices are taken every 5 mm by the axial slicing method described in detail above. The equivalent diameter of the middle slice is 130 mm, and the diameter change rate in the adjacent area is -13.3%, which is marked as a diameter mutation.

[0117] The geometric difference between the sample wood model and the standard wood model is calculated from the standard wood model in this embodiment. The average deviation of the overall shape of the wood from the standard cylinder with a diameter of 160 mm is 12.3 mm, the standard deviation of the axial diameter is 8.2 mm, and the fluctuation coefficient is 5.86%.

[0118] The data table is as follows, see Table 1:

[0119] Table 1

[0120]

[0121] Based on the above sample wood data, the central control system performs spatial alignment with the top-layer stacked wood that has been stored in the data storage unit, counts the matching ratio of the concave and convex points of the wood model to be stacked, calculates the coupling score for the concave and convex points of the stacked top-layer wood model. The data of the top-layer stacked wood is as follows: 3D model: there is a convex area with a diameter of 150 mm on the surface (the convex height is 8 mm);

[0122] Coordinate range of the convex area: on the Y-axis, 740–840 mm;

[0123] Based on the identification by the central control system, the coordinate range of the convex area of the top-layer stacked wood can overlap with the concave area of the wood to be stacked.

[0124] According to the identification result, the central control system performs the following steps: Step 1: Spatial alignment

[0125] The central control system calls the ICP algorithm detailed above to align the wood model to be stacked with the stacked top-layer wood model, so that the Y-axis coordinate ranges of the two overlap, that is, the 750–850 mm and 740–840 mm parts overlap, and the coordinate error after alignment is <1 mm.

[0126] Step 2: Concave and convex point matching statistics

[0127] Number of concave points of the wood to be stacked: 52 concave points with a depression depth ≥5 mm are detected in the range of 750–850 mm on the Y-axis);

[0128] Number of convex points of the stacked wood: 48 convex points with a convex height ≥5 mm are detected in the range of 740–840 mm on the Y-axis;

[0129] Matching rule: When the horizontal distance between the concave point and the convex point is ≤10 mm, it is considered a match;

[0130] Matching result: 42 pairs of concave-convex points are successfully matched.

[0131] According to the matching result, the central control system further performs Step 3 to obtain a coupling score result of 0.8;

[0132] In this embodiment, the threshold is set to 0.6, and the coupling score of 0.8 exceeds the threshold. The central control system determines that this area is a matchable area.

[0133] Based on the matchable area, the central control system further identifies the best stacking position and generates an area generation instruction according to the best stacking position.

[0134] In the matching area of 750–850 mm on the Y-axis, select the sub-area with the highest coupling score, such as 780–820 mm on the Y-axis, and the coupling score = 0.92 as the pre-stacking position.

[0135] The central control system controls the clamping mechanism to align the depression center of the sample wood material with Y = 800 mm with the protrusion center of the stacked wood material with Y = 790 mm and place them to form an interlayer coupling.

[0136] At this time, the sample wood material originally to be stacked becomes a stacked wood material in the central control system. According to the stacked wood material model, the central control system calculates that the actual center of gravity of this stacked wood material is horizontally offset by 115 mm, exceeding the threshold of 100 mm, which is 10% of the length, and it is determined to be unstable.

[0137] The central control system obtains the weight of the wood material as 1057 N, the volume as 0.154 m³, and the horizontal distance between the support point and the center of gravity as 300 mm according to the calculation method detailed above, and a support force of 405.2 N needs to be applied.

[0138] The central control system controls the support device at the corresponding position to issue a stability coefficient compensation. The support device is configured as a support member of a telescopic hydraulic column in this embodiment and extends according to the instruction of the central control system to apply a force of 405.2 N to lock the position of the wood material. The locking in this embodiment can be to lock the position of the wood material starting from both ends of the wood material, or it can be locked by pressing at one end position, which is not unique. It should be noted that if it is locked at both ends, the required applied force is the overall force and is evenly divided by the two hydraulic columns at both ends.

