Oudemansiella radicata shelf cultivation soil covering device and path planning method thereof

Abstract

The invention relates to the technical field of edible mushroom planting, in particular to an oudemansiella radicata shelf cultivation soil covering device and a path planning method thereof. The technical problems that an existing soil covering device depends on two-dimensional path planning and cannot adapt to concave-convex fluctuation of the surface of a fungus bed, so that the soil covering thickness difference is large, and the soil covering thickness is not uniform; according to the technical scheme, the oudemansiella radicata shelf cultivation soil covering device comprises a rack, a transverse sliding rail, a first motor, a first threaded rod, a longitudinal sliding rail, a second motor, a second threaded rod, a longitudinal moving platform, a control unit, a scanning assembly, a soil covering assembly and an adjusting assembly; according to the method, the shelf space is scanned through the linear array laser radar, the vibration noise of the fungus bag is eliminated in combination with a dynamic filtering algorithm, surface feature recognition based on curvature analysis is carried out, and concave and convex areas are positioned, so that the surface fluctuation is accurately recognized through three-dimensional modeling, the soil covering thickness standard deviation is reduced, the soil covering uniformity is improved, and the soil covering quality is improved. Redundant movement is reduced through path planning, and the covering coverage rate is increased.

Description

Technical Field

[0001] The present invention relates to the technical field of edible fungus cultivation, and in particular to a soil covering device for cultivating Root Oyster mushrooms on a shelf and a path planning method thereof. Background Art

[0002] Soil covering of Root Oyster Mushroom rack cultivation is a key step in the factory production of edible fungi. Existing technologies mostly use manual operation or semi-automatic soil covering devices to complete the task. Typical soil covering devices include fixed conveyor belts, simple robotic arms or handheld soil covering equipment. Existing soil covering devices rely on two-dimensional path planning and cannot adapt to the uneven surface of the mushroom bed, resulting in large differences in soil covering thickness. For example, when the rack has local depressions due to shrinkage of the cultivation substrate or growth of mycelium, the fixed-path soil covering device is difficult to fill accurately, and manual secondary soil filling is required.

[0003] In factory-based shelf cultivation scenarios, the above problems are particularly prominent. The main problem is that two-dimensional scanning cannot capture the three-dimensional deformation of the mushroom bed, resulting in a mismatch between path planning and actual conditions.

[0004] Therefore, to address the above problems, a soil covering device for Root Oyster mushroom shelf cultivation and its path planning method are proposed. A rotating linear array laser radar is used to scan the shelf space, combined with a dynamic filtering algorithm to eliminate the vibration noise of the mushroom bag. Surface feature recognition based on curvature analysis is used to locate concave and convex areas. Layered slicing and Delaunay triangulation algorithms are used to generate a three-dimensional soil covering path. Surface undulations are accurately identified through three-dimensional modeling, which reduces the standard deviation of soil covering thickness and improves soil covering uniformity. Adaptive path planning reduces redundant movement and improves soil covering rate. Summary of the Invention

[0005] In order to overcome the problem that in the daily use of traditional Root Oyster Mushroom rack cultivation covering devices, the existing covering devices rely on two-dimensional path planning and cannot adapt to the unevenness of the mushroom bed surface, resulting in large differences in the covering soil thickness and uneven covering soil thickness.

[0006] The technical solution of the present invention is: a soil-covering device for cultivating root mushrooms on a shelf, comprising a frame, a transverse slide rail, a first motor, a first threaded rod, a longitudinal slide rail, a second motor, a second threaded rod, a longitudinal movable platform, a control unit, a scanning component, a soil-covering component and an adjustment component, wherein a transverse slide rail is provided above the frame, a first motor is provided on one side of the transverse slide rail, a first threaded rod is provided at the output end of the first motor, a longitudinal slide rail is provided on the outer side of the first threaded rod, the longitudinal slide rail and the first threaded rod are threadedly connected, a second motor is provided on one side of the longitudinal slide rail, a second threaded rod is provided at the output end of the second motor, a longitudinal movable platform is provided on the outer side of the second threaded rod, the longitudinal movable platform and the second threaded rod are threadedly connected, a control unit is provided on one side of the frame, a scanning component is provided below the longitudinal movable platform, a soil-covering component is provided above the longitudinal movable platform, an adjustment component is provided on one side of the soil-covering component, the scanning component comprises a first connecting frame, a third motor, a first fixing frame, a fourth motor, a rotating linear array laser radar, a vibration compensation unit and a surface analysis processor, a first connecting frame is provided below the longitudinal movable platform, and a third motor is provided on one side of the first connecting frame A first fixing frame is provided on the inner side of the first connecting frame, the first fixing frame and the third motor are connected by a rotating shaft, a fourth motor is provided above the first fixing frame, a rotating linear array laser radar is provided below the first fixing frame, a vibration compensation unit is provided on one side of the first fixing frame, a surface analysis processor is provided on one side of the first fixing frame, the covering assembly includes a soil storage bin, a connecting pipe, a spiral conveying frame, a fifth motor, a flexible conduit, a second connecting frame, a sixth motor, a second fixing frame and a covering nozzle, a soil storage bin is provided above the longitudinal moving platform, and a connecting A tube is provided, a spiral conveying frame is provided on the inner side of the connecting tube, a fifth motor is provided at one end of the connecting tube, the fifth motor and the spiral conveying frame are connected by a rotating shaft, a flexible conduit is provided at the output end of the connecting tube, a second connecting frame is provided below the longitudinal moving platform, a sixth motor is provided on one side of the second connecting frame, a second fixed frame is provided on the inner side of the second connecting frame, the second fixed frame and the sixth motor are connected by a rotating shaft, a covering nozzle is provided on the inner side of the second fixed frame, the input end of the covering nozzle and the flexible conduit are connected to each other, and the control unit has a built-in adaptive trajectory planning module and a dynamic feedback control module.

