CN109105238A - A kind of water planting robot - Google Patents

Abstract

The invention discloses a kind of water planting robots, comprising: liftable elevator raises and reduces multiple height；The harvester being mounted on elevator top；Storage cabin is mounted on before the expansible elevator and harvester lower section；And processor controls the inflatable elevator, harvester is increased to and is come from vine, at least one certain height for harvesting organic substance alignment of the gas chromatography matter grown on plant or tree, and further control harvester is separated at least from vine, the organic substance that one kind of plant or trees can harvest, and deposit at least one organic substance harvested between storage after the separation.A kind of water planting robot of the invention, can reduce the use of water and fertilizer, and reduce soil consumption, improve the working efficiency of water planting.

Description

A kind of water planting robot

Technical field

The present invention relates to water culture technique field more particularly to a kind of water planting robots.

Background technique

Water culture is the substitute of traditional agriculture, and water ploughs transition farming from the method based on field soil, with indoor or The method of enclosed environment, this transformation provide several benefits and efficiency, insect or evil including reducing or eliminating Crop damage Bad weather, reduces the use of water and fertilizer, and reduces some factors of soil consumption.Water planting is by providing the ring to plant growth Border factor provides almost complete control and how and how nutrient supplies crop to realize these benefits and efficiency, these The significant difference of the methods of cultivation also results in the fork of farming technique.Existing mechanical development, to optimize and automate many biographies Farming task based on the field soil of system is disabled water and ploughs, and existing machinery does not adapt to or cannot be in water planting environment Restricted clearance in run.Therefore, in traditional field soil farming, for a long time automation or mechanization many tasks Still it is related to the artificial or manually work in water is ploughed.In the technology fork that traditional agricultural based on soil and water plough technology most Big one is harvest, and traditional agricultural based on soil is come dependent on trees shaking table, harvester and other machines for a long time Organic matter is quickly harvested from tendril, plant or trees, water is ploughed and is largely dependent upon human labour to harvest aquatic growth Organic matter.Therefore, it is necessary to erect technology fork between traditional farming based on field soil and water are ploughed, and will more certainly Water culture is included in dynamicization and mechanization.It is received with mechanization from the tendril, plant or trees of aquatic growth in particular, needing to automate Organic matter is obtained, so that automation and mechanization can execute in the limited agricultural environment of hydroponic indoor or closing.

Technical solution

The invention mainly solves the technical problem of providing a kind of water planting robots characterized by comprising liftable Elevator raises and reduces multiple height；The harvester being mounted on elevator top；Storage cabin is mounted on the expansible lifting Before machine and below harvester；And processor controls the inflatable elevator, and harvester is increased to and is come from grape At least one certain height for harvesting organic substance alignment of the gas chromatography matter grown on tree, plant or tree, goes forward side by side one Step control harvester separates a kind of organic substance that can be harvested at least from vine, plant or trees, and at described point From later by least one organic substance harvested deposit to storage between in.

It further, further include one group of sensor, imaging or scanning are grown in multiple organic matters on tendril, plant or tree Matter.

Further, wherein processor further discriminates between the organic substance and second group of different organic matters that first group can harvest Matter, second group of organic matter cannot imaging based on the sensor group or scanning harvested from multiple organic substances.

It further, further include the pedestal including wheel, at least one drives the first motor of wheel, and is described First motor power supply battery, wherein processor control first motor, make robot multiple rattan teapoys, multiple tendrils, plant or It is moved on tree.

The beneficial effects of the present invention are:

A kind of water planting robot of the invention, can reduce the use of water and fertilizer, and reduce soil consumption, improve water The working efficiency of training.

Detailed description of the invention

Fig. 1 shows the exemplary arrangement of the tendril of aquatic growth in accordance with some embodiments, plant or trees.

Fig. 2 shows water planting dish for cultivating in accordance with some embodiments.

Fig. 3 shows the robot of the organic substance in accordance with some embodiments for independently obtaining aquatic growth.

Embodiment

The preferred embodiments of the present invention will be described in detail below so that advantages and features of the invention can be easier to by It will be appreciated by those skilled in the art that so as to make a clearer definition of the protection scope of the present invention.