[0139] After completing the stability coefficient compensation, the central control system conducts a stability coefficient determination again. If the stability coefficient is still insufficient, it returns to the previous step to continue performing the stability coefficient compensation until the stability coefficient of the entire stack is sufficient.

[0140] When the central control system determines that the entire stack is stable according to the preset threshold, it controls the support device to retract. The threshold includes a first layer number threshold indicating the minimum stacking layer number allowed to release the support, and a second stability coefficient threshold indicating the minimum stability coefficient of the entire stack of wood materials. At least one of the above stability coefficients needs to be satisfied, and the threshold can be adjusted according to actual production requirements.

[0141] From the above embodiment, it can be known that compared with the prior art, through the concave-convex complementary matching and movable support in this application, the stability problem caused by the prior art's inability to handle irregular wood materials is solved, and the anti-overturning ability of the entire stack is improved. Specifically, see Table 2:

[0142] Table 2

[0143]

[0144] According to the above data, the present invention reduces the wood slip rate from 8%-20% in the prior art to <3%, and reduces the center of gravity offset by 30%-45%, basically solving the problem of easy slippage of wood piles due to large differences in size and shape of edible mushroom wood. It also uses fully automated modeling and dynamic adjustment without the need for human intervention, with significant efficiency and cost advantages.

[0145] Furthermore, in actual production, conventional stackers place wood randomly and fail to provide the ventilation environment required for the germination of edible fungi. To solve this problem, a second identification unit is provided after the identification unit in the present application.

[0146] In this embodiment, the second identification unit is an infrared spectral camera, and shares a data processing module with the first identification unit, that is, the laser scanner in this embodiment. The near-infrared spectral camera is used to perform spectral analysis on the wood surface, identify the hole position and detect the mycelium activity in the holes. According to the mycelium activity, the opened holes are marked as ordinary areas and avoidance areas. When the three-dimensional geometric model is completed, the data processing module performs an additional association processing of the area marking information and the three-dimensional geometric model for the stacked wood model. According to the area information, the central control system avoids the avoidance area when performing interlayer coupling, and ensures that the holes are always ventilated upward to avoid the fungus in the holes from being dumped out.

[0147] Specifically, after the sample wood passes through the first identification unit, it enters the second identification unit, and the near-infrared spectrum with a wavelength of 900-1700 mm identifies the absorbance of mycelium metabolites in each hole, such as polysaccharides and proteins, and calculates the activity score. In this embodiment, the activity score is set to 0-100%, and the specific calculation formula is as follows:

[0148] ;

[0149] In the formula, It is the absorbance intensity of the wood surface at a wavelength of 1450nm, which is related to the characteristic absorption of hydroxyl (-OH) and polysaccharides in mycelial metabolites. The absorbance intensity of the wood surface at a wavelength of 1200nm is related to the characteristic absorption of carbon-hydrogen bonds (CH) in the mycelial metabolites. When metabolism is vigorous, the polysaccharide and protein content is high, and the absorbance at 1450nm is significantly stronger than that at 1200nm. When metabolism is stagnant, the absorbance at 1450nm weakens, the molecule approaches zero or negative values, and the activity decreases.

[0150] According to the activity score, the data processing module marks the cavity area based on the pre-set activity threshold scoring rule. In this embodiment, the activity threshold scoring rule is that a cavity with a score of ≥60% is an active cavity, which is the avoidance area, and a cavity with a score of <60% is an inactive cavity, which is the ordinary area. Such a setting is because there is a problem of wood reuse in edible mushroom wood. By detecting the hyphal activity as a technical means, the problem of misidentifying historical cavities by only single identification of cavities is avoided.