[0007] Preferably, the first motor is driven to rotate the first threaded rod, and the rotation of the first threaded rod drives the longitudinal slide rail to move linearly along the transverse slide rail, and the second motor is driven to rotate the second threaded rod, and the rotation of the second threaded rod drives the longitudinal movable platform to move linearly, and the third motor is driven to rotate the first fixed frame, and the rotation of the first fixed frame can adjust the angle of the rotary linear array laser radar in the vertical direction, and the fourth motor is driven to rotate the rotary linear array laser radar, and the angle of the rotary linear array laser radar in the horizontal direction can be adjusted, and the fifth motor is driven to rotate the spiral conveying frame, and the rotation of the spiral conveying frame is used to introduce the soil in the soil storage bin along the connecting pipe into the flexible conduit, and then into the soil covering nozzle through the flexible conduit, and the sixth motor is driven to rotate the second fixed frame, and the angle of the soil covering nozzle is adjusted by the rotation of the second fixed frame, and the soil is introduced into the surface of the mushroom bed for soil covering treatment through the soil covering nozzle.

[0008] Preferably, the scanning frequency of the rotating linear array laser radar is 20 to 50 Hz, the scanning angle range is ±45° in the horizontal direction and ±15° in the vertical direction, the vibration compensation unit has a built-in acceleration sensor and a digital filter for eliminating point cloud noise caused by the vibration of the fungus bag, and the adjustment component includes a third fixed frame, a guide plate and a seventh motor. A third fixed frame is provided on one side of the second fixed frame, a guide plate is provided on the inner side of the third fixed frame, and a seventh motor is provided on one side of the third fixed frame. The seventh motor and the guide plate are connected by a rotating shaft, and the opening and closing angle of the guide plate is 30° to 90°.

[0009] As a preference, the surface analysis processor is used to identify the concave and convex areas on the surface of the mushroom bed by calculating the curvature value of the point cloud data, and the curvature threshold is set to 0.1-0.3 mm. -1 A pressure sensor is provided on the inner side of the conveying end outlet of the covering nozzle. The adaptive trajectory planning module includes a point cloud stratification unit, a path optimization unit and a pressure feedback unit. The pressure feedback unit is used to collect covering resistance data in real time through the pressure sensor provided at the outlet of the covering nozzle.

[0010] Preferably, the dynamic feedback control module includes a speed coordination submodule, a trajectory correction submodule and an emergency braking submodule; the speed coordination submodule is used to synchronize the moving speed of the longitudinal moving platform with the conveying speed of the spiral conveyor frame, satisfying the relationship:

[0011] v 移动 =k·v 输送 ;

[0012] Among them, v 移动 Indicates the moving speed of the longitudinal moving platform, v 输送represents the conveying speed of the spiral conveyor, k is the speed coordination coefficient, and its value range is 0.8 to 1.2; the trajectory correction submodule is used to adjust the lateral offset Δx of the soil covering trajectory according to the real-time data of the pressure sensor. The offset calculation formula is:

[0013] Δx=α·(P 实际 -P 目标 );

[0014] Where Δx is the lateral offset, P 实际 is the cover pressure value measured by the pressure sensor, P 目标 is the target cover pressure setting value, α is the pressure compensation coefficient, and its value range is 0.05~0.15mm / kPa;

[0015] The emergency brake submodule is used to trigger the emergency stop signal of each motor mechanism of the device.

[0016] The path planning method of the soil covering device for the Root Oyster mushroom layer cultivation comprises the following steps:

[0017] S1: Performing a three-dimensional scan of the shelf cultivation area through the scanning component to obtain initial point cloud data and filter out dynamic noise;

[0018] S2: Build a three-dimensional model of the mushroom bed surface based on point cloud data and identify areas with abnormal surface curvature;

[0019] S3: Divide the priority areas of soil covering according to the curvature characteristics and generate layered soil covering paths;

[0020] S4: Dynamically adjust the path parameters based on the feedback of the covering pressure, and control the longitudinal moving platform and the covering assembly to complete the covering operation.