Fig. 1 shows the exemplary arrangement of the tendril of aquatic growth in accordance with some embodiments, plant or trees, the arrangement It is related to the horizontal and vertical placement of the tendril, plant or trees on different shelfs on different shelfs, rack is arranged in one group In row 110,120 and 130, each rack includes one or more shelfs in different vertical heights, for example, rack gear 110 is upper Rise includes shelf 140,150,160,170,180 and 190.In this drawing, exist between the rising frame of rack it is horizontal or Dislocation offset, horizontal-shift provides additional down suction for each rack, grows up organic matter, unobstructed, In other arrangements, shelf can be located immediately at over each other.In some embodiments, each shelf includes one group of gondola or has The pallet in one or more holes, for suspension or otherwise comprising single tendril, plant or trees, beanpod or pallet may be used also Barrier is separated to provide, to keep root to immerse in the liquid rich in nutrition, and the rest part of tendril, plant or tree keeps dry It is dry or separated with rich in the liquid of nutrition.

Fig. 2 shows water planting dish for cultivating 210 in accordance with some embodiments, several in these pallets can be placed on shelf On upper identical or different shelf, in general, pallet is used to plant identical tendril, plant or tree, different tendrils, plant or The pallet of trees can be placed on different shelfs or on different shelfs.It is grown up although number depicts, water, which is ploughed, also to be permitted Perhaps tendril, plant or trees are hung to reverse growth, some plants grow faster when reversing, because growth does not need pair Antigravity, for example, tomato vine can be with suspension growth, and lettuce or herbaceous plant then tend to grow up, and fill in any water planting Set or environment in, the organic substance that can be harvested can be placed on irregular position by the growth of tendril, plant or trees, different Organic substance have different extraction points to harvest organic matter.Irregular extraction point refers to different points, wherein organic Object will be harvested from the other positions of base portion, stem, branch or tendril, plant or tree, and in other words, the organic matter to be harvested will not be phase Same size and shape will not be grown on the tendril, plant or tree of mutually the same size and shape, therefore will be in each arrangement Different location on grow.Therefore, when extracting two different instances of identical organic matter, identical accurate harvest step may It is not applicable.Embodiment disclosed herein provides the robot of the organic substance for independently obtaining hydration growth, wherein Organic substance includes water fruits and vegetables, plant, nut, root and other foods grown on tendril, plant or trees.