[0151] After detecting the avoidance area and the ordinary area, the data processing module matches the coordinates of the cavity area with the coordinates of the three-dimensional geometric model, and attaches attribute labels to each cavity area, namely the avoidance area and the ordinary area described above, and transmits the labeled three-dimensional geometric model to the central control system. When the central control system calculates the interlayer coupling parameters, it automatically excludes the avoidance area and ensures that the avoidance area is always upward, and only uses the ordinary area of the wood to be stacked to contact the ordinary area of the stacked wood.

[0152] In this application, a specific embodiment is given:

[0153] Suppose the sample wood data is a beech wood section with a length of 1000 mm, and the number of stacked layers is the first layer of the stacked wood, and the sample wood will be stacked to the second layer.

[0154] The sample wood has 3 active cavities, and the hyphal activity scores are 82%, 85%, and 78%, which are located in the concave area at 790 - 810 mm on the Y-axis;

[0155] There are 2 inactive cavities, and the hyphal activity scores are 25% and 30%, which are located at 100 - 150 mm and 850 - 900 mm on the Y-axis at both ends.

[0156] Modeling has been completed when passing through the first recognition unit. When passing through the second recognition unit, the near-infrared spectral camera scans the surface of the wood to generate a spectral image, and performs spectral analysis on the center point of each cavity to calculate the characteristic peak intensity ratio. According to the scoring formula detailed above, the sample cavity score is 82%, which is judged as the avoidance area, and the sample cavity score is 25%.

[0157] The data processing module marks the active cavities as red avoidance areas and the inactive cavities as green ordinary areas, and transmits them into the central control system.

[0158] The central control system reads the coordinates of the avoidance area in the model, and controls the clamping mechanism to suspend the concave area of the sample wood during stacking, and only contacts the top wood through the ordinary areas at both ends. When the sample wood to be stacked becomes the stacked wood, the avoidance area still exists. The third layer of wood also avoids these areas, but when the fourth layer is stacked, the central control system automatically eliminates the avoidance area information of the second layer of stacked wood.

[0159] Compared with the prior art, the beneficial effects achieved by this application are shown in Table 3 below:

[0160] Table 3

[0161]

[0162] In this application, through near-infrared spectroscopy detection and three-dimensional model marking, the ventilation of the active holes is realized upward, solving the problem caused by insufficient ventilation environment of the strains. Combining the interlayer coupling and dynamic support technical solutions described in detail above, even if the wood has depressions and bends, the clamping and stacking paths can still be dynamically planned, and the active strain hole areas can be avoided.

[0163] Among them, the central control system is also used to obtain the stacking fitting position information of the wood to be stacked based on the position information of the ordinary area; and adjust the stacking fitting position of the wood to be stacked during the stacking of the wood to be stacked based on the stacking fitting position information of the wood to be stacked. When traditional wood is stacked randomly, it is easy to cause the holes planted with strains to face the inside of the stack, or face the wood above or below, resulting in poor ventilation of the holes planted with strains and reducing the survival rate of the strains in the later stage. To solve this problem, in the stacking process of the present invention, the fitting position of the wood is adjusted so that the holes planted with strains avoid the fitting positions above or below, and avoid facing the inside of the stack, so that they face the outside of the stack and avoid being blocked by the wood above or below, having a good ventilation position, ensuring the ventilation conditions of the holes planted with strains, and improving the survival rate and growth conditions of the strains.

[0164] Among them, the method for obtaining the stacking fitting position information of the wood to be stacked is as follows:

[0165] Obtain the position information of the center line of the holes in the ordinary area based on the position information of the ordinary area; the purpose of obtaining the center line of the holes is to facilitate adjusting the orientation of the holes so that they avoid the fitting positions above or below, and avoid facing the inside of the stack;

[0166] Adjust the stacking fitting position of the wood to be stacked so that the center line is horizontal and the openings of the holes in the ordinary area face outside the stack of the stacked wood.

[0167] Among them, the stack is an integral object formed after stacking multiple pieces of wood.

