Intelligent numerical control punching and filling machine for wood ear segments and method

Abstract

The application discloses an intelligent numerical control segment wood tremella perforating and filling machine and method, and relates to the technical field of edible mushroom planting. The device comprises a conveying mechanism, a limiting mechanism, a central control system, a perforating device and a filling device. The central control system stores to-be-inoculated mushroom information and dynamically controls a perforating depth based on the information. The application realizes intelligent matching of segment wood perforating parameters, effectively improves a mushroom survival rate, has advantages such as multi-mushroom adaptability and processing precision, and significantly improves the standardization level and resource utilization rate of edible mushroom segment wood cultivation.

Description

Technical Field

[0001] This invention relates to the field of edible fungi cultivation, specifically to an intelligent CNC wood-cutting and filling machine and method for Tremella fuciformis. Background Technology

[0002] Edible mushroom cultivation refers to using herbaceous or woody plants as a substrate, treating the substrate, and then sowing mushroom spawn on it. Based on the treatment method, it is mainly divided into two types: bag cultivation and log cultivation. Each has its advantages and disadvantages. Bag cultivation yields higher mushroom production and is fully controllable, but the aroma, taste, and nutritional value are inferior. Log cultivation involves felling, sawing, and drilling holes in suitable tree species such as those from the Fagaceae and Betulaceae families, then filling the holes with spawn, sealing them, and finally placing them in an open cultivation area for natural growth. Compared to bag cultivation, log cultivation significantly improves the aroma, taste, and nutritional value of the mushrooms. Currently, log cultivation mainly relies on small-scale farmers' manual production, using electric drills to manually create holes in the wood for spawn planting. This method is not only inefficient but also produces uneven holes, and the manual operation easily leads to spawn contamination, resulting in a low survival rate and poor yield of the mushrooms grown on logs.

[0003] Chinese utility model patent application number CN201621238609.3 discloses a fully automatic inoculation device for shiitake mushrooms. The device includes a mushroom log conveyor belt and a punching component above the conveyor belt. When the mushroom log moves along the conveyor belt to the punching component, the punching component automatically punches holes in the mushroom log on the production line below. However, the punching component of this device can only drill holes of a fixed depth, which cannot adapt to the different hole depth requirements of various fungi. Summary of the Invention

[0004] To address the technical problems of the existing technology, which features a single drilling depth and fixed pattern, making it unable to adapt to the hole depth requirements of various fungi, this invention provides an intelligent CNC wood-based perforation and filling machine for Tremella fuciformis, which can adapt to the hole depth required for different fungi cultivation.

[0005] This objective is achieved using the following technical solution:

[0006] By reading the information of the bacterial strain to be inoculated stored in the central control unit, the position and depth of the hole opening in the drill bit unit are automatically controlled.

[0007] The specific structure includes:

[0008] body:

[0009] A conveyor system used for transporting timber;

[0010] A limiting mechanism for securing timber;

[0011] A drilling device used for drilling holes in wood;

[0012] Filling devices for filling cavities;

[0013] Central control system for controlling transmission mechanisms, limit mechanisms, punching devices, and filling devices;

[0014] The central control system stores information about the edible fungi to be inoculated, which is used to control the drilling depth of the drilling device based on the information about the edible fungi to be inoculated.

[0015] In this invention, the filling machine starts, and the central control system automatically retrieves the information of the edible fungi to be inoculated from the data storage unit. Based on this information, it generates the corresponding drilling depth and sends operation instructions to the drilling device. The central control system controls the transmission mechanism to precisely position the wood to be processed to the drilling station, triggering a pause mechanism. Once the transmission mechanism is completely stationary, the drilling device is driven to perform a fixed-depth drilling operation on the wood. After completing the drilling of the specified depth, the drilling device automatically retracts to a safe height, and the transmission mechanism resumes operation, smoothly conveying the drilled wood to the filling station for filling operations. Compared with existing technologies, this invention directly controls the drilling device to perform differentiated drilling through the central control system, solving the problem of fixed drilling modes and depths in existing technologies, thus ensuring that each fungal species... This invention achieves the optimal hole depth for each mushroom, reducing contamination and nutrient deficiencies caused by excessively high or low hole depths. In traditional drilling methods, the drilling depth is a constant value. However, the types and growth stages of the mushrooms to be inoculated vary each time they are planted. If the holes are too shallow, they may not grow properly, suffer from malnutrition, and easily fall off. If the holes are too deep, they may affect normal growth and development. To solve this problem, this invention innovatively improves the drilling depth by generating a corresponding drilling depth based on the information of the mushrooms to be inoculated, thus ensuring the normal growth of mushrooms planted on logs.

[0016] Furthermore, the filling machine also includes an identification unit, which is used to identify and detect the wood to be punched in the transmission mechanism to obtain detection information;

[0017] The detection information includes:

[0018] The drillable area on the wood to be drilled, the degree of decay of the wood in the drillable area, the nutritional status of the wood in the drillable area, and the insect infestation marks in the drillable area;

[0019] Based on the degree of decay, nutritional status and insect infestation marks of the wood in each drillable area, a wood area suitability score is calculated for each drillable area.

[0020] Mark the area with the highest suitability score for wood as the area to be drilled;

[0021] The location information of the confirmed drilling area will be sent to the central control system;

[0022] The central control system controls the drilling position of the drilling device based on the confirmed location information of the drilling area.

[0023] In existing technologies, the method of drilling holes in wood involves placing the wood on a drilling machine, fixing it in place, and then drilling holes. The drilling locations are random, while the condition of different areas of the wood varies. For example, some areas may be rotten, some may have a longer nutritional status, and some may show signs of insect infestation. If holes are drilled in these areas, planting edible fungi in these holes could lead to fungal infections, a prolonged nutritional status, or insect infestation, thus affecting the normal growth of the fungi. To solve this problem, this invention adds an identification unit that can identify the components in the transmission mechanism. The wood to be drilled undergoes identification and testing to obtain information such as the drillable areas, the degree of decay, nutritional status, and insect infestation marks in each area. Based on these factors, a suitability score is calculated for each drillable area. The area with the highest suitability score is then marked as the confirmed drilling area. This process selects the most suitable area for edible fungi growth to ensure proper subsequent growth. Once the drilling location is determined, it is sent to the central control system to control the corresponding drilling device for precise drilling.