[0021] Preferably, step S1 specifically includes the following steps:

[0022] S101: Drive the longitudinal moving platform to move at a constant speed along the transverse and longitudinal slide rails, and at the same time trigger the rotary linear array laser radar to scan the shelf space at a frequency of 20 Hz to obtain the original point cloud set P = {p i (x, y, z)}, where i = 1, 2, ..., N, p i (x, y, z) represents the three-dimensional coordinates of the i-th point;

[0023] S102: Dynamically filter the point cloud data through the vibration compensation unit. The filtering formula is:

[0024]

[0025] in, is the i-th point cloud coordinate after filtering, p iis the original i-th point cloud coordinate, n is the filter window size, the value range of n is 3 to 5, δ k is the kth attenuation coefficient, and the value range of k is 0.5 k-1 , p i-k and p i+k Respectively represent the coordinates of the kth point cloud before and after the i-th point cloud;

[0026] S103: Use the RANSAC algorithm to fit the plane equation of the mushroom bed surface ax+by+cz+d=0, and calculate the distance d from the point cloud to the fitting plane i =|ax i +by i +cz i +d|, means d i Points larger than 5 mm were considered abnormal and were removed.

[0027] Preferably, the surface curvature calculation in step S2 includes the following steps:

[0028] S201: Project the point cloud data onto a two-dimensional plane and construct a Delaunay triangulated mesh;

[0029] S202: Calculate the normal vector n of each triangle j =(a j ,b j ,c j ), where a j ,b j ,c j are the components of the normal vector in the x, y, and z directions, respectively, and the curvature κ is calculated j , the formula is:

[0030]

[0031] in, represents the gradient modulus of the normal vector, κ j is the curvature value of the j-th triangle;

[0032] S203: Marking κ j >0.3mm -1 The area is convex, κ j <0.1mm -1 The area with the puncture mark is the depression, and the rest is the normal area.

[0033] Preferably, the hierarchical path generation in step S3 includes the following steps:

[0034] S301: Layer the shelves in 1-2 cm intervals in height direction, and generate a reference path line L parallel to the horizontal rail for each layer. k , k=1,2,...,M, where M is the total number of layers;

[0035] S302: Increase the path density in the concave area and insert an auxiliary path line L' k , the spacing is 1 / 2 to 1 / 3 of the reference path spacing;

[0036] S303: Reduce the path density in the convex area and remove redundant path lines that are positively correlated with the convex height. The removal ratio η = 0.2·h max , where h max is the maximum height of the raised area.

[0037] Preferably, the dynamic adjustment in step S4 includes:

[0038] S401: Real-time acquisition of the cover pressure value P of the pressure sensor actual , calculate the pressure deviation ΔP, specifically:

[0039] ΔP=P actual -P target ;

[0040] Among them, P target Set a value for the target cover pressure;

[0041] S402: Adjust the speed v of the longitudinal moving platform according to ΔP new , specifically:

[0042] v new =v old ·(1-β·ΔP);

[0043] Among them, v new is the adjusted speed, v old is the speed before adjustment, β is the speed adjustment coefficient, and its value range is 0.01~0.05mm / s / kPa;

[0044] S403: When ΔP continues to exceed the threshold ΔP max =5kPa, the emergency braking submodule is triggered to stop the covering operation and generate an alarm signal.

[0045] Preferably, step S4 further includes a soil covering quality assessment step, specifically:

[0046] S404: After the soil covering is completed, the scanning component is driven to scan the surface of the mushroom bed for the second time to calculate the soil covering thickness uniformity index, specifically:

[0047]

[0048] Among them, U is the uniformity index, σ is the standard deviation of the cover soil thickness, and μ is the average value of the cover soil thickness;

[0049] S405: If U is less than 0.85, a covering path is added in the sunken area until U is greater than or equal to 0.90.

[0050] Beneficial effects of the present invention:

[0051] The present invention uses a rotating linear array laser radar to scan the shelf space, combines it with a dynamic filtering algorithm to eliminate the vibration noise of the fungus bag, identifies surface features based on curvature analysis, locates concave and convex areas, and uses layered slicing and Delaunay triangulation algorithms to generate a three-dimensional soil covering path. Through three-dimensional modeling, the surface undulations are accurately identified, the standard deviation of the soil covering thickness is reduced, the uniformity of the soil covering is improved, and adaptive path planning is used to reduce redundant movement and improve the soil covering rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 Shown is a schematic diagram of the three-dimensional structure of the soil-covering device for cultivating Root Oyster mushrooms on a shelf according to the present invention;

[0053] Figure 2 Shown is a partial cross-sectional structural diagram of the soil-covering device for cultivating Root Oyster mushrooms on a shelf according to the present invention;

[0054] Figure 3 Shown is a partial three-dimensional structural diagram of the soil-covering device for cultivating Root Oyster mushrooms on a shelf according to the present invention;

[0055] Figure 4 Shown is a schematic flow chart of the steps of the path planning method of the Root Oyster Mushroom rack cultivation and soil covering device of the present invention;

[0056] Explanation of the accompanying drawings: 1. Frame; 2. Horizontal slide rail; 3. First motor; 4. First threaded rod; 5. Longitudinal slide rail; 6. Second motor; 7. Second threaded rod; 8. Longitudinal moving platform; 9. Control unit; 101. First connecting frame; 102. Third motor; 103. First fixed frame; 104. Fourth motor; 105. Rotating linear array laser radar; 106. Vibration compensation unit; 107. Surface analysis processor; 201. Soil storage bin; 202. Connecting pipe; 203. Screw conveyor frame; 204. Fifth motor; 205. Flexible conduit; 206. Second connecting frame; 207. Sixth motor; 208. Second fixed frame; 209. Soil covering nozzle; 401. Third fixed frame; 402. Guide plate; 403. Seventh motor; 501. Pressure sensor. DETAILED DESCRIPTION

[0057] The present invention will be further described below with reference to the accompanying drawings and examples.