[0168] To sum up, the specific working process of the present invention is as follows:

[0169] When the sample wood passes through the first recognition unit, the first recognition unit automatically recognizes the shape, diameter and the activity of the strains in the holes of the wood. The data processing module completes the three-dimensional geometric model modeling according to the shape and diameter, and marks the positions of the active strain holes as avoidance areas in the three-dimensional geometric model, and marks other areas as ordinary areas.

[0170] After the model establishment and annotation are completed, the three-dimensional geometric model information of the sampled lumber that has been annotated is transmitted by the data processing module to the central control system. The central control system matches the data parameters of the three-dimensional geometric model with the standard lumber model pre-stored in the data storage unit, and generates the geometric difference and diameter difference of the sampled lumber according to the matching result.

[0171] Based on the geometric difference, on the basis of excluding the avoidance area, the central control system performs a concave-convex surface pre-matching between the sampled lumber and the lumber stacked on the top layer, and generates a coupling score. Among multiple coupling scores, the area with the highest coupling score is selected and marked as the pre-stacking position. According to the pre-stacking position, a confirmation stacking instruction is issued to control the clamping mechanism to stack and place the sampled lumber.

[0172] Based on the diameter difference, the central control system judges the stability coefficient of each piece of lumber on each layer. When it is judged that the center of gravity of the lumber is tilted, resulting in the stability coefficient not reaching the preset value, the central control system calculates the center-of-gravity tilt of the lumber. According to the calculation result, a stability coefficient compensation instruction is issued, and the instruction includes the position and the work required by the support device. The support device corresponding to the position of the lumber is controlled to support the lumber.

[0173] When the number of stacked layers above the lumber reaches the threshold number, or when the central control system judges that the entire stack of lumber is stable, a retraction instruction is issued to the support device, and the support device retracts to complete the stacking of the entire stack of lumber.

[0174] Compared with the prior art, the present application comprehensively stabilizes the lumber stacking through various means, improves the stability coefficient of the entire stack of lumber, greatly reduces the lumber slippage rate and the mycelium damage caused by poor ventilation, solves the long-standing technical pain points in edible mushroom cultivation, and is intelligent and automated.

[0175] Although the preferred embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications to these embodiments once they learn the basic creative concept. Therefore, the appended claims are intended to be construed as including the preferred embodiments and all changes and modifications falling within the scope of the present invention.

[0176] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention also intends to include these modifications and variations.

Claims

1. An edible mushroom log stacking machine, comprising: Machine body; A clamping mechanism disposed on the machine body for clamping wood; A driving device corresponding to the clamping mechanism for driving the clamping mechanism; A central control system for controlling the clamping mechanism and the driving device; the machine body has a receiving chamber, and a supporting device for supporting the wood is arranged in the receiving chamber, and it is characterized in that: The supporting device supports the wood in the receiving chamber based on the control of the central control system; The palletizer further has a first recognition unit, and the first recognition unit is used for detecting the wood to be stacked to obtain detection information, and the detection information includes: the shape of the wood to be stacked and the diameter size of the wood to be stacked; According to the detection information, the first recognition unit models the wood to be stacked to obtain a wood model to be stacked; The central control system includes a data storage unit, and based on the standard wood model stored in the data storage unit, it matches the wood model to be stacked, and identifies the geometric difference and diameter difference of the concave and convex surfaces of the wood to be stacked; According to the geometric difference of the concave and convex surfaces, the central control system performs pre-coupling matching calculation on the wood to be stacked and the stacked wood, and obtains the pre-stacking position according to the calculation result; Based on the pre-stacking position, the central control system generates a confirmation stacking instruction based on the pre-stacking position, and controls the clamping device to stack the wood; According to the diameter difference, the central control system performs a stacking stability operation on the stacked wood, analyzes the center of gravity offset of each layer of wood, and judges the stability coefficient; Based on the stability coefficient, the central control system triggers a stability compensation instruction, and controls the supporting device to apply a directional force to the unstable wood to maintain the stability of the whole stack of wood; According to the stability compensation instruction, after the compensation is executed, the central control system judges the stability coefficient. If the stability coefficient does not meet the expectation, it returns to continue triggering the stability compensation instruction until the instability correction of the whole stack of wood is completed.

