CN113924969B

CN113924969B - Greenhouse with automatic cruise monitoring function

Info

Publication number: CN113924969B
Application number: CN202111352571.8A
Authority: CN
Inventors: 许亚良; 杨其长; 李清明; 郑胤建; 郑毅; 车元朋
Original assignee: Shenyang Siasun Robot and Automation Co Ltd; Institute of Urban Agriculture of Chinese Academy of Agricultural Sciences
Current assignee: Shenyang Siasun Robot and Automation Co Ltd; Institute of Urban Agriculture of Chinese Academy of Agricultural Sciences
Priority date: 2021-11-15
Filing date: 2021-11-15
Publication date: 2023-01-17
Anticipated expiration: 2041-11-15
Also published as: CN113924969A

Abstract

The invention relates to a greenhouse with an automatic cruise monitoring function. The greenhouse at least comprises a three-dimensional cultivation frame, a nutrient solution circulating supply unit and a control unit. The three-dimensional cultivation frame is provided with at least one planting layer. The nutrient solution circulating supply unit can be at least communicated with the planting layer. The control unit can at least obtain the nutrient solution data of the nutrient solution circularly supplied by the nutrient solution circularly supplying unit. The greenhouse also comprises a conveying and processing unit used for transporting the cultivation plates in the three-dimensional cultivation frame and carrying out subsequent processing operation on the plants on the cultivation plates. The greenhouse further comprises a plant cruising monitoring device, and the plant cruising monitoring device is provided with a camera used for shooting the plants in the three-dimensional cultivation frame. And special tracks are arranged around the cultivation frame, so that the plant cruising monitoring device can identify plant diseases and insect pests/growth states of plants planted in the three-dimensional cultivation frame.

Description

Greenhouse with automatic cruise monitoring function

Technical Field

The invention relates to the technical field of greenhouses, in particular to a greenhouse with an automatic cruise monitoring function.

Background

The existing plant factory/greenhouse mainly comprises a cultivation layer frame, an LED lamp, a cultivation bed, a planting plate, a corresponding nutrient solution circulating pipeline and the like. The LED lamp and the cultivation bed are fixed on the layer frame structure, and the planting plate is paved on the cultivation bed. In the cultivation process, the planting plate is taken out or put in together with the plants, so that the periodical planting of the plants is realized. At present, most plant factories are planted with the aim of realizing annual continuous production, fixed vegetables are produced every day, the inside of the factories needs to be sown, separately planted, harvested and the like every day, plants of different varieties and the same variety and different periods are distributed in the same cultivation area, even some bedded plant factories have plants of different periods on the same cultivation bed, the planting and harvesting are mutually interfered, especially, nutrient solution and clean cultivation facilities cannot be synchronously replaced after harvesting, and the problems of nutrient solution ion unbalance, cultivation bed algae and bacteria breeding and the like are caused. Simultaneously vegetables whole board when taking out and putting into on the bedstead, because plant roots can break away from the nutrient solution on the cultivation bed, can lead to plant roots damage, the blade bumps, takes the nutrient solution scheduling problem out, influences the quality of seedling, and nutrient solution drips to spill on the cultivation passageway in the handling simultaneously, brings very big troubles for production management. In addition, the artificial light source plant cultivation is characterized in that multilayer three-dimensional cultivation is adopted in the closed plant space, the land utilization rate is greatly improved, and efficient production is realized. The higher the floor height, the larger the utilization rate of the factory building, and the larger the effective cultivation area. However, to realize high-rise three-dimensional cultivation, the design difficulty of a factory building is larger along with the increase of the number of layers, and the technical problems including the load of cultivation equipment, the difficulty and safety of the operation of putting on and off the shelf, the automation degree, the accurate regulation and control of nutrient solution and an environment control system and the like are larger, most of the current plant factories are within 6 and 7 layers, and the three-dimensional cultivation systems with high layers (20-30 layers or more) are few. In addition, the cleaning operation of the cultivation shelves at each floor in the high-rise plant cultivation factory is also a big problem, which not only requires much labor, but also requires the operator to climb to each floor by using tools. Because the space of the plant cultivation layer is limited, the personnel operation is difficult, and potential safety hazards are brought to the personnel working high above the ground for high-rise buildings.

For example, chinese patent publication No. CN112840906A discloses an intelligent plant factory. This intelligence plant factory includes: a warehouse comprising a sterilizing chamber, a planting chamber and a laboratory; the goods shelf and the manipulator are used for clamping the plants planted on the planting plate; the mechanical arm is connected with a traveling mechanism, is used for driving the mechanical arm to move and is provided with a first sterilization device; the moving frame is used for placing the mechanical arm, and the mechanical arm moves in the horizontal direction relative to the goods shelf; the vertical driving mechanism is arranged on the moving frame and used for driving the mechanical arm to move along the vertical direction relative to the moving frame; the receiving mechanism is provided with a transferring mechanism at the side and comprises a plurality of object placing units, the receiving mechanism can display and receive the plants clamped by the manipulator and transfer the plants into the object placing units, and a second sterilizing device for sterilizing the object placing units is arranged on the receiving mechanism; the transfer mechanism is used for transferring the plants in the storage unit into the laboratory. The invention has the effect of optimizing the process of testing and monitoring the plants by workers. However, the invention still has the following technical defects: 1) The invention has low automation degree, and a plurality of operation steps in the production process still need more manpower to participate in the operation, so that the operation cost of the whole plant factory/production process is further improved, namely, an unmanned/automatic production line comprising the whole plant production flow from plant sowing to plant harvesting, grading sorting, packaging and shipping is lacked; 2) Scanning/shooting plant images in a large area through a camera in the actual production process of a plant factory is high in cost, very tedious and time-consuming, especially, a color or full-color picture is shot through the camera for identification, and a moving platform in the inspection device needs to continuously adjust the focal length among a plurality of different positions so as to shoot the color or full-color picture which can be used for image identification. The control part recognizes the data quantity processed by the color or full-color pictures in the follow-up image recognition, and the processing process needs to recognize and analyze the plants at different positions in different time periods regularly or irregularly, so that the recognition through the color or full-color pictures is large in the data quantity to be processed by the image processing recognition, the processing speed of the control part on the color or full-color pictures is low, the maximum driving speed of the mobile platform of the plant cruise monitoring device is limited by the picture processing speed of the control part and cannot be too high, the area of the plant factory/greenhouse which can be patrolled by the plant cruise monitoring device in unit time is obviously affected, namely, the efficiency of the plant cruise monitoring device in patrolling is reduced, or more plant monitoring devices are required to be simultaneously put into use to meet the daily patrol requirement of the plant factory/greenhouse. Therefore, there is a need for improvement in response to the deficiencies of the prior art.

Furthermore, on the one hand, due to the differences in understanding to the person skilled in the art; on the other hand, since the applicant has studied a great deal of documents and patents in making the present invention, but not the details and contents thereof listed therein, the present invention is by no means characterized by those prior art, but by the fact that the present invention has all the features of the prior art, and the applicant reserves the right to add related art to the background art.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a greenhouse with an automatic cruise monitoring function. The greenhouse at least comprises a three-dimensional cultivation frame and a nutrient solution circulating supply unit.

The three-dimensional cultivation frame is provided with at least one planting layer. Each of the planting layers is configured to be available for planting plants.

The nutrient solution circulating supply unit can be at least communicated with the planting layer.

The control unit can be at least used for acquiring nutrient solution data of the nutrient solution circularly supplied by the nutrient solution circulating supply unit.

The control unit is configured to be capable of supplying the nutrient solution required for the growth of the plant to the plant by circulating the nutrient solution through the nutrient solution circulation supply unit at least based on the growth requirement of the plant.

Preferably, the stereoscopic cultivation shelf can be provided with a plurality of layers, wherein the cultivation shelf of each layer can be provided with a plurality of cultivation blocks. The cultivation block is used for installing at least one cultivation plate for planting plants. Preferably, a special track for the movement of the plant cruise monitoring device can be arranged around the cultivation frame, so that the plant cruise monitoring device can at least periodically or aperiodically identify the pest and disease damage/growth state of the plants planted in the three-dimensional cultivation frame along the special track.

In the prior art, a mobile platform of the plant cruise monitoring device performs image recognition by using a camera equipped with the mobile platform so as to judge the growth state of plants. For example, chinese patent publication No. CN109154978A discloses a system and method for detecting plant diseases. The system relates to extraction of plant features for judging plant diseases, which starts with color distribution to judge disease spots and the like. However, scanning/shooting the plant image with a camera in a large area during the actual production process of the plant factory is costly, cumbersome and time-consuming, especially to shoot a color or full-color picture for identification, and the moving platform in the inspection device needs to adjust the focal distance continuously among a plurality of different positions to shoot the color or full-color picture which can be used for image identification. The control part recognizes the data quantity processed by the color or full-color pictures in the follow-up image recognition, and the processing process needs to recognize and analyze the plants at different positions in different time periods regularly or irregularly, so that the recognition through the color or full-color pictures is large in the data quantity to be processed by the image processing recognition, the processing speed of the control part on the color or full-color pictures is low, the maximum driving speed of the mobile platform of the plant cruise monitoring device is limited by the picture processing speed of the control part and cannot be too high, the area of the plant factory/greenhouse which can be patrolled by the plant cruise monitoring device in unit time is obviously affected, namely, the efficiency of the plant cruise monitoring device in patrolling is reduced, or more plant monitoring devices are required to be simultaneously put into use to meet the daily patrol requirement of the plant factory/greenhouse.

Preferably, the factors affecting the growth state of the plant are mainly classified into a first priority, a second priority and a third priority.

Preferably, the first priority comprises a stem and/or leaf morphology/profile.

Preferably, the second priority includes lesion morphology, lesion location, and lesion area.