[0024] Optionally, the identification unit includes an industrial camera mounted above the transmission mechanism. The industrial camera is used to acquire images of the wood surface. The image processing module of the industrial camera quantifies the roughness and contrast parameters of the wood texture through a gray-level co-occurrence matrix, analyzes the differences in hue and saturation distribution by combining the HSV color model, extracts the wood texture features, analyzes the degree of decay, nutritional status and insect infestation marks of the wood based on the wood texture features, and generates marks for defects in the drillable areas in the wood surface image. After marking is completed, the marked data is sent back to the central control system.

[0025] Optionally, the identification unit includes an industrial CT mounted above the transmission mechanism. The industrial CT is used to scan the wood and form a wood density distribution model based on the CT value. According to the density threshold, it analyzes the degree of decay, nutrient distribution and insect infestation traces. Based on the analysis results, it generates marks for defects in the drillable area. After marking is completed, the marked data is sent back to the central control system.

[0026] In existing technologies, drilling equipment is not only functionally limited but also lacks flexibility. Because the drilling position and depth are fixed, the actual condition of the wood is ignored. For example, decayed wood with a loose structure and complex fungal communities can contaminate the spawn and hinder mycelial colonization. Uneven nutrient distribution in the wood directly affects the mycelial growth rate and mushroom quality. Insect holes can damage the structural stability of the wood, easily causing the spawn bag to fall off or allowing other fungi to proliferate, resulting in spawn colonization in inferior areas. Mycelium is also easily contaminated or malnourished, leading to low survival rates and a high proportion of deformed mushrooms. This invention analyzes the wood condition through an identification unit, identifying defects such as decay, insect infestation, and uneven nutrient distribution. It comprehensively assesses the wood condition, avoiding the impact of inherent wood defects on spawn inoculation. The area with the highest score represents the location with the lowest risk of decay, the most balanced nutrition, and the most stable structure, and is used to determine the drilling position. This ensures the optimal growth environment for the spawn, improves production efficiency, and solves the technical problems of spawn survival rate and yield.

[0027] Furthermore, the identification unit also includes an RFID device, which is used to read the RFID tag code of the wood and transmit it back to the central control system. The central control system is equipped with a data storage unit to convert the hole depth, fungi planted and operation results corresponding to a single drilling unit into data logs for storage.

[0028] In existing technologies, when the same piece of wood is used multiple times, it is impossible to track the processing history of individual logs and identify the condition of the wood. Blind reuse can lead to conflicts between fungi and the spread of pests and diseases. On the other hand, if a single log is used only once, the cost will increase significantly and it will also damage the environment. This equipment visualizes the unique identity information of each log by adding an identification unit. Based on the identity information, the central control system stores the historical processing information of the logs, records the information of each operation, realizes data visualization, and lays the groundwork for further wood reuse.

[0029] Furthermore, the filling machine also includes a liquid injection device, which includes a liquid storage container and a liquid flow drill bit with an axial liquid flow channel. The drill bit surface is also circumferentially distributed with radial through holes communicating with the liquid flow channel. A valve is provided at the liquid outlet of the liquid storage container. The central control system is also used to generate a liquid injection control signal based on the suitability score of the wood area. According to the liquid injection control signal, the opening time of the electric control valve is adjusted so that the nutrient solution in the liquid storage container is discharged from the radial through holes through the liquid flow channel. The liquid flow drill bit is driven to rotate so that the liquid is evenly covered on the hole wall.

[0030] Furthermore, the central control system is also used to control the injection device to inject and repair nutrient-deficient areas of the wood, and / or to control the drilling device to deepen and nutrient-repair existing historical cavities in the wood's historical data.

[0031] In existing technologies, the injection of nutrient solution is usually completed by a separate device, which cannot automatically identify the condition of the wood. Due to the nature of the wood itself, traditional injection equipment cannot ensure that the wood fully absorbs the nutrient solution. This invention combines a drill bit with nutrient solution injection. When the drill bit is inserted into the wood, centrifugal force throws the nutrient solution out of the fluid channel inside the drill bit, evenly covering the hole wall. This method not only replenishes the wood area with nutrients but also naturally moistens the wood, allowing for better absorption of nutrients. Combined with the aforementioned wood identification information, a traceability mechanism for the wood is established in the central control system. Based on this mechanism, nutrient replenishment is combined with the aforementioned wood condition identification and scoring mechanism to reuse historical holes in used wood. The injection volume is dynamically determined through scoring, realizing a closed loop of detection-repair-reuse, and extending the service life of the wood.

[0032] This invention also provides a method for punching and filling holes in wood-based silver ear fungus, the method being based on the aforementioned intelligent CNC wood-based silver ear fungus punching and filling machine, the method comprising:

[0033] S1. Timber pretreatment and positioning;

[0034] The wood is transported using a transmission mechanism and fixed using a limiting mechanism;

[0035] S2, Timber Inspection;

[0036] The identification unit is used to identify the information of the wood, obtain the identification information, and transmit the identification information to the central control system;

[0037] S3, Hole treatment;

[0038] The central control system generates a first control command and a second control command based on the identification information;

[0039] The drilling device is controlled to drill holes in the wood based on the first control command;

[0040] Based on the second control command, the filling device is controlled to fill the perforated wood;

[0041] S4. Processing complete;

[0042] After drilling is completed, the drilling device returns to its initial position; after filling is completed, the filling device returns to its initial position; the central control system stores the data log of this operation.

[0043] The wood after filling is sealed using a sealing device, and the sealed wood is then transported to the storage area using a conveying mechanism.

[0044] The above method can effectively achieve the drilling and filling of wood-based silver ear fungus.