[0058] See also Figure 1The present invention provides an embodiment: a soil covering device for cultivating oyster mushrooms on a shelf, comprising a frame 1, a transverse slide rail 2, a first motor 3, a first threaded rod 4, a longitudinal slide rail 5, a second motor 6, a second threaded rod 7, a longitudinal moving platform 8, a control unit 9, a scanning component, a soil covering component and an adjustment component. A transverse slide rail 2 is provided above the frame 1, a first motor 3 is provided on one side of the transverse slide rail 2, a first threaded rod 4 is provided on the output end of the first motor 3, a longitudinal slide rail 5 is provided on the outer side of the first threaded rod 4, the longitudinal slide rail 5 and the first threaded rod 4 are threadedly connected, a second motor 6 is provided on one side of the longitudinal slide rail 5, a second threaded rod 7 is provided on the output end of the second motor 6, and a longitudinal moving platform is provided on the outer side of the second threaded rod 7. 8, the longitudinal moving platform 8 is threadedly connected to the second threaded rod 7, a control unit 9 is provided on one side of the frame 1, a scanning component is provided below the longitudinal moving platform 8, a covering component is provided above the longitudinal moving platform 8, and an adjustment component is provided on one side of the covering component. The scanning component includes a first connecting frame 101, a third motor 102, a first fixed frame 103, a fourth motor 104, a rotating linear array laser radar 105, a vibration compensation unit 106 and a surface analysis processor 107, a first connecting frame 101 is provided below the longitudinal moving platform 8, a third motor 102 is provided on one side of the first connecting frame 101, a first fixed frame 103 is provided on the inner side of the first connecting frame 101, and the first fixed frame 103 and the fourth motor 104 are provided. The three motors 102 are connected by a rotating shaft, a fourth motor 104 is provided above the first fixed frame 103, a rotating linear array laser radar 105 is provided below the first fixed frame 103, a vibration compensation unit 106 is provided on one side of the first fixed frame 103, a surface analysis processor 107 is provided on one side of the first fixed frame 103, and a soil covering component includes a soil storage bin 201, a connecting pipe 202, a spiral conveying frame 203, a fifth motor 204, a flexible conduit 205, a second connecting frame 206, a sixth motor 207, a second fixed frame 208 and a soil covering nozzle 209, a soil storage bin 201 is provided above the longitudinal moving platform 8, a connecting pipe 202 is provided on one side of the soil storage bin 201, and the inner surface of the connecting pipe 202 is provided. A spiral conveying frame 203 is provided on the side, a fifth motor 204 is provided at one end of the connecting pipe 202, the fifth motor 204 and the spiral conveying frame 203 are connected by a rotating shaft, a flexible conduit 205 is provided at the output end of the connecting pipe 202, a second connecting frame 206 is provided below the longitudinal moving platform 8, a sixth motor 207 is provided on one side of the second connecting frame 206, a second fixed frame 208 is provided on the inner side of the second connecting frame 206, the second fixed frame 208 and the sixth motor 207 are connected by a rotating shaft, a covering nozzle 209 is provided on the inner side of the second fixed frame 208, the input end of the covering nozzle 209 and the flexible conduit 205 are connected to each other, and the control unit 9 has a built-in adaptive trajectory planning module and a dynamic feedback control module.

[0059] See also Figure 2 and Figure 3 In this embodiment, the scanning frequency of the rotating linear array laser radar 105 is 20-50 Hz, and the scanning angle range is ±45° horizontally and ±15° vertically. The vibration compensation unit 106 has a built-in acceleration sensor and digital filter for eliminating point cloud noise caused by the vibration of the fungus bag. The adjustment component includes a third fixing frame 401, a guide plate 402, and a seventh motor 403. The third fixing frame 401 is provided on one side of the second fixing frame 208, and the guide plate 402 is provided on the inner side of the third fixing frame 401. The seventh motor 403 is provided on one side of the third fixing frame 401. The seventh motor 403 and the guide plate 402 are connected by a rotating shaft. The opening and closing angle of the guide plate 402 is 30° to 90°.

[0060] The surface analysis processor 107 is used to identify the concave and convex areas on the surface of the mushroom bed by calculating the curvature value of the point cloud data. The curvature threshold is set to 0.1-0.3 mm. -1 A pressure sensor 501 is provided on the inner side of the conveying end outlet of the covering nozzle 209. The adaptive trajectory planning module includes a point cloud stratification unit, a path optimization unit and a pressure feedback unit. The pressure feedback unit is used to collect covering resistance data in real time through the pressure sensor 501 provided at the outlet of the covering nozzle 209.