Preferably, the third priority includes a foreign object distribution. The foreign body distribution may be a distribution of locations including insect/fungal alleles in the plant.

Preferably, the plant cruise monitoring device can also monitor hardware equipment in the plant factory/greenhouse through the camera. For example, the plant cruising monitoring device can monitor whether an LED lamp belonging to the light source unit is damaged or not, whether a nutrient solution unit has a liquid leakage phenomenon or not and the like through the camera.

Further, since most plants are affected by diseases during the diseased process, abnormal changes in phenotype, such as leaf atrophy, slow growth, etc., occur. In addition, the area of the plants in the cultivation plates photographed by the camera is small (for example, the area of one cultivation plate is approximately between 40cmX80 cm), and the number of the plants on one cultivation plate photographed by the camera is small; more importantly, the preliminary disease and/or pest identification (such as whether the growth state of the plant is normal or not, and when the growth state of the plant is not normal, the plant is further photographed, identified and analyzed) in the plant factory/greenhouse can be carried out without using color or full-color pictures/videos. Although there are many mature image recognition technologies in the prior art, if a camera is used to take a color or full-color picture during the whole process of recognizing plant diseases and/or insect pests, the requirements of hardware and software required by these recognition technologies are high, which inevitably brings unnecessary production cost to the plant factory/greenhouse. For example, a black-and-white map occupies a memory of 1600 × 900 × 2bit and is a single channel; the memory occupied by one gray scale map is 1600 × 900 × 8 bits; the memory occupied by a color picture is 1600 × 900 × 16bit; the memory occupied by a full color map is 1600 × 900 × 24bit; considering that the first detection unit carried by the first shuttle vehicle has a limited memory capacity, the first detection unit has a limited capability of processing data of the image, and the data processing/compression requirements of the black-and-white image with respect to the grayscale image and the color image are significantly reduced, especially by an order of magnitude with respect to the data processing/compression requirements of the color image and the full-color image. In addition, the first detection unit arranged on the first shuttle trolley does not need to focus with high precision when shooting black and white images, so that inspection can be carried out at a high speed. Therefore, when the plant cruise monitoring device inspects the plant factory/greenhouse to shoot the planted plants, the tissue form of the plants can be used as the first priority for judging the growth state of the plants, namely when the plant cruise monitoring device shoots the plants in the cultivation frame, the control part can extract the approximate tissue shape/outline of the plants (such as stems/leaves) in the black-and-white picture by shooting the black-and-white picture of the plants, and the extracted approximate tissue shape/outline can be used as a basis for judging whether the plants have diseases and/or insect pests. When plants suffer from diseases and/or pests, obvious characteristics such as leaf atrophy, stalk bending and the like can be generated, and the characteristics can be extracted through black and white pictures without using color or full-color pictures. The invention aims to solve the technical problem of how to preliminarily identify whether the growth state of the plant is normal and improve the monitoring speed of the plant cruise monitoring device by taking a black-and-white picture with lower cost.

Preferably, the plant cruise monitoring device is provided with a camera for shooting the plants planted in the stereoscopic cultivation rack. Preferably, the camera used by the plant cruising monitoring device does not need to adopt a high-resolution camera to shoot a color or full-color picture, but only needs a lower-resolution camera to shoot a black and white picture of the plant in the cultivation plate.

Particularly preferably, the plant cruise monitoring device can directly analyze and identify the black-and-white picture preliminarily through the camera without sending the black-and-white picture to the control unit or other modules for identification and analysis.

Preferably, the camera is capable of sending only the coordinate/position information corresponding to the black and white picture for identifying that the growth state of the corresponding plant is abnormal to the control unit.

Preferably, the camera is capable of recording the coordinate/position information of the cultivation plate corresponding to the camera when the camera does not perform a shooting operation once. Preferably, the coordinate/position information may be: the first cultivation plate of the first layer of the first three-dimensional cultivation frame.

And when the plant cruise monitoring device identifies that the growth state of the plant corresponding to the black-white picture is abnormal based on the judgment result of the control part on the black-white picture, the shooting mode is changed or a camera for identifying plant diseases and insect pests is used for shooting the gray-scale image of the plant in the area. Preferably, the gray-scale map can be used for distinguishing/identifying the lesion form, the lesion position and the lesion area belonging to the third priority, and taking a color or full-color picture according to the lesion position of a part of the plants.

Preferably, the color or full-color picture is mainly used for distinguishing/identifying the foreign substance distribution belonging to the third priority. The foreign bodies may comprise a positional distribution of the pests/fungi alleles in the plant.

When the camera judges the tissue form or the outline of the plant in the black-and-white picture through identification, the preliminary identification is carried out. For example, when the contour, plant height, etc. of the plant leaf in the black-and-white picture are obviously different from the contour, plant height, etc. of the normal leaf of the plant, and/or the characteristics with obvious changes, such as leaf atrophy, stalk bending, etc., appear, the growth state of the plant in the black-and-white picture is judged to be abnormal by the camera; and if the obviously changed form/contour characteristics do not appear in the black-and-white picture, judging the growth state of the plant in the black-and-white picture to be normal by the camera. Preferably, the camera is capable of sending the preliminary recognition determination result to a control part of the plant factory/greenhouse.

When the growth state of the plants growing in a certain cultivation plate is identified to be abnormal through the black-and-white picture, a camera which is arranged on the plant cruise monitoring device and used for identifying plant diseases and insect pests is started, and the plants in the cultivation plate corresponding to the black-and-white picture are shot.

Particularly preferably, the camera for identifying pests and diseases can send the gray-scale map and/or the color picture to a control unit of the plant factory/greenhouse, and the gray-scale map and/or the color picture are further identified and analyzed by the control unit.

Compared with the mode that the color images of the plants in the cultivation plate are directly collected through the camera, on one hand, the data size required to be processed by the control part for image recognition is huge due to the fact that the occupied memory of the color images/videos is large, and finally the processing speed of analyzing diseases and/or insect pests through the camera based on the image recognition is not high, so that the maximum speed of the mobile platform capable of running on the special track is low, and the mobile platform cannot meet the daily inspection monitoring requirements of large-area plant factories; and shoot the black and white picture through the camera and carry out the preliminary discernment of disease and/or insect pest to the plant in the cultivation frame, can directly come the growth state of preliminary discernment plant through the camera and need not the control part, thereby improve the processing speed of preliminary discernment, further after the processing speed of preliminary discernment improves, moving platform's moving speed also can obtain showing ground and improve, thereby whether the growth state of ensureing preliminary discernment plant normal basis improve the monitoring rate to plant in the plant factory, increase the monitoring area to the plant that grows on the cultivation board in the plant factory in the unit interval.

Meanwhile, when the control part obtains the initial identification judgment result of the camera and the result is abnormal, the control part can send a control signal for adjusting the moving speed to the moving platform of the plant cruise monitoring device. For example, after receiving the control signal for adjusting the moving speed sent by the control part, the moving platform of the plant cruise monitoring device immediately reduces the moving speed (for example, reduces the speed from five kilometers per hour to two kilometers per hour or directly reduces the speed to zero) so that the camera of the plant cruise monitoring device for identifying the plant diseases and insect pests can increase the residence time near the cultivation plate corresponding to the preliminary identification and judgment result, so that the camera for identifying the plant diseases and insect pests can more clearly shoot the gray-scale map and/or the color picture for the plants on the cultivation plate corresponding to the abnormal black and white picture.

Preferably, the control part is also capable of acquiring first position information of the plant cruise monitoring device in real time. Preferably, the plant cruise monitoring device can send first position information recorded in real time by a positioning module arranged in the plant cruise monitoring device to the control part through a wireless transmission module.

Preferably, the first position information is used for identifying a cruising path of the plant cruising monitoring apparatus.

The plant cruising monitoring device can send the second position information of the cultivation plate corresponding to the black-and-white picture or the position of the plant suffering from the diseases and/or the insect pests, which is used for representing the position of the plant suffering from the diseases and/or the insect pests, to the control part through the wireless transmission module. Preferably, the control section is capable of adjusting an illumination scheme of the LED lamp in the light source unit corresponding to the second position information based on the second position information.

Preferably, the second position information may comprise the number or position of the cultivation plate where the abnormally growing plant is located. For example, the second location information may be: the first cultivation plate is positioned on the first layer of the first cultivation shelf.

Preferably, the second location information may also include two or three dimensional coordinates where the disease and/or pest is located on the plant.

For example, the plant cruise monitoring device normally runs along a special track, and a black-and-white picture is shot by the camera so as to preliminarily judge whether the growth state of the plant shot by the camera is normal. When the control part does not receive the second position information, the light source unit provides the plants in the plant/greenhouse with the corresponding illumination in the first mode (i.e. the normal illumination supply scheme of the light source unit for the corresponding growth stage of the corresponding kind of plants). And when the control part receives the second position information, the control part adjusts the LED lamp in the light source unit corresponding to the second position information to adjust the lighting scheme. For example, the brightness of the LED lamp in the light source unit corresponding to the second position information is increased; and when the plant cruise monitoring device leaves the cultivation plate area corresponding to the second position information, the LED in the light source unit corresponding to the second position information is restored to the first mode again.

For example, when a camera for identifying plant diseases and insect pests shoots the scab form of the leaves, the LED lamp in the light source unit corresponding to the cultivation plate of the plant leaves needs to be reduced to medium brightness, that is, the brightness cannot be too high to avoid the blur of the scab form caused by excessive exposure.