[0045] One or more technical solutions provided by this invention have at least the following technical effects or advantages:

[0046] Compared with existing fixed-depth drilling equipment, this application uses a central control system to store information on the fungal strains to be inoculated. Combined with the adjustable stroke design of the drilling device, it achieves precise control of the differentiated hole depth based on the needs of different fungal strains. This solves the technical problem that traditional equipment cannot adapt to the different hole depth requirements of various fungal strains. By further introducing an identification unit to detect the condition of the wood and generate a score, the most suitable area for inoculating edible fungi is selected based on the score, improving the overall survival rate of the fungi. At the same time, by adding a liquid injection device, the wood can be nutritionally repaired, achieving a multi-purpose effect. This reduces labor costs and improves technical support for large-scale industrial planting, and has significant economic and ecological value, making it suitable for industrial promotion. Attached Figure Description

[0047] The accompanying drawings, which are provided to further illustrate embodiments of the invention and constitute a part of this invention, are not intended to limit the scope of the invention.

[0048] Figure 1 This is a schematic diagram of the components of an intelligent CNC wood-cutting and filling machine for silver ear fungus.

[0049] Figure 2 This is a schematic diagram of the overall structure of the present invention;

[0050] Figure 3 This is a front view of the punching device of the present invention;

[0051] Figure 4 This is a side view of the punching device of the present invention;

[0052] Figure 5 This is a schematic diagram of the packing device of the present invention;

[0053] Figure 6 This is a flowchart of the method of the present invention;

[0054] The attached diagram shows the markings and corresponding component names:

[0055] 1. Machine body; 2. Transmission mechanism; 21. Servo motor; 22. Transmission chain; 23. Cam divider; 3. Limiting mechanism; 31. Limiting rod; 4. Drilling device; 41. Drill bit unit; 41. Drill bit base; 41. Drill tip; 412. Drive device; 42. Central control system; 5. Filling device; 6. Filler; 61. Conveying pipe; 611. Receiving groove; 612. Hopper; 613. Blade rotary cylinder; 614. Guide rail; 615. Square standard cylinder; 616. Detailed Implementation

[0056] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, where there is no conflict, the embodiments of the present invention and the features thereof can be combined with each other.

[0057] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0058] Example 1;

[0059] Please refer to Figure 1 , Figure 1 This is a schematic diagram of the components of an intelligent CNC wood-based silver ear fungus punching and filling machine.

[0060] like Figure 2 As shown in the figure, the overall structure of the present invention is mainly composed of the following modules: a transmission mechanism 2, a limiting mechanism 3, a punching device 4, a filling device 6, a central control system 5 for controlling the above components, and the body 1 as the frame of the machine.

[0061] The wood is directionally conveyed by the transmission mechanism 2. The drilling device 4 and the filling device 6 are arranged in sequence along the transmission mechanism 2 to form an assembly line. In order to adapt to the different hole depths required for different fungal cultivation, when the wood is conveyed to the position of the drilling device 4 along the transmission mechanism 2, the central control system 5 intelligently matches the optimal hole depth parameters of the target fungal species based on the pre-stored data of the fungal species to be inoculated, and issues control commands to the drilling device 4. The drilling device 4 accurately executes differentiated hole depth processing according to the commands.

[0062] In this embodiment, the transmission mechanism 2 consists of a servo motor 21 and a transmission chain 22. The transmission chain 22 is connected to the gears on the servo motor 21 through meshing. The servo motor 21 is located at both ends of the transmission chain. When the servo motor 21 rotates in the same direction, it drives the transmission chain 22 to perform chain drive, thus forming the transmission mechanism 2 in this embodiment. Of course, the above-mentioned transmission mechanism 2 is not limited to chain drive. The transmission chain can also be replaced with a transmission belt to realize the transportation of objects through belt drive. There are many transmission methods, which are not listed here. As long as stable transportation of wood can be achieved, they can be applied to this application.

[0063] like Figure 2As shown, the transmission mechanism 2 extends through or is sideways to the machine body, and a limiting mechanism 3 is provided along the transmission mechanism 2. In this embodiment, the limiting mechanism 3 is an angular clamping component, which is block-shaped in general. The lower part is a rectangle fixedly connected to the transmission chain. At least one angular clamping component is provided on each side of the upper end of the rectangle. The outer side of the angular clamping component is consistent with the lower rectangle. The angular clamping components provided on each side enclose a receiving space, which is used to restrict and clamp the wood.

[0064] Furthermore, to better clamp the wood, a limiting frame is provided around the drill bit. The limiting frame, located below the drill bit, has at least two limiting rods 31 extending laterally. When the wood is placed in the accommodating space of the limiting mechanism 3, it travels along the conveyor belt and briefly pauses at the drill bit to await drilling. The central control system 5, based on the information of the inoculum to be inoculated, issues an opening command to the drill bit for the required hole depth. Upon receiving the command, the drill rig lowers itself using power provided by the drive unit. The limiting rods 31 precede the drill bit tip. When the end reaches the wood surface, it cooperates with the accommodating space below. Under the action of force, the wood is firmly clamped in the accommodating space formed by the corner limiting member, thus completing the stable drilling. The limiting mechanism 3 here is not limited to the above structure. For example, evenly distributed protrusions (not shown in the figure) can be set on the transmission surface of the transmission mechanism 2. When the wood is placed between the protrusions, it is limited by the protrusions and stays stably on the base surface of the transmission belt. Alternatively, eccentric wheel quick clamps, mechanical grippers, or other additional mechanical devices can be used to clamp and transport or roll the wood.

[0065] Furthermore, such as Figure 2 As shown, the transmission mechanism 2 is also provided with a cam divider 23. The divider is preferably set on both sides of the conveyor belt. Its output shaft converts the continuous rotation of the conveyor belt into intermittent indexing motion, which is used to pause the conveyor belt so that the punching device 4 and the filling device 6 can process the wood. Needless to say, the method of pausing the transmission mechanism 2 is not unique. The transmission mechanism 2 can also be directly controlled by the central control system 5.