Fig. 3 shows the robot 305 of the organic substance in accordance with some embodiments for independently obtaining aquatic growth, machine People, 305 include at least one power supply 310, network connectivty (not shown), one group of sensor 320, at least one processor (not Show), one group of actuator 330,340,350 and 360 and storage unit 370, power supply, 310 be high capacity cell, power supply, 310 It powers for the electronic component of robot, including sensor 320, processor and actuator 330-360, is used for continuous operation and receipts The several hours obtained.Power supply 310 be it is rechargeable, work as power supply, when 310 charge level drops to threshold level or less, machine Device people 305 returns to charging station, and charging station provides power supply with to power supply, 310 chargings, using network connectivty by instruction, task, life It enables and configuration information passes to robot 305.Wireless set and receiver provide wireless network connection, and permission and machine People 305 carries out telecommunication.As described above, instruction can come from remote terminal or central monitor, monitor monitoring and association Adjust the harvest task for being supplied to one or more harvesting robots.Network connectivty also allows the semi-autonomous operation of robot 305, For example, robot, 305 send image or scanning to remote terminal using network connectivty, and can receive from remote terminal reception The selection of the organic substance obtained.Remote terminal can also receive the reality from robot sensor 320 using network connectivty When vision feed, and based on live vision feeding during harvest control robot actuator 330~360.In some realities It applies in example, sensor group 320 includes one or more image cameras, depth camera, rangefinder, scanner (for bar code, fast Fast response code etc.), light detection and ranging (laser radar) sensor and position detector, such as global positioning system (GPS) Receiver, sensor group 320 is provided to 305 processor of robot feels input, and processor response is received in by sensor group 320 Collection and the different location information provided control the movement with guided robot.As described above, the scanning of sensor group 320, image Or decoding datum mark, identifier or other beacon messages being located in water planting environment, to detect the current location of robot simultaneously Route is plotted to destination locations.Destination can be different pallet, shelf, tendril, plant or trees, robot 305 Organic matter is harvested there, and destination locations can be robot 305 and provide packaging or the sorting station of the organic substance harvested.? In some other embodiments, sensor group 320 maps water planting arrangement or environment, and processor is based on mapping control robot Movement.In some other embodiments, hydroponic device or environment of the offer of sensor group 320 based on geographic configuration or generation reflect The geo-location coordinate for penetrating to navigate.Sensor group 320 also detects mature organic matter, disposably to receive in harvest position It obtains and irregular position and irregular extraction point, at this point, the organic matter being correctly detected is harvested.Machine People 305 also maps the position for the organic substance that can be harvested, to determine height, width and the depth of the current location of robot, machine 305 processor of device people is based on coming from sensor group, and 320 feeling inputs to activate and control the set of actuator 330~360. The actuator group includes driven wheel 330, elevator 340 and harvester, Electric Motor Wheel, 330 in water planting environment mobile robot 305.Elevator 340 adjusts the vertical height of robot 305, more specifically, adjusts the vertical height of vacuum 350.Elevator 340 can be pneulift, be also possible to the elevator operated with motor.In the embodiment shown in fig. 3, harvester is by can The vacuum 350 of telescopic arm 360 is constituted, extending arm, and 360 be telescopic or foldable structure, distally there is vacuum 350, in its folding Under state, extending arm, 360 can be fully retained in 305 circumference of robot.In the expanded state, extensible 360 slave of arm 305 perimeter of device people crosses over several feet.Extensible arm 360 is arranged above pivoted actuator, and the telescopic arms 360 are upwards, downwards With tilt.In some embodiments, telescopic arms 360 are the machinery moved in three dimensions together with pivoted actuator Arm.Vacuum 350 includes the sucker connecting with asepwirator pump or other flexible surfaces.With this configuration, robot 305 is by first It relocates robot 305 and automatically harvests organic matter.Repositioning may include activation driven wheel 330 to correct robot 305 direction, or maintain a certain distance robot 305 with organic matter to be harvested.Repositioning can also relate to lift Elevator 340 is risen or reduced, extensible arm 360 is located in the plane of organic matter to be harvested.Robot relative to After the position of organic matter is corrected, extending arm 360 and vacuum 350 be used to harvest organic substance.Vacuum 350 generates attraction Sealing is to engage organic substance.Then the different operation of extensible arm 360 extracts organic substance.Further harvest is related to machine Extensible arm 360 is moved in storage unit 370 by people 305.Robot 305 closes vacuum 350, so that suction seal is removed, And the organic substance extracted is made to fall into locker room 370.Alternatively, robot 305 extracted organic substance can be placed on In the storage unit of juxtaposed the second different robot of robot 305, wherein the second robot is collected from one or more The organic substance being collected into is adjusted to pack or sort to stand by the organic substance of the harvest of other robot, such as robot 305.

The sequencing of above embodiments is not only for ease of description, represent the advantages or disadvantages of the embodiments.

Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features； And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and Range.

Claims (4)

1. a kind of water planting robot characterized by comprising liftable elevator raises and reduces multiple height；Installation Harvester on elevator top；Storage cabin is mounted on before the expansible elevator and harvester lower section；And processor control The inflatable elevator is made, harvester is increased to and comes from the gas chromatography matter grown on vine, plant or tree At least one certain height for harvesting organic substance alignment, and further the separation of control harvester at least from vine, The organic substance that one kind of plant or trees can harvest, and by least one organic substance harvested after the separation It deposits between storage.

2. a kind of water planting robot according to claim 1, it is characterised in that: further include one group of sensor, imaging or Scanning is grown in multiple organic substances on tendril, plant or tree.

3. a kind of water planting robot according to claim 2, it is characterised in that: wherein processor further discriminates between first group The organic substance and second group of different organic substances that can be harvested, second group of organic matter cannot be based on the sensor group Imaging or scanning are harvested from multiple organic substances.

4. a kind of water planting robot according to claim 1, it is characterised in that: it further include the pedestal including wheel, The first motor of at least one driving wheel, and the battery for first motor power supply, wherein the first electricity of processor control Machine moves robot on multiple rattan teapoys, multiple tendrils, plant or tree.