For another example, because the same object (such as a plant) may exhibit colors under light sources having the same color temperature but different color renderings, and the object can be intuitively perceived to have a color rendering better (i.e., the higher the color rendering index), the closer the color exhibited by the object is to the true color, thereby further facilitating the recognition and analysis of color pictures/videos. Therefore, the control part can further adjust the color rendering index CRI provided by the LED lamp in the light source unit corresponding to the second position information so as to further identify the type and severity level of the disease and/or pest through the camera for identifying the disease and pest. For example, after the color rendering index CRI provided by the LED lamp in the light source unit corresponding to the second position information is adjusted, a high-quality color picture can be obtained, so that the overall appearance of the plant can be obtained, and whether disease features such as withered yellow, stripes, spots and the like appear in the tissue parts such as leaves, stems and the like of the plant is judged based on the overall appearance of the plant. Meanwhile, the comparison of the health overall appearance of the plant and the overall appearance of the current state can also show whether the plant has the problems of leaf curl, yellow edge and the like, so that the problem of water shortage or large light intensity is judged. Through the overall appearance of the healthy plants stored in the system, the plants in different states can be qualitatively or quantitatively detected whether the abnormality occurs. For example, the currently monitored plants have a qualitative change in leaf color, such as a change to yellow, compared to the green color of healthy plant leaves. The yellow leaves, in combination with the shape of their yellow patches, allow the system to determine the presence or absence of plant diseases such as the appearance of disease-like patches. The quantitative change in leaf color, such as green fade, of the currently monitored plants compared to the green color of healthy plant leaves. The green color becomes lighter, meaning that less chlorophyll is present in the plant leaf, and there is a possibility that trace elements may be absent.

Particularly preferably, the light source unit further comprises a light emitting panel subunit disposed above the plant roots of the cultivation panel. The light-emitting board subunit is configured to emit light required by the plants toward a backlight surface (i.e., a side facing the ground) of the plant leaves. Preferably, the control part can also adjust the lighting illumination of the light-emitting board subunit so as to adjust the lighting scheme of the light-emitting board subunit on the backlight surface of the plant leaf, so that the vein of the plant leaf is clearer to facilitate further identification of diseases and/or insect pests. For example, the adjustment of the lighting scheme may include: the brightness, color rendering index CRI, spectral distribution, etc. of the light provided by the light board subunit is adjusted (e.g. increased or decreased). For example, certain disease and/or pest specific diagnostic identifications require only a white spectrum, while other disease and/or pest diagnostic identifications require only a red spectrum of light. Through the configuration mode, the control part can adjust the lighting scheme of the LED lamp in the light source unit corresponding to the second position information when the gray scale image and/or the color image are further shot through the camera used for identifying the plant diseases and insect pests, so that the light conditions around the cultivation plate corresponding to the second position information can meet the light requirement for shooting the needed gray scale image and/or the color image.

Particularly preferably, the plant cruise detection device is further provided with a disease removing manipulator for grabbing the disease and/or pest part corresponding to the second position information or the diseased whole plant. In this way, the spread of the disease and/or pest to other areas can be prevented from causing disease and/or pest cross-infection between plants.

According to a preferred embodiment, the nutrient solution circulation supply unit comprises at least a nutrient solution tank, a nutrient solution supply pipe and a nutrient solution return pipe. The nutrient solution tank is used for storing the nutrient solution. The nutrient solution supply pipe is used for connecting the nutrient solution tank and the planting layer. The nutrient solution return pipe is used for discharging and recovering the nutrient solution flowing through the planting layer to the nutrient solution collecting tank.

According to a preferred embodiment, the nutrient solution circulation supply unit further comprises a nutrient solution regulator. The nutrient solution regulator is connected with the nutrient solution tank and is used for regulating the concentration, the acidity, the temperature and the oxygen concentration of the returned nutrient solution recovered by the nutrient solution return pipe. The nutrient solution regulator can be electrically connected with the control unit to obtain a data signal which is sent by the control unit and used for regulating and controlling the nutrient solution supply parameters.

According to a preferred embodiment, a light source unit is further included. The light source unit can provide illumination for the plants planted on the planting bed through an artificial light source arranged on one side, far away from the plants, of the planting layer. The control unit can adjust the artificial light source of the light source unit. Preferably, the artificial light source may be an LED lighting device.

According to a preferred embodiment, a shuttle trolley is arranged in the three-dimensional cultivation frame. The shuttle trolley can move in a transfer track detachably connected with the three-dimensional cultivation frame so as to at least move/convey the cultivation plates arranged on the planting layer.

According to a preferred embodiment, the three-dimensional cultivation frame is further provided with a goods taking and placing elevator. The goods taking and placing elevator is used for placing the cultivation plates moved/conveyed by the shuttle trolley and transferring the cultivation plates to the high-speed transfer cart.

According to a preferred embodiment, a carbon dioxide gas supply unit is further included. The carbon dioxide gas supply unit can extend to the planting layer for supplying carbon dioxide gas to the plants.

According to a preferred embodiment, the device further comprises a plant cruise monitoring device. The plant cruising monitoring device can be used for patrolling and examining the plants planted in the three-dimensional cultivation frame at least so as to identify the diseases of the plants planted in the three-dimensional cultivation frame. Particularly preferably, the mobile platform of the plant cruise monitoring device can move/walk on a slide rail mechanism arranged in the multilayer stereoscopic cultivation rack, so that the camera/sensor of the plant cruise monitoring device can monitor the plants planted in the multilayer stereoscopic cultivation rack.

Particularly preferably, the data acquisition camera is arranged on a mobile platform of the plant cruise monitoring device. The data acquisition camera is configured to be at least capable of being used for acquiring first data of plants in the area to be detected, which the mobile platform passes through. Preferably, the first data comprises at least one or more of the following data: number/diameter/length/plumpness of fruits/buds of the plant in the area to be detected. Preferably, the first data may also comprise the number/diameter/length of stems/leaves/roots of the plants in the area to be detected. Preferably, the first data may also include the number, diameter, colour, gloss, plumpness of the fruits/buds/stems/leaves/roots of the plants in the area to be detected.

According to a preferred embodiment, the plant cultivation device further comprises a transport processing unit configured at least for receiving and/or transporting the cultivation board transported by the transfer mechanism unit and performing subsequent processing operations on the plants on the cultivation board. The conveying and processing unit at least comprises a high-speed transfer vehicle. The subsequent processing operation at least comprises: and cutting roots of the plants on the cultivation plate, cleaning, weighing and packaging.

According to a preferred embodiment, the high-speed transfer cart can be used for placing the cultivation plates transferred by the goods taking and placing elevator and conveying the cultivation plates to a subsequent operation process of the conveying and processing unit.

Drawings

FIG. 1 is a simplified schematic diagram of a preferred embodiment of the present invention.

List of reference numerals

1: a three-dimensional cultivation frame; 2: a nutrient solution circulating supply unit; 3: a control unit;

4: a light source unit; 5: a carbon dioxide gas supply unit; 6: and conveying the processing unit.

Detailed Description

The following detailed description is made with reference to the accompanying drawings.

Fig. 1 shows a greenhouse with an automatic cruise monitoring function. The greenhouse at least comprises a three-dimensional cultivation frame, a transfer mechanism unit and a control unit.

The multilayer three-dimensional cultivation frame is provided with a plurality of cultivation layers. A plurality of cultivation tables are installed in each cultivation layer in a spaced-apart manner. A plurality of cultivation plates can be provided for each cultivation table. The planting plate can be used for planting plants.

The transfer mechanism unit can be used at least for transferring the cultivation plates between the inside and the outside of the three-dimensional cultivation frame.

The control unit is configured at least for controlling and/or monitoring the operation of the transfer mechanism unit.

Preferably, the specific parameters of the three-dimensional cultivation frame can be selected according to actual requirements. Preferably, specific parameters of the stereoscopic cultivation shelf include, but are not limited to: the number of cultivation layers, the height of the cultivation layers, etc.

Preferably, the cultivation board may include, but is not limited to, a nursery board, and the like.

Preferably, the control unit is capable of controlling the operation of the transfer mechanism unit by a transfer mechanism unit control scheme preset by a person.

The transport processing unit is configured at least for receiving and/or transporting the cultivation board transported by the transfer mechanism unit and for performing subsequent processing operations on the plants grown on the cultivation board. The conveying processing unit at least comprises a plurality of single conveyors for conveying the cultivation plates. Carry the processing unit still includes high-speed transfer car, field planting manipulator, thinning manipulator, pile dish machine, root cutter, picking manipulator, packagine machine, weighs/pastes mark all-in-one, parallel robot, wherein, high-speed transfer car can be used for placing gets the cultivation board that the goods lifting machine of putting shifted out, and will the cultivation board is carried to the follow-up operation processes who carries the processing unit.

Preferably, the plant harvested by the harvesting manipulator can be subjected to image/video acquisition through quality detection camera detection, and the image/video is sent to the control unit to judge whether the quality of the plant is qualified. If the control unit judges that the quality of the plant is qualified, the control unit allows the plant to enter a subsequent processing program; and if the control unit judges that the quality of the plant is unqualified, the control unit controls the picking manipulator to transfer the harvested plant into a waste collection box. Preferably, the control unit can acquire quality detection information obtained by detecting the plants harvested by the harvesting manipulator by the quality detection camera in real time/non-real time. Particularly preferably, the quality detection information includes at least: the type of the plant, growth history data of the plant, quality information of the plant. Preferably, the growth history data of the plant may include, but is not limited to: optical formula data, nutrient solution data, temperature and humidity data, and carbon dioxide supply data used/experienced from the plant seeding stage to the growth and maturity stage. Preferably, the quality information of the plant may include, but is not limited to: grade of plant quality, plant height, average leaf length and width, diameter and weight of plant fruit, etc. Preferably, the growth history data of the plant can be obtained from the control unit. Through the configuration mode, the control unit can carry out statistics and analysis on the quality of the plants harvested in each batch, and carry out traceability analysis on quality detection information (particularly growth historical data of the plants) so as to search/summarize more reasonable planting schemes of the plants, for example, the light recipe, carbon dioxide supply, temperature and humidity, nutrient solution supply schemes and the like of the plants are finely adjusted, defective products produced by a plant factory are reduced, and the quality of plant (such as vegetable) products produced by the plant factory is improved. For example, the same vegetable (for example, tomato) planted in the same batch of cultivation plates all have different qualities, for example, the tomato fruits have different sizes and the average diameter of the tomato fruits is slightly smaller, and then the control unit can trace back the growth history data of the batch so as to optimize the planting process of the plants. For example, the optical formula data, the nutrient solution data, the temperature and humidity data and the carbon dioxide supply data required by the plants are counted and compared, and through the accumulation of multiple batches of data, the control unit can conclude a better scheme suitable for the growth of the plants, so that the quality of planting the plants in a plant factory is improved.