[0066] like Figure 3 and 4As shown in the figure, the specific structure of the drilling device 4 in this invention is illustrated. The main structure consists of an array of drill bit units 41 and a rear drive device 42. In this embodiment, it is preferable to arrange at least three independent drill bits laterally along the frame. Each drill bit can move independently. The drill bit unit is specifically divided into a drill tip 412 and a base 411. The front end of the drill tip 412 is triangular pyramidal and is detachably fixed to the base 411 by a nut. The drive device 42 is located behind the base of the drill bit unit and is specifically a hydraulic rod and a motor. The drive device 42 adopts a hydraulic actuator and includes a control system composed of a hydraulic cylinder and a servo motor. When the central control system 5 generates a command for opening the hole to the required depth according to the type of bacteria to be inoculated, the servo motor drives the hydraulic cylinder to drive the drill bit group to press down synchronously. After drilling is completed, the hydraulic cylinder automatically resets and waits for the next drilling command. The drive device 4 of the above-mentioned drilling device is not limited to a hydraulic rod and a servo motor. It can also be driven by a pneumatic or electric linear motor.

[0067] As described above, the central control system 5 intelligently matches the optimal hole depth parameters of the target fungus species based on the pre-stored data of the fungal species to be inoculated. In specific embodiments, the required hole depth varies for different genera and families of edible fungi. For example, the required depth is moderate for Tricholomataceae, while the required depth is deeper for edible fungi of the Fungi genus. According to different depth requirements, the required depth data of the fungi to be inoculated can be pre-set and matched with the fungal species to be inoculated. Taking this embodiment as an example, refer to Table 1 below. Table 1 is a table of fungal drilling and hydraulic pressure correspondence.

[0068] Table 1

[0069]

[0070] It is worth noting that each 100 pulses in Table 1 corresponds to a 1mm stroke. This table is only an example for illustration. The depth parameters and control range required for specific strains can be adjusted based on more detailed experiments and various factors in actual production. Through the pre-set data parameters, the central control system can more quickly identify the required hole depth for the strain to be inoculated, resulting in a higher survival rate of the strain.

[0071] In this embodiment, the central control system is also equipped with a data storage unit, in which the above parameters are stored for easy access at any time.

[0072] like Figure 2 As shown, the packing device 6 includes a packer 61 that is arranged in a mirror-symmetrical manner with the packing frame and the drill bit unit 4, such as... Figure 5As shown, the stuffer is composed of a hollow tubular conveying pipe 611. A receiving groove 612 and a hopper 613 are respectively located on the left and right sides of the conveying pipe 611. The hopper 613, used for temporary material storage, is located on one side of the conveying pipe 611, while the receiving groove 612 is on the other side. The receiving groove 612 has a cavity of a certain size, with an upper opening to receive material falling from the hopper above. A blade-rotating cylinder 614 is located outside the hopper. This blade-rotating cylinder 614 drives the internal stirring blades to prevent material agglomeration and promote material feeding. The receiving groove 612, the hopper 613, and the conveying pipe 611 together form the filling section of the stuffer. A square standard cylinder 616 is located behind the filling section and is vertically fixed to the frame guide rail. 615, as the drive unit of the filler, provides linear driving force to the filling unit. When it is necessary to fill the holes that have been opened in the punching device 4, the central control system 5 issues a command, and the square standard cylinder 616 drives the filling unit downward to the position of the holes that have been opened in the punching device. Then, the blade rotating cylinder 614 starts, stirring the material in the hopper so that it falls from the conveying pipe 611 into the opened holes. After the filling is completed, the blade rotating cylinder 614 stops, and the square standard cylinder 616 drives the filling unit back to the initial position. The material includes, but is not limited to, inoculum and sawdust used to seal the holes. In this embodiment, there are two filling devices, one for inoculating and the other for sealing. They can also be added or removed according to the actual application scenario and requirements.

[0073] Furthermore, in order to prevent damage to the wood itself, such as cracks, insect infestation, or decay, from affecting the inoculation effect, an identification unit is also provided at the feeding station at the front end of the drilling device 4. This unit is used to determine the degree of decay and nutritional status of the wood, so as to select the most suitable area for inoculation.

[0074] In the first embodiment, the identification unit includes a high-resolution industrial camera, which includes a lens, an image sensor, an image processing module, and a transmission interface. It has an external housing that extends from the top to the sides, forming a semi-enclosed accommodating chamber. A hollow frame is mounted on top of the housing and fixed to both sides of the machine body by nuts. Wiring is laid inside the frame to connect to the central control system 5, providing power to the industrial camera and facilitating information transmission with the central control system 5. A through-hole is provided at the bottom of the housing, through which the camera lens extends to perform real-time detection of the wood conveyed by the transmission mechanism 2. When the wood passes the camera, the high-resolution industrial camera performs multimodal image acquisition, specifically acquiring the following data:

[0075] The camera's binocular stereo vision module generates a 3D point cloud model of the wood, with a positioning accuracy of approximately ≤0.3mm on the X / Y axes and ≤0.1mm on the Z axis;

[0076] The internal polarized light imaging unit eliminates surface reflection interference and enhances the texture contrast of cracks and insect-eaten defects;

[0077] By capturing the surface texture features and color distribution of logs from the acquired images, the gray-level co-occurrence matrix (GLCM) is used to quantify parameters such as texture roughness and contrast. Combined with the HSV color model, the differences in the distribution of hue (H) and saturation (S) are analyzed to distinguish healthy xylem from areas of nutrient loss (such as cracks, insect infestation, and decay).

[0078] Based on the wood texture characteristics, the graphics processing module divides the wood to be drilled into several blocks, which are the areas that can be drilled. According to the degree of decay and nutritional status of the wood, the module automatically marks the defect information of the corresponding blocks. In this embodiment, the marking method is bounding box annotation. For example, if the A1 section of the sample wood is rotten and the A2 section has cracks, the graphics processing module automatically selects the area with red and yellow bounding boxes, and after the annotation is completed, the information is sent back to the central control system 5.

[0079] Specifically, in the first embodiment of the present invention, the judgment rules of the image processing module are as follows: Table 2, which is the first judgment table for the punchable area.