[0061] The dynamic feedback control module includes a speed coordination submodule, a trajectory correction submodule and an emergency braking submodule; the speed coordination submodule is used to synchronize the moving speed of the longitudinal moving platform 8 with the conveying speed of the spiral conveyor 203, satisfying the relationship:

[0062] v 移动 =k·v 输送 ;

[0063] Among them, v 移动 represents the moving speed of the longitudinal moving platform 8, v 输送 represents the conveying speed of the spiral conveyor 203, k is the speed coordination coefficient, and its value range is 0.8-1.2; the trajectory correction submodule is used to adjust the lateral offset Δx of the soil covering trajectory according to the real-time data of the pressure sensor 501. The offset calculation formula is:

[0064] Δx=α·(P 实际 -P 目标 );

[0065] Where Δx is the lateral offset, P 实际 is the cover pressure value measured by the pressure sensor 501, P 目标 is the target cover pressure setting value, α is the pressure compensation coefficient, and its value range is 0.05~0.15mm / kPa;

[0066] The emergency brake submodule is used to trigger the emergency stop signal of each motor mechanism of the device.

[0067] See also Figure 4 In this embodiment, the path planning method of the Root Oyster Mushroom layer cultivation covering device includes the following steps:

[0068] S1: Performing a three-dimensional scan of the shelf cultivation area through the scanning component to obtain initial point cloud data and filter out dynamic noise;

[0069] S2: Build a three-dimensional model of the mushroom bed surface based on point cloud data and identify areas with abnormal surface curvature;

[0070] S3: Divide the priority areas of soil covering according to the curvature characteristics and generate layered soil covering paths;

[0071] S4: Dynamically adjust the path parameters based on the feedback of the covering pressure, and control the longitudinal moving platform 8 and the covering assembly to complete the covering operation.

[0072] Preferably, step S1 specifically includes the following steps:

[0073] S101: Drive the longitudinal mobile platform 8 to move at a constant speed along the transverse slide rail 2 and the longitudinal slide rail 5, and at the same time trigger the rotary linear array laser radar 105 to scan the shelf space at a frequency of 20 Hz to obtain the original point cloud set P = {p i (x, y, z)}, where i = 1, 2, ..., N, p i (x, y, z) represents the three-dimensional coordinates of the i-th point;

[0074] S102: Dynamically filter the point cloud data through the vibration compensation unit 106. The filtering formula is:

[0075]

[0076] in, is the i-th point cloud coordinate after filtering, p i is the original i-th point cloud coordinate, n is the filter window size, the value range of n is 3 to 5, δ k is the kth attenuation coefficient, and the value range of k is 0.5 k-1 , p i-k and p i+k Respectively represent the coordinates of the kth point cloud before and after the i-th point cloud;

[0077] S103: Use the RANSAC algorithm to fit the plane equation of the mushroom bed surface ax+by+cz+d=0, and calculate the distance d from the point cloud to the fitting plane i =|ax i +by i +cz i+d|, means d i Points larger than 5 mm were considered abnormal and were removed.

[0078] Preferably, the surface curvature calculation in step S2 includes the following steps:

[0079] S201: Project the point cloud data onto a two-dimensional plane and construct a Delaunay triangulated mesh;

[0080] S202: Calculate the normal vector n of each triangle j =(a j ,b j ,c j ), where a j ,b j ,c j are the components of the normal vector in the x, y, and z directions, respectively, and the curvature κ is calculated j , the formula is:

[0081]

[0082] in, represents the gradient modulus of the normal vector, κ j is the curvature value of the j-th triangle;

[0083] S203: Marking κ j >0.3mm -1 The area is convex, κ j <0.1mm -1 The area with the puncture mark is the depression, and the rest is the normal area.

[0084] Preferably, the hierarchical path generation in step S3 includes the following steps:

[0085] S301: Layer the shelves in 1-2 cm intervals in height direction, and generate a reference path line L parallel to the horizontal slide rail 2 for each layer. k , k=1,2,...,M, where M is the total number of layers;

[0086] S302: Increase the path density in the concave area and insert an auxiliary path line L' k , the spacing is 1 / 2 to 1 / 3 of the reference path spacing;

[0087] S303: Reduce the path density in the convex area and remove redundant path lines that are positively correlated with the convex height. The removal ratio η = 0.2·h max , where h max is the maximum height of the raised area.

[0088] Preferably, the dynamic adjustment in step S4 includes:

[0089] S401: Real-time acquisition of the soil cover pressure value P of the pressure sensor 501 actual , calculate the pressure deviation ΔP, specifically:

[0090] ΔP=P actual -P target ;

[0091] Among them, P target Set a value for the target cover pressure;

[0092] S402: Adjust the speed v of the longitudinal moving platform 8 according to ΔP new , specifically:

[0093] v new =v old ·(1-β·ΔP);

[0094] Among them, v new is the adjusted speed, v old is the speed before adjustment, β is the speed adjustment coefficient, and its value range is 0.01~0.05mm / s / kPa;

[0095] S403: When ΔP continues to exceed the threshold ΔP max =5kPa, the emergency braking submodule is triggered to stop the covering operation and generate an alarm signal.