According to a preferred embodiment, a temperature control unit is further included. Preferably, the temperature control unit comprises at least a temperature control conduit. Preferably, the temperature controlled conduits comprise a first temperature controlled conduit and a second temperature controlled conduit. Preferably, the first temperature control pipeline is disposed around the seedling hole of the cultivation plate to adjust an ambient temperature around the root of the plant planted in the seedling hole. Particularly preferably, the first temperature-control duct is capable of forming a closed microenvironment with the culture substrate in the seedling holes of the culture plate, so that the control unit is capable of adjusting the temperature of the culture substrate in the seedling holes of the culture plate through the first temperature-control duct.

The dependence of crop growth on the proper environmental temperature is strong, and the heating of the greenhouse is the most energy-consuming operation of a large greenhouse. The precise heating, namely the heating of the local part of the plant becomes a new energy-saving idea. For many crops, the temperature of the root is decisive for growth, so that the first temperature control pipeline is laid on the side wall of the cultivation plate (such as the side wall of the seedling hole) to finish accurate heating only by heating the root of the plant. Preferably, the first temperature control pipes may be spirally distributed on the circumferential inner wall of the seedling hole of the cultivation plate in an ascending/descending manner. Preferably, the first temperature control pipeline can surround the circumferential outer wall of the cultivation basket which can be placed in the seedling culture hole. Preferably, the first conveying pipeline is communicated with the first temperature control pipeline. Preferably, the circumferential outer wall of the first conveying pipe is provided with an insulating layer to prevent heat loss in the first conveying pipe. Preferably, the end of the first conveying pipeline far away from the first temperature control pipeline can be communicated with the temperature control device. Preferably, the temperature control device is a central air conditioner. Preferably, the control unit is capable of precisely adjusting the temperature environment of the roots of the plants based on the kind of the plants planted in the seedling holes on the cultivation plate. Through this configuration, first temperature-controlled pipeline can form confined microenvironment with the downthehole culture medium of growing seedlings of planting the board, so that the control unit can carry out accurate ground temperature regulation through temperature regulating device and the first temperature-controlled pipeline and the first pipeline that are linked together with temperature regulating device to the downthehole culture medium of growing seedlings on the cultivation board and form confined microenvironment, thereby avoid carrying out temperature regulation through temperature regulating device to whole plant factory's overall environment, and then the energy consumption and the operation cost that have significantly reduced whole plant factory. For example, when the plant roots planted in the seedling holes on the cultivation plate are in a proper temperature environment, the temperature heating/cooling requirement of the whole plant factory can be properly reduced. For example, the precise heating/cooling can reduce the heating/cooling requirement of the plant factory by about five to fifteen degrees centigrade; the general height of a multi-span plant factory is more than four meters, the indoor area is large, and the accurate heating obviously reduces the heating/cooling area in the plant factory, thereby reducing the heating/cooling energy consumption.

Particularly preferably, a second temperature control pipeline is further arranged in the cultivation shelf. Preferably, each layer of the cultivation shelf is provided with a second temperature control pipeline. Preferably, the second temperature controlled conduit is primarily used for temperature regulation of the microenvironment around the stem/leaf/fruit parts of the plants grown in the cultivation boards on the cultivation shelves, to assist in fruit turning and/or to maintain crop temperature. Preferably, the height of the second temperature control pipe can be flexibly set/adjusted according to different types of plants corresponding to the second temperature control pipe. Preferably, the second temperature control conduit is capable of communicating with other temperature control devices. Other temperature control devices include, but are not limited to: central air conditioner, circulating fan. Preferably, the control unit can further adjust the temperature of the fluid circulating through the second temperature control pipeline arranged around the plants in the cultivation plate by controlling other temperature control devices, and further adjust the temperature of the microenvironment of the plant stems/leaves/fruits and the like near the second temperature control pipeline. Through this configuration, the control unit can set up the temperature of the fluidic that second temperature control pipeline circulated around the plant in the cultivation inboard through controlling other temperature regulating device and then adjusting, and then adjusts the temperature that is located partial microenvironment such as near plant stem/leaf/fruit of second temperature control pipeline to avoid adjusting the temperature of the inside big environment of whole plant factory through other temperature regulating device and reduce the consumption of electric power remarkably, finally reach the purpose that reduces the energy consumption and then reduce the manufacturing cost of whole plant factory.

According to a preferred embodiment, the transfer mechanism unit comprises at least a shuttle trolley and a pick-and-place lift. The shuttling trolley is used for conveying the cultivation plates to a designated position, and the goods taking and placing elevator is used for placing the cultivation plates taken out by the shuttling trolley and transferring the cultivation plates to a high-speed transfer cart.

Preferably, each layer of the three-dimensional cultivation frame is provided with a shuttle trolley.

Preferably, the shuttle cars are capable of walking in the three-dimensional cultivation frame to be able to move/transport at least the nursery sheet/plantlet sheet mounted on the planting layer.

Preferably, the shuttle trolley can be designed in a low structure so that the shuttle trolley can smoothly move within the cultivation layer of the stereoscopic cultivation shelf.

Preferably, a shuttle trolley is used to transport the growth plates to a designated location. For example, the designated position may be the front end of the stereoscopic cultivation shelf/seedling-raising shelf.

Preferably, the shuttle trolley can be controlled wirelessly by the control unit.

Preferably, the frame of the shuttle car may be of a gantry construction.

Preferably, the shuttle trolley can cross the nutrient solution groove arranged in the cultivation frame and walk through the conveying track. Preferably, the shuttle car is provided with a jacking mechanism to jack up the seedling raising/seedling raising plates used in the planting layer. Preferably, the shuttle trolley is powered by a super capacitor.

Preferably, a goods taking and placing elevator (i.e. a space transfer trolley) is arranged at the front end of the three-dimensional cultivation frame/seedling raising frame.

Preferably, the pick-and-place lifter is used for placing the seedling raising plate/seedling bed moved/conveyed by the shuttle car and transferring the seedling raising plate/seedling bed onto the high-speed transfer car.

Preferably, the high-speed transplanting vehicle can further move the seedling raising plate/the small seedling plate/the large seedling plate to the planting area/the thinning area.

Preferably, the high-speed transplanting vehicle can be arranged on the side surface of the three-dimensional cultivation frame.

Preferably, the high-speed transfer cart consists of a base and a sliding table, wherein a conveyor is arranged on the sliding table to carry the seedling raising plates/the small seedling plates/the large seedling plates. Preferably, the high-speed transfer vehicle can be connected with a plurality of devices in series, so that the seedling raising plates/the small seedling plates/the large seedling plates are transported in a coherent manner.

Preferably, the shuttle trolley is capable of longitudinal and/or transverse movement in the cultivation shelf.

Preferably, the shuttle trolley is movable across a nutrient solution bath provided within the cultivation shelf.

Preferably, the taking-out mechanism of the goods taking and placing elevator is a telescopic fork which can be stretched in two directions. Preferably, a water collecting tank is designed in the middle of the fork, and nutrient solution dripped from the vegetable roots in the process of taking and placing the cultivation plate is collected. Preferably, the fork can horizontally move on the lifting machine loading platform to pick and place two rows of cultivation plates of the same group of cultivation racks.

According to a preferred embodiment, the shuttle trolley and the goods taking and placing elevator can respectively transmit the running positions of the shuttle trolley and the goods taking and placing elevator to the control unit in real time, so that the control unit can monitor the shuttle trolley and the goods taking and placing elevator.

Preferably, the control unit can send control commands to the shuttle trolley and the goods taking and placing elevator respectively.

Preferably, the control command is used for controlling the shuttle trolley and the goods taking and placing elevator to move to the position corresponding to the control command. For example, control instructions a may be for instructing the shuttle car to transfer the first culture plate of the first-tier first culture stage of the stereoscopic culture rack from the stereoscopic culture rack to the front end of the stereoscopic culture rack.

The plants grown on the cultivation plates on the various planting layers on the three-dimensional cultivation rack can be put together or taken out and transported integrally in a plug-in manner, for example.

For example, after the seedling raising plates are sown by the sowing robot and grow for fifteen days on the three-dimensional cultivation frame, the control unit automatically controls the shuttle trolley and the goods taking and placing elevator to transfer the seedling raising plates arranged on the three-dimensional cultivation frame to a planting/thinning area for planting/thinning and the like. Preferably, the above-mentioned transfer mechanism unit control scheme may be artificially set according to actual requirements. For example, the control scheme of the transfer mechanism unit may set a time required for the maturity of a certain type of plant, and when the time required for the plant to grow on the three-dimensional cultivation frame reaches the time required for the maturity, the control unit may control the transfer mechanism unit to transfer the cultivation plate and the plant on the cultivation plate to the outside of the three-dimensional cultivation frame to wait for the treatment of the subsequent process. Preferably, the cultivation plate may be a nursery plate/plantlet plate. Through this configuration, can be so that produced plant need not to adopt the manual work mode to carry, pack etc. in the plant factory, but adopts full assembly line machine operation, is assembly line machine operation from seeding to letter sorting, packing, freezing storage promptly, and then improved the production efficiency in plant factory/greenhouse, reduced the operating cost in plant factory/greenhouse.