[0080] Table 2

[0081]

[0082] In the second embodiment of the present invention, the identification unit is an industrial CT, including an X-ray source, a three-dimensional reconstruction module and a data processing module. The industrial CT is housed in a lead alloy protective shell. A hollow frame is provided on the top of the shell and fixed to both sides of the machine body by nuts. The frame is connected to the central control system 5 by wires, which provide power to the industrial CT and transmit information with the central control system 5. A fan-shaped detection window is opened at the bottom of the shell so that when the wood passes through the X-ray cone beam area of ​​the detection window via the transmission mechanism 2, the entire wood is scanned by the X-rays of the industrial CT.

[0083] After the scan is completed, the 3D reconstruction module inside the industrial CT completes the establishment of the wood density distribution model based on the CT value. In this embodiment, the healthy wood density threshold is set to 200-600HU. The data processing module also divides the wood model of the wood to be drilled into several blocks. These blocks are the drillable areas. When a defect is detected, the corresponding block defect information is automatically marked. In this embodiment, the marking method is bounding box annotation, which classifies and selects the defective areas in the wood model of the wood to be drilled.

[0084] Specifically, in the second embodiment of the present invention, the judgment rules of the data processing module are as follows: Table 3, which is the second judgment table for the punchable area.

[0085] Table 3

[0086]

[0087] The above embodiments have different application scenarios. The first embodiment is suitable for rapid identification in high-speed production lines, but its accuracy is not as good as the second embodiment. The second embodiment has higher accuracy, but its efficiency is not as good as the first embodiment. It can be selected or combined according to actual production needs. It is worth noting that the above parameters are only general parameters shown in the specific application scenario in this embodiment. Through these parameter rules, wood defects can be quickly judged, and they should not be construed as limitations on this application. They can also be adjusted more meticulously according to the corresponding production needs.

[0088] It is worth noting that if the recognition unit is the first embodiment, after the recognition unit completes data acquisition, it will perform grayscale processing on the original unlabeled image to form a grayscale copy. Then, the labeled data and the grayscale copy will be sent back to the central control system 5 together to provide conditions for the central control system 5 to verify again. The grayscale processing is to make it easier for the central control system 5 to perform image analysis and calculation to verify the labeling accuracy of the data processing unit.

[0089] If the identification unit is the second embodiment, after the identification unit completes data acquisition, it inputs the labeled data and the original data into the central control system 5 together, without the need to generate an additional grayscale copy.

[0090] Based on the data on the degree of decay and nutritional status of the wood transmitted by the identification unit, in order to ensure identification accuracy, the central control system 5 performs feature extraction again based on the data according to the Local Binary Fitting (LBP) model.

[0091] The steps are as follows:

[0092] Selecting a neighborhood: Typically, a 3x3 neighborhood is selected, which is the 8 pixels surrounding the current pixel;

[0093] Grayscale comparison: Sets the grayscale value of the current pixel. Iterate through every surrounding pixel ,if ≥ If the condition is met, output 1; otherwise, output 0. The expression is:

[0094] ;

[0095] In the formula, x is the index of the surrounding pixels.

[0096] Generating a binary number: Arrange the obtained binary numbers counterclockwise to form an 8-bit binary number. Then, convert the resulting binary sequence to a decimal number, as shown below:

[0097] ;

[0098] In the formula, p represents the position index of the neighboring pixel, and the value of p is between 0 and 7. bp represents the binary comparison result of the neighboring pixel.

[0099] Repeated calculation: For each pixel, repeat the above process to generate the LBP feature map of the entire image, forming a 256-dimensional texture feature vector, which is used to characterize the degree of decay and nutritional status of the wood surface.

[0100] After feature extraction is completed, the extracted features are compared and combined with the data processing module of the recognition unit to ensure data accuracy. When the data accuracy is verified to be consistent, the central control system 5 generates a suitability score based on the suitability of the sample wood area and outputs the first control command to the drilling device 4 to drill holes. The above score is achieved through the analytic hierarchy process (AHP).

[0101] First, a hierarchical structure is constructed, and a layered standard design is carried out in the form of target layer-criteria layer-indicator layer. Second, the judgment matrix is ​​designed using the 1-9 scale method. Then, the weights are calculated and consistency is checked, and the weighted sum is used to generate the total score.

[0102] Specifically, the relevant defect scoring criteria and nutritional status acquisition criteria are as follows:

[0103] The formula for scoring the degree of decay is as follows:

[0104] ;

[0105] In the formula, The area or volume of the decayed region. The score is the total surface area or volume of the wood. The score is inversely proportional to the percentage of decay; the lower the percentage of decay, the higher the score.

[0106] The formula for scoring the degree of insect infestation is as follows:

[0107] ;

[0108] In the formula, The number of insect-eaten holes. The lower the percentage of insect infestation, the higher the score, based on the maximum allowable number of holes.

[0109] The formula for scoring the degree of cracking is:

[0110] ;

[0111] In the formula, The total length of the crack. The maximum allowable crack length; the lower the crack percentage, the higher the score.

[0112] The standard formula for obtaining nutritional status is:

[0113] ;

[0114] In the formula, For healthy area density, For voxel volume, in a specific identification unit embodiment, if the hue (H) of healthy xylem is ∈ [10,30] (light yellow to brownish yellow), the saturation (S) is >40, or the density value is ∈ [400,600] HU, then it is judged as a high nutrient area;

[0115] Once all the above scores are obtained, the hierarchy is matched according to the pre-constructed AHP. The specific rules are shown in Table 4 below. Table 4 is the hierarchy matching rule table.

[0116] Table 4

[0117]

[0118] It is worth noting that the matching rules for c1-c4 are based on the first and second embodiments in this application. However, the parameters can be adjusted according to the actual identification units and production conditions. For example, for high-value timber, the weight of c4 can be manually adjusted to 0.3 and the weight of insect infestation to 0.1. The table above only shows the preferred embodiments.

[0119] After hierarchical matching, the judgment matrix of the 1-9 scale method is used, and the rules are shown in Table 5 below. Table 5 is the judgment matrix rule table.