[0096] Preferably, step S4 further includes a soil covering quality assessment step, specifically:

[0097] S404: After the soil covering is completed, the scanning component is driven to scan the surface of the mushroom bed for the second time to calculate the soil covering thickness uniformity index, specifically:

[0098]

[0099] Among them, U is the uniformity index, σ is the standard deviation of the cover soil thickness, and μ is the average value of the cover soil thickness;

[0100] S405: If U is less than 0.85, a covering path is added in the sunken area until U is greater than or equal to 0.90.

[0101] Example 1

[0102] Optionally, during the device initialization and three-dimensional scanning process, the device power is first turned on, the control unit 9 initializes the positions of the transverse slide rail 2, the longitudinal slide rail 5, and the longitudinal movable platform 8, and the first motor 3 drives the first threaded rod 4 to rotate, adjusting the longitudinal slide rail 5 to the initial scanning starting point;

[0103] The scanning assembly is started, and the third motor 102 drives the first fixed frame 103 to rotate, adjusting the rotating linear array laser radar 105 to an initial scanning angle of ±15° in the vertical direction. The fourth motor 104 synchronously controls the laser radar to rotate within the range of ±45° in the horizontal direction, performing a spiral scan of the shelf cultivation area at a frequency of 20 Hz.

[0104] The vibration compensation unit 106 collects the vibration data of the mushroom bed in real time through the acceleration sensor, and uses the dynamic filtering algorithm to denoise the original point cloud to filter out the noise caused by the vibration of the mushroom bag. The filter window N = 3 and the attenuation coefficient α = 0.5k -1 ;

[0105] The RANSAC algorithm was used to fit the base plane of the mushroom bed, and abnormal points with a distance of more than 5 mm from the plane were removed to generate a preliminary denoised three-dimensional point cloud dataset.

[0106] Example 2

[0107] Optionally, during the 3D modeling and adaptive path planning process, the surface analysis processor 107 projects the point cloud onto a 2D plane, constructs a Delaunay triangulation mesh, calculates the normal vector and curvature value κ of each triangle, and marks κ>0.3mm. -1 The area is a raised area, κ<0.1mm -1 The area is a depression;

[0108] The adaptive trajectory planning module slices the mushroom bed into layers at 1 cm height, generates a reference path line, and inserts auxiliary paths with a spacing of 1 / 2 of the reference path in the concave area, and removes height h in the convex area. max The corresponding η = 0.2 h max Proportional redundant paths;

[0109] The dynamic feedback control module synchronizes the speed of the longitudinal moving platform 8 with the speed of the spiral conveyor 203, and measures the covering pressure P according to the pressure sensor 501. actual and the target value P target The deviation ΔP is calculated by the formula v new =v old (1-β·ΔP) dynamically adjusts movement speed;

[0110] When ΔP continues to exceed the preset threshold, the emergency brake submodule triggers an emergency stop signal, stops all motors and sounds an alarm.

[0111] Example 3

[0112] Optionally, when performing soil covering operations and quality closed-loop control, the soil covering assembly is started, and the fifth motor 204 drives the spiral conveyor frame 203 to rotate, transporting the soil in the soil storage bin 201 to the soil covering nozzle 209 through the flexible conduit 205. The sixth motor 207 adjusts the angle of the second fixing frame 208 so that the nozzle outlet is aligned with the planned path;

[0113] The regulating component controls the opening and closing angle of the guide plate 402 through the seventh motor 403 to optimize the distribution of soil landing points. The pressure sensor 501 provides real-time feedback of the soil resistance data. The trajectory correction submodule uses the formula Δx=α·(P 实际 -P 目标 ) Adjust the lateral offset;

[0114] After the soil covering is completed, the scanning component scans the surface of the mushroom bed for the second time and calculates the uniformity index U, where If U < 0.85, then add soil covering paths in the sunken area until U ≥ 0.90;

[0115] The device returns to its initial position, completing a single cycle.

[0116] Through the above steps, the rotating linear array laser radar 105 is used to scan the shelf space, and the vibration noise of the fungus bag is eliminated in combination with the dynamic filtering algorithm. The surface feature recognition based on curvature analysis is used to locate the concave and convex areas. The layered slicing and Delaunay triangulation algorithm is used to generate a three-dimensional covering path, thereby accurately identifying surface undulations through three-dimensional modeling, improving the three-dimensional scanning coverage rate, and improving the surface deformation recognition accuracy; reducing the standard deviation of the covering thickness, improving the uniformity index U; reducing the path redundancy rate, and improving the operation efficiency.

[0117] The embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the scope of knowledge of those skilled in the art without departing from the spirit of the present invention.