According to a preferred embodiment, a transport processing unit is also included. The conveying and processing unit is configured at least to be able to receive and/or transport the cultivation plate transported by the transfer mechanism unit and to carry out subsequent processing operations on the cultivation plate. The conveying processing unit at least comprises a plurality of single conveyors for conveying the cultivation plates.

Preferably, the subsequent processing operations include, but are not limited to: harvesting/picking, root cutting, packaging, weighing, labeling, boxing, storing in a freezer, packing into gift boxes, transporting to an automobile delivery location, and the like. Preferably, the subsequent processing operations may also include: planting, thinning and filling seedlings. Preferably, the subsequent processing operation can be flexibly added or deleted according to actual requirements. Preferably, the conveying and processing unit can be disposed around the stereoscopic cultivation shelf.

According to a preferred embodiment, the conveying and processing unit further comprises a high-speed transfer cart, a field planting manipulator, a thinning manipulator, a disc stacking machine, a root cutting machine, a picking manipulator, a packaging machine, a weighing/labeling all-in-one machine and a parallel robot. The high-speed transfer cart can be used for placing the cultivation plates transferred by the goods taking and placing elevator and conveying the cultivation plates to a subsequent operation procedure of conveying and processing units.

Preferably, the high-speed transfer cart can be arranged at the front end of the three-dimensional cultivation frame. Preferably, the high-speed transfer cart can be used for placing the cultivation plates transferred by the goods taking and placing elevator and conveying the cultivation plates to the subsequent operation process of the conveying and processing unit. Preferably, the high-speed transfer cart is located at the front end of the magazine. Preferably, the high-speed transfer cart consists of a base and a sliding table. The slide table is provided with a conveyor for carrying the cultivation plate. Preferably, the high speed transfer cart is capable of serially connecting a plurality of devices for consistent transfer of the growing plates.

Preferably, the single conveyor or the conveyor belt conveying the processing unit can be provided with a planting area or a thinning area.

Preferably, the planting area or the thinning area is provided with a planting manipulator/thinning manipulator for planting or thinning the plants on the cultivation plate. Preferably, the planting/thinning manipulator can consist of a truss mechanism. Preferably, the field planting/thinning manipulator can automatically complete field planting and thinning work. Preferably, the front end of the planting/thinning manipulator is provided with a clamping jaw for clamping a cultivation basket in the cultivation plate, so as to complete planting/thinning action. Preferably, the empty seedling raising plates/empty seedling plates after being planted or thinned by the planting manipulator/thinning manipulator can be conveyed to a subsequent tray stacking machine so as to be orderly stacked and stored.

Preferably, the disc stacking machine is used for cleaning and air-drying the vacant cultivation plates which are generated after the planting or thinning by the planting manipulator/thinning manipulator, and then orderly stacking and storing the cultivation plates.

Preferably, the root cutter can be used to cut the roots of the plants on the cultivation board.

Preferably, the picking robot can be used to pick plants on the root-cut growing plate.

Preferably, the packaging machine is used for packaging the plants on the cultivation board after cutting and picking.

Preferably, the weighing/labelling machine can be used for weighing and/or labelling the packaged plants.

Preferably, a parallel robot can be used to box the weighed/labeled plants.

Preferably, the plants packed by the parallel robots are stored in a pre-cooling chamber.

Preferably, the boxed plants in the precooling chamber can be transported to an automobile delivery place by an AGV, and are firstly assembled into a gift box by a person and then transported to a designated user by a transportation mode such as an automobile.

Preferably, the high-speed transfer cart, the field planting manipulator, the thinning manipulator, the disc stacking machine, the root cutting machine, the picking manipulator, the weighing/labeling all-in-one machine and the parallel robot can respectively send the operation completion progress data of the robot to the control unit in real time so as to be used for monitoring the working process of the conveying and processing unit by the control unit.

Preferably, the control unit can acquire the completion progress data sent by the high-speed transfer cart, the field planting manipulator, the thinning manipulator, the disc stacking machine, the root cutting machine, the picking manipulator, the weighing/labeling all-in-one machine and the parallel robot in real time.

For example, the completion schedule data of the planting manipulator may be: incomplete planting/complete planting. When the control unit obtains that the completion progress data sent by the field planting manipulator is unfinished field planting, the control unit can wait for the field planting manipulator to continue to operate until the control unit receives that the completion progress data sent by the field planting manipulator is finished field planting, and then conveys the cultivation plate corresponding to the thinning manipulator back to the three-dimensional cultivation frame through the high-speed transplanting vehicle, the goods taking and placing elevator and the shuttle trolley at one time for continuing to grow.

For another example, the completion progress data of the root cutter may be: incomplete/complete. When the control unit obtains that the completion progress data sent by the root cutting machine is incomplete root cutting, the control unit can wait for the root cutting machine to continue to operate until the control unit receives that the completion progress data sent by the root cutting machine is complete root cutting, and the control unit controls the single conveyor to convey the plants subjected to root cutting on the cultivation plate to the picking manipulator for subsequent operation.

Through this configuration, through the cooperation of transfer mechanism unit with carry the processing unit to realize under the control of control unit and control that each link such as seeding, vernalization, grow seedlings, benefit seedling, transplant, results, delivery can be carried out automatically in the three-dimensional cultivation frame, thereby realize "the machinery and trade people", realized the whole high automation of plant factory/greenhouse production promptly.

According to a preferred embodiment, the planting manipulator is configured to be able to plant the plants on the cultivation plate. And the thinning manipulator thins the plants on the cultivation plate.

According to a preferred embodiment, the disc stacking machine is used for cleaning, air-drying, stacking and storing the vacant planting plates which are generated after field planting or thinning by the field planting manipulator/thinning manipulator. The root cutter can be used for cutting the roots of the plants on the cultivation plate.

According to a preferred embodiment, the picking robot can be used for picking plants on a root-cut cultivation plate. The packaging machine is used for packaging the plants on the cultivation plate after root cutting and picking. The weighing/labeling integrated machine can be used for weighing and/or labeling the packaged plants, and the parallel robot can be used for boxing the weighed/labeled plants.

According to a preferred embodiment, the high-speed transfer cart, the field planting manipulator, the thinning manipulator, the disc stacking machine, the root cutting machine, the picking manipulator, the weighing/labeling all-in-one machine and the parallel robot can respectively send the operation completion progress data of the high-speed transfer cart, the field planting manipulator, the thinning manipulator, the disc stacking machine, the root cutting machine, the picking manipulator, the weighing/labeling all-in-one machine and the parallel robot to the control unit in real time so as to be used for monitoring the working process of the conveying and processing unit by the control unit.

According to a preferred embodiment, the control unit can acquire the completion progress data sent by the high-speed transfer cart, the field planting manipulator, the thinning manipulator, the disc stacking machine, the root cutting machine, the picking manipulator, the weighing/labeling all-in-one machine and the parallel robot in real time.

Preferably, the cultivation device further comprises a nutrient solution circulating and supplying unit which is used for connecting the cultivation plate/cultivation layer to circularly supply nutrient solution required by the growth of the plants planted on the cultivation plate/cultivation layer.

Preferably, the nutrient solution circulation supply unit includes at least a nutrient solution tank and a nutrient solution supply pipe. The nutrient solution tank is used for storing nutrient solution, and the nutrient solution supply pipe is used for connecting the nutrient solution tank and the planting layer.

A vertical nutrient solution supply pipe is installed at one side of the stereoscopic cultivation shelf to connect one ends of the stereoscopic cultivation shelf to each other, and is vertically disposed to supply the nutrient solution supplied from the nutrient solution supply pipe to the stereoscopic cultivation shelf. Preferably, the nutrient solution supply pipe is provided with a nutrient solution circulation pump for supplying nutrient solution to each of the plant layers. A vertical nutrient solution return pipe is installed at the other side of the stereoscopic cultivation shelf to connect the other ends of the stereoscopic cultivation shelf to each other and to discharge the nutrient solution supplied to the planting layer into the nutrient solution collecting tank. Preferably, the nutrient solution return pipe is used for connecting each layer of nutrient solution collecting tank and nutrient solution tank, so that the nutrient solution collected in the nutrient solution collecting tank flows back to the nutrient solution tank.

Preferably, the nutrient solution regulator is connected with the nutrient solution tank and is used for regulating the concentration, acidity, temperature and oxygen concentration of the returned nutrient solution. Preferably, the nutrient solution regulator can be electrically connected with the control unit to obtain data signals sent by the control unit for regulating nutrient solution supply parameters. Preferably, an inlet and outlet pipe of the nutrient solution supply unit is arranged at one end of the cultivation shelf.

Preferably, the elbow and the confluence pipeline of the nutrient solution supply unit are arranged on one side of the length direction of the cultivation tank, so that the extrusion to the actual floor height space is reduced, and the lamp bracket is convenient to mount and realize the forking operation of a shuttling trolley and/or a goods taking and placing elevator (namely a space transfer trolley).

The conveying of nutrient solution among the nutrient solution supply unit is realized through the guiding device who fixes on the supporting layer frame of three-dimensional cultivation frame, and the nutrient solution flows in from the top of supporting layer frame, and the bottom flows out and retrieves, and every layer of guiding device in the middle of flowing through realizes from last gravity flow down. The flow path on the flow guide device is relatively independent from the three-dimensional cultivation frame, and when the three-dimensional cultivation frame is placed on the support layer frame for cultivation, the nutrient solution flows into the three-dimensional cultivation frame from the upper layer flow guide device for circulation, then enters the lower layer flow guide device and enters the next layer circulation; when no three-dimensional cultivation frame is arranged on the support layer frame, the nutrient solution directly flows back to the liquid discharge pipe at the bottom through the flow guide device between each layer for recovery.