[0120] Table 5

[0121]

[0122] Then, weights are calculated:

[0123] 1. Calculate the eigenvectors of the matrix, and obtain the weights after normalization:

[0124] C1=0.4, C2=0.3, C3=0.2, C4=0.1;

[0125] 2. Consistency test (CR=0.05<0.1), meets the requirements.

[0126] In the formula, CR is the consistency ratio, which is used to judge the logical consistency of the matrix. 0.1 is the standard threshold range of AHP to ensure the logical consistency of the scoring of the judgment matrix and avoid unreasonable weight allocation. When CR < 0.1, the random inconsistency of the judgment matrix is ​​within an acceptable range and its impact on the final decision result can be ignored.

[0127] It is worth noting that this design is based on the fact that, in actual production, researchers have found that in the cultivation of edible fungi, the degree of decay of the wood (C1) and insect infestation (C2) have the greatest impact on the survival rate of the fungi and should be avoided first. Cracks (C3) and nutritional status (C4) can be compensated for by the repair units detailed below, and therefore are given lower weights.

[0128] The scoring calculation formula is as follows:

[0129] ;

[0130] In the formula, S is the total score of timber area suitability (0-100 points), n is the number of criterion layers, and m is the number of indicators under each criterion layer. As a criterion layer weight, such as the condition of decay, cracks, and insect infestation, This refers to the weighting of indicators, such as the weighting of surface cracks, insect infestation, and decay within the surface condition category. Standardized score.

[0131] Based on the punchable area defined by the recognition unit, the score generates one of the following decisions:

[0132] When the regional nutritional score is ≥80 points and is the maximum value of the overall suitability of the wood for drilling, the central control system 5 marks the region as a confirmed drilling region and generates a confirmed drilling command in the region according to the depth information required by the inoculated fungus.

[0133] When the area of ​​decay is greater than 70% or the nutritional score is less than 40, the central control system 5 determines that the area is unsuitable for planting, generates an area exclusion command, and controls the drilling device based on the command to exclude the unsuitable area from the drilling operation range.

[0134] When the central control system 5 determines that all detection areas of the wood have triggered the exclusion conditions, namely, the area of ​​decay > 70% or the nutritional score < 40, the system terminates the current drilling process, triggers the waste disposal command, and removes the wood from the production line.

[0135] The following table 6 provides a more detailed explanation of the application of scoring decision-making, using sample data as an example. Table 6 is the sample data table.

[0136] Table 6

[0137]

[0138] Based on the scoring calculation expression and matching rules detailed above, the output score is as follows:

[0139] Region A Total Score ;

[0140] Region B Total Score ;

[0141] Region C Overall Score ;

[0142] Based on the above scoring, the central control system marks area C and generates a confirmation punching command.

[0143] Region A is selected as the candidate region, while Region B, which scores above 40 points but is below 80 points, will be subject to the repair instructions detailed below.

[0144] The objective and specific conditions of the wood allow the central control system 5 to be further developed based on the aforementioned technical solution of automatically setting the hole depth according to the information of the inoculum to be inoculated, thereby providing the survival rate of the inoculum and significantly increasing the yield due to the screening of the nutrient areas of the wood.

[0145] It should be mentioned that in the second embodiment of this application, the identification unit may also directly output the labeled data without generating a grayscale copy. The central control system 5 then uses the Opponent Color LBP model to extract features from the labeled data and verify the accuracy of the labeled data.

[0146] The first and second embodiments described above have different applicable scenarios. In the first embodiment, the control system 5 verifies data and then judges the score through a traditional LBP. This method has a lower cost and lower equipment requirements. In the second embodiment, the control system 5 verifies data and then judges the score through an Opponent Color LBP. This method has more stringent requirements for equipment performance, but the overall accuracy is better and can be adjusted according to actual production needs.

[0147] Furthermore, based on the above technical solution, wood, as an environmental material, is relatively expensive. If it is disposed of arbitrarily, the cost will rise sharply. In order to improve the reuse rate of old wood, this equipment can also be equipped with a repair unit to perform wood repair on low-scoring wood. In this embodiment, the specific repair unit is a liquid injection device, the specific structure of which is as follows: including a liquid storage container and a liquid flow drill bit. The drill bit unit has a liquid flow channel along the axis from the inside of the base. The front end of the liquid flow channel extends to the front end of the drill tip. Preferably, the drill tip surface also has a circumferentially arranged through hole, which is connected to the liquid flow channel to more evenly eject liquid when the drill bit rotates. In this embodiment, the liquid storage container is a liquid storage pipe fixedly set above the base. The tank contains nutrient solution. The type of liquid is not fixed and can be injected or the position of the tank can be set according to needs. The liquid outlet of the tank is connected to one or more drill bit liquid flow channels through a pipe. There is a valve at the liquid outlet. In this embodiment, the valve at the outlet is an electrically controlled valve. Alternatively, a pneumatically controlled valve can be used for control. This valve is connected to the central control system 5 via a wire. When the central control system 5 performs scoring, if the regional nutrition score is lower than the normal drilling standard line but higher than the unsuitable regional standard line (e.g., nutrition score ≤ 80 but > 60), a nutrition injection command is executed for that region. The central control system 5 controls the electrically controlled valve to open, and the liquid flows into the drill bit fluid channel along the pipeline. Then, the drill bit is controlled to descend and open a nutrition hole of about 4 cm in the region. Under the high-speed rotation of the drill bit, the liquid is thrown out from the surface through hole and evenly covers the opened nutrition hole. The injection time is set by the central control system 5 according to the nutrition score. For example, if the sample wood region score is 70, a 15-second injection command is executed. After the injection is completed, the drilling device 4 exits the nutrition hole and resets itself. It can be understood that the above-mentioned nutrition hole depth parameters and injection time are not fixed and are not limitations on the technical solution itself. The required depth and time can be adjusted according to actual needs and specific production modes.

[0148] Furthermore, a fine mesh is installed at the outlet of the storage tank. The mesh size of this mesh is about 1mm. This mesh is used to intercept impurities in the nutrient solution and prevent impurities from clogging the pipes or liquid channels.