Claims

1. A soil covering device for cultivating Root Oyster mushrooms on a shelf, comprising a frame (1), characterized in that: The machine also includes a transverse slide rail (2), a first motor (3), a first threaded rod (4), a longitudinal slide rail (5), a second motor (6), a second threaded rod (7), a longitudinal moving platform (8), a control unit (9), a scanning component, a covering component and an adjustment component. The transverse slide rail (2) is arranged above the frame (1), the first motor (3) is arranged on one side of the transverse slide rail (2), the first threaded rod (4) is arranged on the output end of the first motor (3), the longitudinal slide rail (5) is arranged on the outside of the first threaded rod (4), the longitudinal slide rail (5) and the first threaded rod (4) are threadedly connected, the second motor (6) is arranged on one side of the longitudinal slide rail (5), the second threaded rod (7) is arranged on the output end of the second motor (6), and the second threaded rod (7) is arranged on the outside of the second threaded rod (7). A longitudinal movable platform (8) is provided, the longitudinal movable platform (8) and the second threaded rod (7) are threadedly connected, a control unit (9) is provided on one side of the frame (1), a scanning component is provided below the longitudinal movable platform (8), a soil covering component is provided above the longitudinal movable platform (8), an adjustment component is provided on one side of the soil covering component, the scanning component includes a first connecting frame (101), a third motor (102), a first fixing frame (103), a fourth motor (104), a rotating linear array laser radar (105), a vibration compensation unit (106) and a surface analysis processor (107), a first connecting frame (101) is provided below the longitudinal movable platform (8), a third motor (102) is provided on one side of the first connecting frame (101), and a third motor (103) is provided on one side of the first connecting frame (101). 2), a first fixing frame (103) is provided on the inner side of the first connecting frame (101), the first fixing frame (103) and the third motor (102) are connected via a rotating shaft, a fourth motor (104) is provided above the first fixing frame (103), a rotating linear array laser radar (105) is provided below the first fixing frame (103), a vibration compensation unit (106) is provided on one side of the first fixing frame (103), a surface analysis processor (107) is provided on one side of the first fixing frame (103), and a soil covering assembly comprises a soil storage bin (201), a connecting pipe (202), a spiral conveying frame (203), a fifth motor (204), a flexible conduit (205), a second connecting frame (206), a sixth motor (207), A second fixed frame (208) and a soil covering nozzle (209) are provided above the longitudinal movable platform (8); a soil storage bin (201) is provided above the longitudinal movable platform (8); a connecting pipe (202) is provided on one side of the soil storage bin (201); a spiral conveying frame (203) is provided on the inner side of the connecting pipe (202); a fifth motor (204) is provided at one end of the connecting pipe (202); the fifth motor (204) and the spiral conveying frame (203) are connected via a rotating shaft; a flexible conduit (205) is provided at the output end of the connecting pipe (202); a second connecting frame (206) is provided below the longitudinal movable platform (8); a sixth motor (207) is provided on one side of the second connecting frame (206); a second fixed frame (208) is provided on the inner side of the second connecting frame (206);The second fixing frame (208) and the sixth motor (207) are connected via a rotating shaft. A soil covering nozzle (209) is provided on the inner side of the second fixing frame (208). The input end of the soil covering nozzle (209) and the flexible conduit (205) are connected to each other. The control unit (9) has a built-in adaptive trajectory planning module and a dynamic feedback control module.

2. The soil covering device for cultivating Root Oyster mushrooms on a shelf according to claim 1, characterized in that: The scanning frequency of the rotary linear array laser radar (105) is 20 to 50 Hz, and the scanning angle range is ±45° in the horizontal direction and ±15° in the vertical direction. The vibration compensation unit (106) has a built-in acceleration sensor and a digital filter for eliminating point cloud noise caused by the vibration of the fungus bag. The adjustment component includes a third fixing frame (401), a guide plate (402) and a seventh motor (403). The third fixing frame (401) is provided on one side of the second fixing frame (208), the guide plate (402) is provided on the inner side of the third fixing frame (401), and the seventh motor (403) is provided on one side of the third fixing frame (401). The seventh motor (403) and the guide plate (402) are connected through a rotating shaft, and the opening and closing angle of the guide plate (402) is 30° to 90°.

3. The soil covering device for growing Root Oyster mushrooms on a shelf according to claim 1, characterized in that: The surface analysis processor (107) is used to identify the concave and convex areas on the surface of the fungus bed by calculating the curvature value of the point cloud data. The curvature threshold is set to 0.1 to 0.3 mm. -1 A pressure sensor (501) is provided inside the delivery end outlet of the covering nozzle (209), and the adaptive trajectory planning module includes a point cloud layering unit, a path optimization unit and a pressure feedback unit. The pressure feedback unit is used to collect covering resistance data in real time through the pressure sensor (501) provided at the outlet of the covering nozzle (209).

4. The soil covering device for cultivating Root Oyster mushrooms on a shelf according to claim 1, characterized in that: The dynamic feedback control module includes a speed coordination submodule, a trajectory correction submodule and an emergency braking submodule; the speed coordination submodule is used to synchronize the moving speed of the longitudinal moving platform (8) and the conveying speed of the spiral conveying frame (203), satisfying the relationship: v 移动 =k·v 输送 ; Among them, v 移动 represents the moving speed of the longitudinal moving platform (8), v 输送 represents the conveying speed of the spiral conveying frame (203), k is the speed coordination coefficient, and its value range is 0.8 to 1.2; the trajectory correction submodule is used to adjust the lateral offset Δx of the soil covering trajectory according to the real-time data of the pressure sensor (501), and the offset calculation formula is: Δx=α·(P 实际 -P 目标 ); Where Δx is the lateral offset, P 实际 is the cover soil pressure value measured by the pressure sensor (501), P 目标 is the target cover pressure setting value, α is the pressure compensation coefficient, and its value range is 0.05~0.15mm / kPa; The emergency brake submodule is used to trigger the emergency stop signal of each motor mechanism of the device.