Preferably, the light source unit is capable of irradiating the plants planted on the planting bed with a predetermined amount of light by an artificial light source provided on an upper side of the planting layer. Preferably, the predetermined amount can be automatically set by the control unit based on the lighting requirements of the planted plants.

Preferably, the light source unit includes at least LED lighting devices mounted on each of the planting layers of each of the planting decks in a plurality of rows in a longitudinal direction thereof. Preferably, the LED lighting device may include: a heat radiation plate installed at a longitudinal upper side of each planting layer of the cultivation table; and an LED element mounted on a central portion of a lower surface of the heat radiating plate. Preferably, the heat radiating plate includes reflection plates formed at opposite ends of a lower surface thereof, and extending perpendicularly from the lower surface to limit an angle. Preferably, the light emitted from the LED element is used to illuminate plants planted on the planting bed. Preferably, the reflection plate extends such that light rays emitted from the LED elements are irradiated at an irradiation angle range in the range of 110 ° to 130 °. Preferably, the heat dissipation plate may further include: at least one gas supply channel formed therein along a longitudinal direction thereof; and a plurality of gas injection holes formed therein to penetrate plants planted in the planting bed on the gas supply channel at predetermined intervals along one side of the LED element.

Preferably, the carbon dioxide gas supply unit includes: the gas storage tank is used for storing carbon dioxide gas; and an air supply pipe connected from the air tank to an air supply passage formed in a heat dissipation plate of the LED lighting device.

Preferably, the gas supply end of the carbon dioxide gas supply unit can extend to an upper side of the planting layer of each of the cultivation tables for supplying carbon dioxide gas to the vicinity of the plant.

Preferably, each layer of the three-dimensional cultivation frame is provided with a conveying track at least as a moving track of the shuttle trolley.

Preferably, the automatic plant cruise monitoring device is at least able to move/patrol along the above-mentioned transport track. Preferably, the automatic plant cruising monitoring device at least can carry out remote diagnosis and early warning on plant diseases and insect pests of plants in the three-dimensional cultivation frame so as to realize the organic combination of video monitoring, automatic warning and remote diagnosis. Preferably, the automatic plant cruise monitoring device can also perform routing inspection along a predetermined track on the ground. Preferably, the ground predetermined track can be manually set through a remote control terminal of the automatic plant cruise monitoring device. The automatic plant cruising monitoring device can also find problems (such as branches and leaves of plants grow excessively and need to be trimmed in time) existing in the planting process of the three-dimensional cultivation frame in time through daily routing inspection and nutrient solution testing.

Preferably, the carbon dioxide gas supply unit may further include a gas additional connection pipe branched from the gas supply pipe and connected to the cultivation table gas supply pipe so as to selectively supply the carbon dioxide gas into the cultivation layer of the cultivation table. The cultivation platform passes through a vertical air supply pipe and a horizontal air injection pipe. Through this configuration mode, three-dimensional cultivation frame is applicable in the three-dimensional planting of high-rise factory building space and the three-dimensional planting of other suitable places. The net-shaped bottom plate is formed by the layered support frames of the three-dimensional cultivation frame, and the three-dimensional cultivation frame is internally divided into more than two cultivation layers with a multi-layer structure by the bottom plate, so that the input resources are reduced to the maximum extent, and the space and energy utilization efficiency are utilized to the maximum extent.

Preferably, the sowing robot/manipulator sows seeds (such as vegetable seeds) to be planted on the sponge blocks and arranges the sponge blocks in order in the seedling holes of the seedling raising plate through the cultivation basket.

Preferably, the sowing robot or the sowing manipulator can complete the procedures of sowing, soil covering, water spraying and the like. Through the configuration mode, the seedling raising holes on the seedling raising plate or the cultivation plate can be sown through the sowing robot or the sowing manipulator, so that the one-hole one-grain precision sowing is realized, the miss-sowing rate, the re-sowing rate and the damage rate are low, and the sowing target with high precision and high efficiency is achieved.

Preferably, the control unit can turn off the light source unit arranged on the stereoscopic cultivation frame/nursery sock growing frame before the seeds in the stereoscopic cultivation frame are not germinated.

Preferably, the control unit is capable of calculating/recording a time when the plant seeds have been sown in the stereoscopic cultivation shelf/seedling-raising shelf to calculate when to turn on the light source unit within the stereoscopic cultivation shelf/seedling-raising shelf. For example, two days after sowing, the control unit controls the light source unit to turn on the light of the light source unit, and turns on/off the light of the light source unit according to the time controller setting program.

Preferably, after the field planting/thinning is completed in the field planting/thinning area, the control unit can identify the plants growing on the seedling raising plate/seedling bed of the planting layer through the camera arranged in front of the seedling supplementing robot/seedling supplementing manipulator arranged in the field planting/thinning area based on the visual identification technology. By the configuration mode, whether dead seedlings, sick seedlings, weak seedlings and the like appear in the seedling raising plate/small seedling plate/large seedling plate can be judged and/or identified through the seedling supplementing robot/seedling supplementing manipulator.

Preferably, the field planting/thinning robot can acquire crop seedling growth information by using machine vision technologies such as seedling view, fused three-dimensional information images and the like, evaluate the seedling growth conditions (true leaf number, seedling age, plant height, growth vigor consistency and the like) by a target area pixel statistics method, eliminate and reseed unhealthy pot seedlings in the plug tray, and move the qualified seedlings to a cultivation area at a certain density. The planting/thinning robot has the advantages of high working efficiency and good transplanting consistency. The sorting and transplanting component of the planting/thinning robot mainly comprises a planting/thinning manipulator and a planting/thinning positioning machine, wherein the planting/thinning manipulator is a working component directly contacted with seedlings/young seedlings.

Preferably, the control unit is able to send data signals for taking the plantlets/plantlets matching the type of plants to the other transfer devices based on the difference of the type of plants planted in the planting layer. Preferably, the other transfer means may include, but are not limited to: AGV, shuttle dolly, get and put goods lifting machine (being space transport dolly), high-speed transplanting car etc.. Preferably, the AGV may be driven with a two-wheel differential and powered by a lithium battery. Preferably, the AGV can also adopt technologies such as laser positioning, trackless walking, automatic jacking and the like to realize in-situ differential rotation and have strong anti-interference capability on uneven roads, slippery roads and artificial pushing. Preferably, the AGV can generate the stopping and obstacle avoidance detouring actions according to the demand and control unit. For example, the AGV acquires the data signal of the seedling plate/seedling plate matching with the plant planted in the planting layer sent by the control unit in real time, and then takes the seedling plate/seedling plate corresponding to the data signal from the special area. Then the transfer work of the shuttle trolley, the goods taking and placing hoister (namely a space transfer trolley) and the high-speed transplanting vehicle is carried out in turn to transfer the small seedling plate/large seedling plate to the planting layer on the three-dimensional cultivation frame. The field planting is to change a high-density seedling raising plate into a lower-density seedling raising plate so as to increase the distance between plants. When the empty seedling raising plate is cleaned, the empty seedling raising plate can be stored in a temporary storage area to wait for the next sowing. Planting the seedling raising plate by a planting manipulator (for example, reducing 72 holes to 36 holes). The planted seedling plates (36 holes) are sequentially put into a warehouse through a high-speed transplanting vehicle, a warehouse front lifting machine and a shuttle trolley (such as a seedling cultivation area of a three-dimensional cultivation frame). The seedlings planted on the seedling plates can be positioned on the three-dimensional cultivation frame of the growth area to continue to grow.

Preferably, the control unit can take out the seedling plates from the cultivation frame by using other transfer devices, send the seedling plates to the thinning station, and perform thinning through the thinning manipulator. After the thinning operation is finished, the thinned big seedling plate can be put in storage (for example, a big seedling cultivation area of a three-dimensional cultivation frame) through a high-speed transplanting vehicle, a storehouse front lifting machine and a shuttle trolley in sequence.

Preferably, the multi-layered stereoscopic cultivation shelf can be provided with a dedicated growth area. Preferably, the growth zone may be a multi-layered artificial light incubation chamber.

The conveying and processing unit consists of a plurality of single conveyors and is used for conveying the cultivation plates/big seedling plates and correspondingly processing the plants planted on the cultivation plates/big seedling plates. Preferably, the transport processing unit can be used for transporting/transferring the cultivation plates or the like on the high-speed transplanting cart to a planting area, a thinning area, a picking area, a sorting area, a packaging area, or the like.

Preferably, a root cutting device is arranged in the harvesting area of the conveying and processing unit to cut roots of the plants planted on the seedling plates conveyed to the harvesting area.

Preferably, the root cutting device can be used to cut off roots of the plants planted in the large seedling plate below the cultivation basket.

Preferably, the root cutting device can adjust the position and/or length of the root of the plant planted in the large seedling plate according to the actual scene requirement.

For example, when the plant to be planted is a herbal plant, the root cutting device may completely retain the root of the herbal plant, i.e., without cutting the root of the plant. Preferably, the harvesting zone is provided with a root collector to collect plant roots cut by the root cutting device. Preferably, the harvesting area is further provided with a picking manipulator to harvest the plants in the harvesting area. Preferably, the growth plate/windrow after harvesting the plants via the picking robot can be cleaned and air dried by a cleaner and transported via an AGV to the growth plate buffer for the next use.

Preferably, the plant harvested by the harvesting manipulator can be subjected to image/video acquisition by detecting through a quality detection camera, and the image/video is sent to the control unit so as to judge whether the quality of the plant is qualified. If the control unit judges that the quality of the plant is qualified, the control unit allows the plant to enter a subsequent processing program; and if the control unit judges that the quality of the plant is unqualified, the control unit controls the picking manipulator to transfer the harvested plant into a waste collection box.