[0149] Furthermore, such as Figure 2As shown, based on the above technical solution, in order to further improve the efficiency of wood use and achieve the purpose of multiple uses of one piece of wood, a second identification unit is added behind the identification unit. In this embodiment, the identification unit is an RFID reader and an RFID tag. The RFID tag is coated on the surface of the wood. The tag format adopts the ISO / IEC18000-63 standard 96-bit encoding format unique code (UID) to record the wood's identity information. When the wood passes through the RFID detector, the UID is read into the central control system 5 and past data matching detection is performed. When the historical data of wood use is matched, such as the historical fungal species type of the wood, the historical distribution of processing hole positions, and the historical number of uses, the UID is automatically marked as old wood. If there is a previously performed nutrient remediation area, the nutrient remediation area is identified first. Based on the characteristics, it is scored again to determine whether the area is suitable for planting this time. If it is suitable for planting, the area is marked as a drilling area. According to the depth information required by the fungal species to be inoculated, a confirmation drilling command is generated in the area.

[0150] The second identification unit is not limited to RFID readers and RFID. This embodiment only shows the optimal implementation method, such as barcodes, laser markings, etc. As long as the means can achieve the identification of wood, they are acceptable. They are not listed one by one here.

[0151] It is worth noting that if the old wood has already been drilled, that area will not be marked as a drillable area, but will be treated using the techniques described in detail below.

[0152] Furthermore, based on the UID, the central control system 5 can also compare and evaluate the overall condition of the old wood material with the requirements of the inoculum to be inoculated this time, based on the historical fungal strain type, historical processing hole distribution, and historical usage frequency. If the location and depth of the inoculum to be inoculated this time match the historical hole distribution, then based on the data returned by another identification unit, namely the high-resolution industrial camera or industrial CT in the above embodiment, a comprehensive score judgment of the historical hole condition is made. Based on the judgment, it is confirmed whether the conditions for repeated inoculation are met (the judgment criteria here are as described above). If the inoculation conditions are met, the central control system 5 generates a second control command to control the filler of the next process to fill the historical hole. If it does not meet the conditions, the reason for the discrepancy is determined. If the reason for the discrepancy is poor nutritional status, then a nutritional repair command is executed for the hole. However, compared with the aforementioned wood nutrient injection, the difference is that nutritional repair does not open nutrient holes, but uses the existing planted holes for nutritional repair.

[0153] Specifically, when the central control system 5 determines that the sample wood can be reused after the historical cavities have been repaired with nutrients, it controls the opening of the electrically controlled valve of the liquid flow tank, and the liquid is injected into the drill bit liquid flow channel along the pipeline. The drilling device 4 descends and enters the target historical cavity. Under the high-speed rotation of the drill tip, the nutrient solution is evenly thrown out of the historical cavity wall.

[0154] If the discrepancy is due to insufficient hole depth, the central control system 5 will issue a hole-deepening command to the drilling device 4 according to the depth required for this strain.

[0155] If the reason for the discrepancy is a strain conflict, which means that the strain to be inoculated this time has a risk of metabolic product inhibition or cross-transmission of diseases and pests with the strains in the previous period, then skip the area, or perform nutritional repair according to the nutritional status. If it is nutritional repair, then instruct the subsequent packing device 6 to skip the packing.

[0156] The above-mentioned repair and deepening steps can also coexist.

[0157] By repairing and maintaining the wood, the secondary problems caused by drilling in the optimal area in the aforementioned technical solutions, such as wood waste, are further solved. When the wood is malnourished, the central control system controls the drill bit unit to supplement the wood with nutrients. This method enables multiple uses of wood, reduces costs and waste of wood as an environmentally friendly material, saves resources and is also beneficial to environmental protection.

[0158] After the work of opening / filling / repairing the wood cavities is completed, the central control system 5 automatically retains the information of this operation and forms a data log, which is stored in the data storage unit of the central control system 5 according to the UID code for retrieval and inspection.

[0159] In summary, the specific process of this invention is as follows:

[0160] When the wood enters the production line along the conveyor, the central control system 5 issues a first control command to the drilling device based on the information of the inoculum to be inoculated. The drilling device moves downward, the wood is clamped by the limiting mechanism, the drill bit drills into the wood, and stably drills a hole to the required depth. Then the drilling device moves backward and resets itself. The wood is then sent to the next stage filling device by the conveyor. Based on the hole already opened by the drilling device, the central control system 5 issues a second control command to the filling device. The filling device then performs inoculation and capping according to the command, completing the inoculation work.

[0161] When the central control system 5 receives the data from the identification unit indicating the punchable and defective areas of the wood to be punched, the central control system 5 performs feature extraction on the data again. The extracted features are combined with the already labeled data to make a judgment, score the data, and generate a decision. When an area reaches a certain score and meets the conditions, the central control system 5 issues instructions to the punching device to exclude, repair, or inoculate the area. The next stage filling device then performs filling according to the instructions from the previous stage punching device.

[0162] When the central control system 5 identifies that the sample wood has been used through coding methods such as RFID, it compares the existing historical holes or past defect areas in the wood's historical data with historical information. If it determines that the defect area has been repaired, it executes the hole-opening command normally in that area. If it determines that the wood's historical data shows poor nutrition or that it is unusable, it issues a command to the drilling device to remove or repair the existing historical holes in the wood's historical data.

[0163] Finally, the central control system 5 stores the information of this operation in the data storage unit, completing the inoculation work.

[0164] Compared with existing technologies, this application can perform hole opening according to the different hole depth requirements of the fungal species to be inoculated, and can also select the inoculation position of the fungus according to the real-time condition of the wood itself. At the same time, it also greatly improves the wood reuse rate, reduces its actual production cost, and finally the data storage makes the operation information visible, regardless of whether the operation is completed or not, thus getting rid of the problem of unclear operation status in the old production mode.

[0165] Compared with existing technologies, the progress of this invention is not only reflected in the improvement of a single function, but also in the realization of the industrialization, standardization and sustainability of edible fungi log production through the technical chain of intelligent identification-dynamic control-repair and reuse-data closed loop. It solves the long-standing pain points of traditional agricultural equipment such as reliance on manual labor, low efficiency, waste of resources and low survival rate of strains, and greatly improves the product yield, strain survival rate and output of edible fungi.