5. A path planning method for a soil covering device for Root Oyster mushroom cultivation on a shelf, characterized by: The following steps are included: S1: Performing a three-dimensional scan of the shelf cultivation area through the scanning component to obtain initial point cloud data and filter out dynamic noise; S2: Build a three-dimensional model of the mushroom bed surface based on point cloud data and identify areas with abnormal surface curvature; S3: Divide the priority areas of soil covering according to the curvature characteristics and generate layered soil covering paths; S4: Dynamically adjust the path parameters in combination with the soil covering pressure feedback, and control the longitudinal moving platform (8) and the soil covering assembly to complete the soil covering operation.

6. The path planning method for the soil covering device for cultivating Root Oyster mushrooms on a shelf according to claim 5, characterized in that: Step S1 specifically includes the following steps: S101: Drive the longitudinal moving platform (8) to move at a constant speed along the transverse slide rail (2) and the longitudinal slide rail (5), and at the same time trigger the rotary linear array laser radar (105) to scan the shelf space at a frequency of 20 Hz to obtain the original point cloud set P = {p i (x, y, z)}, where i = 1, 2, ..., N, p i (x, y, z) represents the three-dimensional coordinates of the i-th point; S102: Dynamically filter the point cloud data through the vibration compensation unit (106), and the filtering formula is: in, is the i-th point cloud coordinate after filtering, p i is the original i-th point cloud coordinate, n is the filter window size, the value range of n is 3 to 5, δ k is the kth attenuation coefficient, and the value range of k is 0.5 k-1 , p i-k and p i+k Respectively represent the coordinates of the kth point cloud before and after the i-th point cloud; S103: Use the RANSAC algorithm to fit the plane equation of the mushroom bed surface ax+by+cz+d=0, and calculate the distance d from the point cloud to the fitting plane i =|ax i +by i +cz i +d|, means d i Points larger than 5 mm were considered abnormal and were removed.

7. The path planning method for the soil covering device for cultivating Root Oyster mushrooms on a shelf according to claim 6, characterized in that: The surface curvature calculation in step S2 includes the following steps: S201: Project the point cloud data onto a two-dimensional plane and construct a Delaunay triangulated mesh; S202: Calculate the normal vector n of each triangle j =(a j ,b j ,c j ), where a j ,b j ,c j are the components of the normal vector in the x, y, and z directions, respectively, and the curvature κ is calculated j , the formula is: in, represents the gradient modulus of the normal vector, κ j is the curvature value of the j-th triangle; S203: Marking κ j >0.3mm -1 The area is convex, κ j <0.1mm -1 The area with the puncture mark is the depression, and the rest is the normal area.

8. The path planning method for the soil covering device for cultivating Root Oyster mushrooms on a shelf according to claim 7, characterized in that: The hierarchical path generation in step S3 includes the following steps: S301: Layer the shelves in the height direction at intervals of 1 to 2 cm, and generate a reference path line L parallel to the horizontal slide rail (2) for each layer. k , k=1,2,...,M, where M is the total number of layers; S302: Increase the path density in the concave area and insert an auxiliary path line L' k , the spacing is 1 / 2 to 1 / 3 of the reference path spacing; S303: Reduce the path density in the convex area and remove redundant path lines that are positively correlated with the convex height. The removal ratio η = 0.2·h max , where h max is the maximum height of the raised area.

9. The path planning method for the soil covering device for cultivating Root Oyster mushrooms on a shelf according to claim 8, characterized in that: The dynamic adjustment in step S4 includes: S401: Real-time acquisition of the earth cover pressure value P of the pressure sensor (501) actual , calculate the pressure deviation ΔP, specifically: ΔP=P actual -P target ; Among them, P target Set a value for the target cover pressure; S402: Adjust the speed v of the longitudinal moving platform (8) according to ΔP new , specifically: v new =v old ·(1-β·ΔP); Among them, v new is the adjusted speed, v old is the speed before adjustment, β is the speed adjustment coefficient, and its value range is 0.01~0.05mm / s / kPa; S403: When ΔP continues to exceed the threshold ΔP max =5kPa, the emergency braking submodule is triggered to stop the covering operation and generate an alarm signal.

10. The path planning method for the soil covering device for cultivating Root Oyster mushrooms on a shelf according to claim 9, characterized in that: Step S4 also includes a soil covering quality assessment step, specifically: S404: After the soil covering is completed, the scanning component is driven to scan the surface of the mushroom bed for the second time to calculate the soil covering thickness uniformity index, specifically: Among them, U is the uniformity index, σ is the standard deviation of the cover soil thickness, and μ is the average value of the cover soil thickness; S405: If U is less than 0.85, a covering path is added in the sunken area until U is greater than or equal to 0.90.

Images