For example, subsequent processing procedures may include packaging by a packaging machine, weighing, labeling, parallel robot binning, pre-chill storage, hand pack gift box, automobile shipment, and the like.

If the quality detection camera detects that the quality of the plant harvested by the harvesting manipulator is qualified, the plant harvested by the harvesting manipulator is transferred into a waste collection box.

Preferably, the quality detection camera is capable of transmitting quality detection information for detecting the plants harvested by the harvesting manipulator to the control unit in real/non-real time.

Preferably, the control unit can acquire quality detection information obtained by detecting the plants harvested by the harvesting manipulator by the quality detection camera in real time/non-real time.

Particularly preferably, the quality detection information includes at least: the type of the plant, growth history data of the plant, quality information of the plant.

Preferably, the growth history data of the plant may include, but is not limited to: optical formula data, nutrient solution data, temperature and humidity data and carbon dioxide supply data used/experienced from the plant sowing stage to the growth and maturity stage.

Preferably, the quality information of the plant may include, but is not limited to: grade of plant quality, plant height, average leaf length and width, diameter and weight of plant fruit, etc.

Preferably, the growth history data of the plant can be obtained from the control unit.

Preferably, the cultivation plate/seedling raising plate/seedling bed is provided with a unique number, and the number corresponds to the plants planted on the cultivation plate/seedling raising plate/seedling bed one by one.

Preferably, the number may be a two-dimensional code, a bar code, or the like.

Preferably, the quality detection camera or other cameras are capable of identifying the cultivation plate/seedling raising plate/plantlet plate by scanning the serial number of the cultivation plate/seedling raising plate/plantlet plate and sending the serial number of the cultivation plate/seedling raising plate/plantlet plate and the related data of the planted plants to the control unit. Through the configuration mode, the control unit can carry out statistics and analysis on the quality of the plants harvested in each batch, and carry out traceability analysis on quality detection information (particularly growth historical data of the plants) so as to find out and summarize more reasonable planting schemes of the plants, for example, fine adjustment is carried out on the light recipe, carbon dioxide supply, temperature and humidity, nutrient solution supply schemes and the like of the plants, so that defective products produced by a plant factory are reduced, and the quality of plant (such as vegetable) products produced by the plant factory is improved. For example, the same vegetable (for example, tomato) planted in the same batch of cultivation plates all have different qualities, for example, the tomato fruits have different sizes and the average diameter of the tomato fruits is slightly smaller, and then the control unit can trace back the growth history data of the batch so as to optimize the planting process of the plants. For example, the optical formula data, the nutrient solution data, the temperature and humidity data and the carbon dioxide supply data required by the plants are counted and compared, and through the accumulation of multiple batches of data, the control unit can conclude a better scheme suitable for the growth of the plants, so that the quality of planting the plants in a plant factory is improved.

Preferably, the empty cultivating/growing plates generated in each link can be transported to a washing room by an AGV for washing.

Preferably, the cleaning room is used for cleaning the air culture plate/empty culture plate at high pressure by using a cleaning machine, and then blowing residual moisture by high-pressure air.

Preferably, the cleaned empty cultivating plates/empty nursery plates can be stacked by a stacker and then transported by the AGV to an empty cultivating plate buffer for standby.

Preferably, the control unit is able to acquire the environmental factor by means of various sensors within the plant factory.

Preferably, environmental factors include, but are not limited to: temperature and humidity, illumination intensity, nutrient solution and carbon dioxide.

Preferably, the control unit is capable of acquiring environmental factors monitored by a plurality of sensors.

Preferably, the control unit can adjust the environmental factors according to the collected environmental factors and by combining the current types and growth stages of the plants.

Preferably, the control unit can accurately supply nutrients according to the kinds of plants planted in the stereoscopic cultivation frame and/or the nutritional requirements at different periods through the nutrient solution supply unit.

Preferably, the control unit is capable of providing the plants planted in the stereoscopic planting shelf with illumination and CO2 concentrations matched with the types of the plants planted in the stereoscopic planting shelf and/or the requirements of different periods according to the types of the plants planted in the stereoscopic planting shelf and/or the requirements of different periods through the light source unit and the carbon dioxide supply unit.

Preferably, each cultivation shelf is provided with a trimming robot. Preferably, the trimming robot is mainly used for removing the redundant branches, leaves and vines of the plants planted in the three-dimensional cultivation frame, so that the plants can be more fully illuminated in the three-dimensional cultivation frame, and the space utilization rate is improved.

Preferably, the plant cruising monitoring device can realize remote diagnosis and early warning of plant diseases and insect pests in the three-dimensional cultivation frame, and the organic combination of video monitoring, automatic early warning and remote diagnosis is realized.

Preferably, the control unit is further capable of controlling the picking robot to pick the plant fruit within the cultivation rack.

Preferably, the picking manipulator is capable of accurately distinguishing the plant fruit at the time of crop picking.

Preferably, the picking manipulator is also capable of accurately locating the position of the plant fruit and quickly grasping the fruit as the crop is picked.

Preferably, the plant in the cultivation shelf can also be conveyed to the picking manipulators arranged on both sides of the conveyor by the transfer mechanism and the conveying processing unit so as to pick the fruit of the plant by the picking manipulators arranged on both sides of the conveyor.

Preferably, the intelligent conveying device can adopt a conveyor and an automatic guide trolley to finish the transportation, and records the position, the entrance/exit and other information of the transported plants through the control unit.

Preferably, the pick-and-place elevator (i.e., the space transfer cart) is capable of sending the first pick-up information to the control unit when the pick-and-place elevator takes out a certain cultivation plate from the cultivation shelves.

Preferably, the first retrieval information includes at least: the number of the cultivation plate, the position of the cultivation shelf, and the type of the plant.

The crop growth has strong dependence on the proper environmental temperature, and the heating of the greenhouse is the most energy-consuming operation of the large greenhouse. The precise heating, namely the heating of the local part of the plant becomes a new energy-saving idea. For many crops, the temperature of the root is decisive for growth, so that the first temperature control pipeline is laid on the side wall of the cultivation plate (such as the side wall of the seedling hole) to finish accurate heating only by heating the root of the plant.

Particularly preferably, a temperature control unit is also included. Preferably, the temperature control unit comprises at least a temperature control conduit. Preferably, the temperature controlled conduits comprise a first temperature controlled conduit and a second temperature controlled conduit. Preferably, the first temperature control pipeline is disposed around the seedling hole of the cultivation plate to adjust an ambient temperature around the root of the plant planted in the seedling hole. Particularly preferably, the first temperature-control duct is capable of forming a closed microenvironment with the culture substrate in the seedling holes of the culture plate, so that the control unit is capable of adjusting the temperature of the culture substrate in the seedling holes of the culture plate through the first temperature-control duct.

Preferably, the first temperature-control pipes may be spirally distributed up/down on the circumferential inner wall of the seedling-growing hole of the cultivation plate. Preferably, the first temperature control pipeline can surround the circumferential outer wall of the cultivation basket which can be placed in the seedling culture hole. Preferably, the first delivery conduit is in communication with the first temperature controlled conduit. Preferably, the circumferential outer wall of the first conveying pipe is provided with an insulating layer to prevent heat loss in the first conveying pipe. Preferably, one end of the first conveying pipeline, which is far away from the first temperature control pipeline, can be communicated with the temperature control device. Preferably, the temperature control device is a central air conditioner. Preferably, the control unit is capable of precisely adjusting the temperature environment of the roots of the plants based on the kind of the plants planted in the seedling holes on the cultivation plate. Preferably, each cultivation plate has a unique number so that the plants grown in the cultivation plate correspond.

Through this configuration, first temperature control pipeline can form confined microenvironment with the downthehole culture medium of growing seedlings of planting the board, so that control unit can carry out accurate ground temperature regulation through temperature regulating device and the first temperature control pipeline and the first pipeline that are linked together with temperature regulating device to the downthehole culture medium of growing seedlings on the cultivation board and form confined microenvironment, thereby avoid carrying out temperature regulation through temperature regulating device to the whole environment of whole plant factory, and then the energy consumption and the operation cost that have significantly reduced whole plant factory. For example, when the plant roots planted in the seedling holes on the cultivation plate are in a proper temperature environment, the temperature heating/cooling requirement of the whole plant factory can be properly reduced. For example, the precise heating/cooling can reduce the heating/cooling requirement of the plant factory by about five to fifteen ℃; the general height of a multi-span plant factory is more than four meters, the indoor area is large, and the accurate heating obviously reduces the heating/cooling area in the plant factory, thereby reducing the heating/cooling energy consumption.

Particularly preferably, a second temperature control pipeline is further arranged in the cultivation shelf. Preferably, each layer of the cultivation shelf is provided with a second temperature control pipeline. Preferably, the second temperature controlled conduit is primarily used for temperature regulation of the microenvironment around the stem/leaf/fruit parts of the plants grown in the cultivation boards on the cultivation shelves, to assist in fruit turning and/or to maintain crop temperature. Preferably, the height of the second temperature control pipe can be flexibly set/adjusted according to different types of plants corresponding to the second temperature control pipe. Preferably, the second temperature control conduit is capable of communicating with other temperature control devices. Other temperature control devices include, but are not limited to: central air conditioner, circulating fan.

Preferably, the control unit is capable of adjusting the temperature of the fluid flowing through the second temperature control pipeline arranged around the plants in the cultivation plate by controlling the other temperature control devices, so as to adjust the temperature of the microenvironment of the plant stems/leaves/fruits and the like near the second temperature control pipeline. Through this configuration, the control unit can set up the temperature of the fluidic that second temperature control pipeline circulated around the plant in the cultivation inboard through controlling other temperature regulating device and then adjusting, and then adjusts the temperature that is located partial microenvironment such as near plant stem/leaf/fruit of second temperature control pipeline to avoid adjusting the temperature of the inside big environment of whole plant factory through other temperature regulating device and reduce the consumption of electric power remarkably, finally reach the purpose that reduces the energy consumption and then reduce the manufacturing cost of whole plant factory.