2. The shiitake log stacking machine according to claim 1, characterized in that: The supporting device includes at least one supporting member evenly distributed along the circumference of the chamber. The supporting member has a first contact end and a second fixed end. The second fixed end of the supporting member is fixed to the machine body, and the first contact end is used to contact the wood through linear motion.

3. The shiitake log palletizer according to claim 2, wherein: The central control system is also used to control the supporting device. When the central control system detects that the wood needs to be supported, the central control system controls the first contact end of the supporting member corresponding to the position of the wood to be supported in the supporting device to perform linear motion to form contact support for the wood.

4. The mushroom log stacking machine according to claim 1, wherein: The first recognition unit further includes a laser scanner disposed on the machine body. The laser scanner scans the wood to be stacked and generates point cloud data including the outer contour of the wood to be stacked; The first recognition unit further includes a data processing module. The data processing module is used to receive the point cloud data scanned by the laser scanner, construct a three-dimensional geometric model of the wood to be stacked, and transmit the three-dimensional geometric model to the central control system. The three-dimensional geometric model at least includes the contour curve and radial diameter parameters of the wood to be stacked.

5. The edible mushroom log stacker according to claim 4, wherein: The palletizer further includes a second recognition unit. The second recognition unit includes a near-infrared spectral camera. The near-infrared spectral camera is used to perform spectral analysis on the surface of the wood to be stacked, identify the position of the holes and detect the hyphal activity in the holes. According to the detection result of the hyphal activity in the holes, the corresponding area of the holes is marked as a normal area and an avoidance area, and the marking information is associated with the three-dimensional geometric model and transmitted to the central control system.

6. The mushroom log stacker according to claim 5, wherein: Based on the spatial position information of the avoidance area, the central control system controls the clamping mechanism to perform dynamic adjustment of the stacking angle and contact points. The dynamic adjustment includes making the common area of the to-be-stacked wood form contact support with the common area of the stacked wood, and completing the stacking stability verification after adjustment.

7. The mushroom log stacking machine according to claim 6, wherein: The data storage unit of the central control system is also used to store the three-dimensional geometric models of the stacked wood on each layer and the action parameters of the support devices corresponding to the wood. The central control system generates an interlayer coupling matching instruction based on the historical data in the data storage unit to make the concave-convex contours of the to-be-stacked wood form complementary coupling with the stacked wood.

8. The wood pile machine for edible fungi according to claim 1, wherein: The central control system is also used to control the support device to perform a retraction action to release the support on the wood according to a predefined threshold. The threshold includes at least one of a first layer number threshold or a second stability coefficient threshold, where; The first layer number threshold represents the minimum stacking layer number allowed to release the support; The second stability coefficient threshold represents the minimum stability coefficient of the whole stack of wood; When the central control system detects that the current stacking layer number reaches the first layer number threshold or the overall stack stability coefficient reaches the second stability coefficient threshold, it triggers the retraction action of the support device.

9. The wood stacking machine for edible fungi according to claim 5, wherein: The central control system is also used to obtain the stacking fitting position information of the to-be-stacked wood based on the position information of the common area; Based on the stacking fitting position information of the to-be-stacked wood, adjust the stacking fitting position of the to-be-stacked wood during stacking.

10. The mushroom log stacker according to claim 9, wherein: The way to obtain the stacking fitting position information of the to-be-stacked wood is as follows: Obtain the position information of the center line of the holes in the common area based on the position information of the common area; Adjust the stacking fitting position of the to-be-stacked wood so that the center line is horizontal and the openings of the holes in the common area face outside the stacked wood stack.

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