[0166] Example 2;

[0167] Please refer to Figure 6 Based on Embodiment 1, Embodiment 2 of the present invention provides a method for punching and filling perforated sections of Tremella fuciformis wood. The method is based on the aforementioned intelligent CNC Tremella fuciformis wood punching and filling machine, and includes:

[0168] S1. Timber pretreatment and positioning;

[0169] The wood is transported using a conveyor belt and fixed using a limiting mechanism.

[0170] S2, Timber Inspection;

[0171] The identification unit is used to identify the information of the wood, obtain the identification information, and transmit the identification information to the central control system;

[0172] S3, Hole treatment;

[0173] The central control system generates a first control command and a second control command based on the identification information;

[0174] The drilling device is controlled to drill holes in the wood based on the first control command;

[0175] Based on the second control command, the filling device is controlled to fill the perforated wood;

[0176] S4. Processing complete;

[0177] After drilling is completed, the drilling device returns to its initial position; after filling is completed, the filling device returns to its initial position; the central control system stores the data log of this operation.

[0178] The wood after filling is covered using a capping device, and the capped wood is then transported to the storage area using a conveyor belt.

[0179] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0180] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. An intelligent CNC wood-cutting and filling machine for silver ear fungus, comprising: body: A conveyor system used for transporting timber; A limiting mechanism for securing timber; A drilling device used for drilling holes in wood; Filling devices for filling cavities; Central control system for controlling transmission mechanisms, limit mechanisms, punching devices, and filling devices; The central control system is characterized in that it stores information about edible fungi to be inoculated; the central control system is also used to control the drilling depth of the drilling device based on the information about edible fungi to be inoculated. The drilling device includes a frame on which at least one movable drill bit unit is mounted. Each drill bit unit is provided with a drive device fixed to the frame, which is used to control the movement stroke of the corresponding drill bit unit. The filling device includes a filling frame and a filling device. The filling device is used to fill the holes opened in the drill bit unit according to the inoculation information stored in the central control system. The filling machine also includes an identification unit, which is used to identify and detect the wood to be punched in the transmission mechanism to obtain detection information; The testing information includes: the drillable area on the wood to be drilled, the degree of decay of the wood in the drillable area, the nutritional status of the wood in the drillable area, and the traces of insect infestation in the drillable area; Based on the degree of decay, nutritional status and insect infestation marks of the wood in each drillable area, the central control system calculates the suitability score of the wood area for each drillable area. The central control system marks the area with the highest suitability score for wood as the area to be drilled; The central control system controls the drilling position of the drilling device based on the confirmed location information of the drilling area.

2. A smart CNC wood-cutting and filling machine for silver ear fungus according to claim 1, characterized in that: The identification unit includes an industrial camera mounted above the transmission mechanism. The industrial camera is used to acquire images of the wood surface. The image processing module of the industrial camera quantifies the roughness and contrast parameters of the wood texture through the gray-level co-occurrence matrix, analyzes the differences in hue and saturation distribution by combining the HSV color model, extracts the wood texture features, analyzes the degree of decay, nutritional status and insect infestation marks of the wood based on the wood texture features, and generates marks for defects in the drillable areas in the wood surface image. After marking is completed, the marked data is sent back to the central control system.

3. A smart CNC wood-cutting and filling machine for silver ear fungus according to claim 1, characterized in that: The identification unit includes an industrial CT mounted above the transmission mechanism. The industrial CT is used to scan the wood and form a wood density distribution model based on the CT value. According to the density threshold, the degree of decay, nutrient distribution and insect infestation marks of the wood are analyzed. Based on the analysis results, the defects in the drillable area are marked. After the marking is completed, the marked data is sent back to the central control system.

4. A smart CNC wood-cutting and filling machine for silver ear fungus according to claim 3, characterized in that: The identification unit also includes an RFID device, which is used to read the RFID tag code of the wood and transmit it back to the central control system. The central control system is equipped with a data storage unit for converting the hole depth, fungi planting and operation results corresponding to a single drilling unit operation into data logs for storage.

5. A smart CNC wood-cutting and filling machine for silver ear fungus according to claim 4, characterized in that: The filling machine also includes a liquid injection device, which includes a liquid storage container and a liquid flow drill bit with an axial liquid flow channel. The surface of the drill bit is also circumferentially distributed with radial through holes communicating with the liquid flow channel. A valve is provided at the outlet of the liquid storage container. The central control system is also used to generate a liquid injection control signal based on the suitability score of the wood area. According to the liquid injection control signal, the opening time of the electronically controlled valve is adjusted so that the nutrient solution in the liquid storage container is discharged from the radial through holes through the liquid flow channel. The liquid flow drill bit is driven to rotate so that the liquid is evenly covered on the hole wall.

6. A smart CNC wood-cutting and filling machine for silver ear fungus according to claim 5, characterized in that: The central control system is also used to control the injection device to inject and repair nutrient-deficient areas of the wood, and / or to control the drilling device to deepen and repair existing historical cavities in the wood's historical data.

7. A method for filling perforated sections of wood used for silver ear fungus, characterized in that: The method is based on an intelligent CNC wood-cutting and filling machine for silver ear fungus according to any one of claims 1-6, and the method includes: S1. Timber pretreatment and positioning; The wood is transported using a transmission mechanism and fixed using a limiting mechanism; S2, Timber Inspection; The identification unit is used to identify the information of the wood, obtain the identification information, and transmit the identification information to the central control system; S3, Hole treatment; The central control system generates a first control command and a second control command based on the identification information; The drilling device is controlled to drill holes in the wood based on the first control command; Based on the second control command, the filling device is controlled to fill the perforated wood; S4. Processing complete; After drilling is completed, the drilling device returns to its initial position; after filling is completed, the filling device returns to its initial position; the central control system stores the data log of this operation. The wood after filling is sealed using a sealing device, and the sealed wood is then transported to the storage area using a conveying mechanism.

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