When the plant cruise monitoring device detects that plants planted on a culture plate are mature, the plant cruise monitoring device (or other sensors) sends first data information to the control unit. Preferably, the control unit is capable of acquiring first data information sent by the plant cruise monitoring device in real time. Preferably, the first data information may include, but is not limited to: the name of the type of plant to be planted on the plate, the quantity of the plant, the growing period (whether the mature period is reached or the plant can be harvested), and the number of the planting shelf (for example, the grid of the layer of the planting shelf). When the control unit acquires first data information (in real time/non-real time) sent by the plant cruise monitoring device, the control unit sends first position information (such as a few grids on a few layers of a few cultivation shelves) to the space transfer trolley. Preferably, the space transportation vehicle is capable of acquiring the first position information sent by the control unit to the space transportation vehicle in real time/non-real time. Preferably, the space transfer trolley can automatically move to the cultivation plate corresponding to the first position information based on the first position information.

The remote control unit can be used to control the movement of the mobile platform. In the case where the remote control unit is capable of acquiring the first data, the remote control unit is configured to be capable of predicting yield of plants within the area to be detected based on at least the acquired first data. For example, the plant cruise monitoring device periodically (for example, daily) inspects the area a to be detected, and identifies the plant images/videos acquired by the data acquisition camera through the remote control unit based on the image identification technology/artificial intelligence technology, so as to identify and count the number and diameter of the fruits/buds of the plants (for example, tomatoes, cucumbers and the like) planted in the area a to be detected. And the remote control unit can more accurately predict/estimate the harvest quantity of the batch of plants at the time based on the past historical fruit/bud output condition of the plants at the same period and the final plant fruit harvest quantity. For example, when the yield of the fruit/flower bud of the same type of plant in the current batch is increased by 30% compared with the yield of the same type of plant in the previous batch, which is the same or approximately the same as the growth environment of the previous batch, the remote control unit predicts or estimates that the yield of the same type of plant in the current batch is increased by 30% compared with the yield of the previous batch. Since the planting environment in the whole area to be detected (e.g. greenhouse or plant factory) is accurately controlled and monitored by the control unit of the plant factory, i.e. the growing environment and the growing history data of the plants planted in each batch can be traced back and accurately adjusted, the yield of the plants growing in the greenhouse or plant factory can be predicted more accurately under the same or approximately the same growing environment. For example, the proportion and the dosage of the nutrient solution, the light formula scheme, the temperature and the humidity, the carbon dioxide supply and the like of the plants in each batch are all planting schemes formed after multiple times of optimization, so that the growth environment of each batch of plants is not changed greatly/approximately the same. Even if the growth regime/environmental factor of a certain type of plant is changed because the yield of that type of plant is optimized, the remote control unit is able to record the adjusted/changed environmental factor. The remote control unit can analyze and compare the planted historical yield corresponding to the adjusted/changed environmental factors in multiple batches, and then generalize the change relation between each environmental factor and the yield of the plant, so that the yield of the plant predicted for the first time by the remote control unit can be further corrected. For example, the growth scheme of the lettuce batch is optimized only for one environmental factor (such as the carbon dioxide concentration of the lettuce batch is increased by 5% compared with the carbon dioxide concentration of the environmental factor of the previous batch), while the actual yield of the lettuce batch is increased by 10%. If other environmental factors are optimized in the lettuce growth scheme, for example, the temperature around the roots and/or stems of the plants in the seedling stage is adjusted to two degrees with the optimal lettuce growth scheme, and the actual yield of the lettuce in the current batch is only increased by 10%, the remote control unit does not incorporate the environmental factor of the temperature around the roots and/or stems of the plants in the seedling stage into the lettuce yield prediction model in the next lettuce yield prediction. Through the configuration mode, through comparison and analysis of the historical yield for multiple times, the remote control unit can analyze and compare the planted historical yields corresponding to the adjusted/changed environmental factors through multiple batches, and further generalize the change relation between each environmental factor and the yield of the plant, so that the plant yield predicted for the first time by the remote control unit can be further corrected, and finally, the yield of the plant in the region to be detected can be accurately predicted.

It should be noted that the above-mentioned embodiments are exemplary, and that those skilled in the art, having benefit of the present disclosure, may devise various arrangements that are within the scope of the present disclosure and that fall within the scope of the invention. It should be understood by those skilled in the art that the present specification and figures are illustrative only and are not limiting upon the claims. The scope of the invention is defined by the claims and their equivalents. The present description contains several inventive concepts, such as "preferably", "according to a preferred embodiment" or "optionally", each indicating that the respective paragraph discloses a separate concept, the applicant reserves the right to submit divisional applications according to each inventive concept.

Claims

1. Greenhouse with automatic cruise monitoring function, characterized in that it comprises at least:

a stereoscopic cultivation stand (1), the stereoscopic cultivation stand (1) being provided with at least one planting layer, each planting layer being configured to be usable for planting plants;

a nutrient solution circulation supply unit (2) at least capable of being communicated with the planting layer;

a control unit (3) at least used for acquiring nutrient solution data of the nutrient solution circularly supplied by the nutrient solution circulating supply unit (2);

wherein the control unit (3) is configured to be capable of at least cyclically supplying the plant with a nutrient solution required for the growth of the plant through the nutrient solution circulation supply unit (2) based on the growth demand of the plant;

the plant cruising monitoring device is provided with a camera for shooting the plants planted in the three-dimensional cultivation frame;

a special track for moving the plant cruise monitoring device can be arranged around the three-dimensional cultivation frame, so that the plant cruise monitoring device can identify plant diseases and insect pests/growth states of plants planted in the three-dimensional cultivation frame at least periodically or aperiodically along the special track;

the factors influencing the growth state of the plant are divided into a first priority, a second priority and a third priority, wherein the first priority comprises stem and/or leaf shape/outline, the second priority comprises lesion form, lesion position and lesion area, and the third priority comprises foreign matter distribution;

the plant cruising monitoring device can also monitor hardware equipment in a plant factory/greenhouse through a camera;

when the plant cruise monitoring device inspects a plant factory/greenhouse to shoot the planted plants, the tissue form of the plants is taken as a first priority for judging the growth state of the plants, namely when the plant cruise monitoring device shoots the plants in the cultivation frame, the control part can extract the approximate tissue shape/outline of the plants in the black-and-white picture by shooting the black-and-white picture of the plants, and the approximate tissue shape/outline is taken as a basis for judging whether the plants have diseases and/or insect pests;

when the plant cruise monitoring device identifies that the growth state of the plant corresponding to the black-and-white picture is abnormal based on the judgment result of the control part on the black-and-white picture, the shooting mode is changed or a camera for identifying plant diseases and insect pests is used for shooting a gray scale image of the plant in the area, wherein the gray scale image can be used for identifying/identifying the disease spot form, the disease spot position and the disease spot area belonging to the third priority level and shooting a color picture aiming at the disease spot position of part of the plant;

the color picture is used to discriminate/identify the foreign matter distribution belonging to the third priority.

2. Greenhouse according to claim 1, characterised in that the nutrient solution circulation supply unit (2) comprises at least a nutrient solution tank, a nutrient solution supply pipe and a nutrient solution return pipe,

the nutrient solution tank is used for storing the nutrient solution, the nutrient solution supply pipe is used for connecting the nutrient solution tank and the planting layer, and the nutrient solution return pipe is used for discharging and recovering the nutrient solution flowing through the planting layer to the nutrient solution collecting tank.

3. The greenhouse of claim 2, wherein the nutrient solution circulation supply unit (2) further comprises a nutrient solution regulator connected to the nutrient solution tank for regulating the concentration, acidity, temperature and oxygen concentration of the returned nutrient solution recovered by the nutrient solution return pipe,

wherein the nutrient solution regulator can be electrically connected with the control unit (3) to obtain the data signal which is sent by the control unit (3) and is used for regulating and controlling the nutrient solution supply parameter.

4. The greenhouse of claim 3, further comprising a light source unit (4), the light source unit (4) being capable of providing illumination to plants planted on the planting bed by means of an artificial light source provided on a side of the planting layer remote from the plants,

wherein the control unit (3) is capable of adjusting the artificial light source of the light source unit (4).

5. Greenhouse according to claim 4, characterised in that inside the stereoscopic cultivation shelf (1) there is a shuttle trolley, which can move in a transfer track detachably connected with the stereoscopic cultivation shelf (1) to at least be able to move/transport cultivation boards mounted on the cultivation level.

6. The greenhouse of claim 5, wherein the stereoscopic cultivation shelves (1) are further provided with pick and place lift for placing the cultivation boards moved/transported by the shuttle cars and transferring the cultivation boards onto high speed transfer carts.

7. The greenhouse of claim 6, further comprising a carbon dioxide gas supply unit (5), the carbon dioxide gas supply unit (5) being extendable to the planting layer for supplying carbon dioxide gas to the plants.

8. The greenhouse of claim 1, further comprising a transport processing unit (6), the transport processing unit (6) being configured at least for receiving and/or transporting the shuttle trolley and for taking and placing the cultivation board transported by the goods lift and for performing subsequent processing operations on the plants on the cultivation board,

wherein the transport processing unit (6) comprises at least a high-speed transfer cart, the subsequent processing operations comprising at least: and cutting roots of the plants on the cultivation plate, cleaning, weighing and packaging.

9. The greenhouse of claim 8, wherein the high-speed transfer cart can be used for placing the cultivation board transferred by the pick-and-place elevator and for transporting the cultivation board to the subsequent operation of the transport processing unit (6).