CN116300662B - Garlic yellow planting control system and method based on image recognition - Google Patents
Garlic yellow planting control system and method based on image recognition Download PDFInfo
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- CN116300662B CN116300662B CN202310557905.8A CN202310557905A CN116300662B CN 116300662 B CN116300662 B CN 116300662B CN 202310557905 A CN202310557905 A CN 202310557905A CN 116300662 B CN116300662 B CN 116300662B
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- 240000002234 Allium sativum Species 0.000 title claims abstract description 270
- 235000004611 garlic Nutrition 0.000 title claims abstract description 270
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000003306 harvesting Methods 0.000 claims abstract description 48
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 92
- 244000003377 Allium tuberosum Species 0.000 claims description 24
- 235000005338 Allium tuberosum Nutrition 0.000 claims description 24
- 238000005303 weighing Methods 0.000 claims description 24
- 239000008400 supply water Substances 0.000 claims description 12
- 230000006698 induction Effects 0.000 claims description 9
- 235000015097 nutrients Nutrition 0.000 claims description 9
- 238000012544 monitoring process Methods 0.000 claims description 5
- 230000002950 deficient Effects 0.000 claims description 3
- 230000003203 everyday effect Effects 0.000 claims description 3
- 239000000284 extract Substances 0.000 claims description 3
- 239000000047 product Substances 0.000 claims description 3
- 238000002791 soaking Methods 0.000 claims description 3
- 239000013589 supplement Substances 0.000 claims description 3
- 230000001502 supplementing effect Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 241000196324 Embryophyta Species 0.000 description 13
- 241001279686 Allium moly Species 0.000 description 9
- 238000010586 diagram Methods 0.000 description 6
- 229910052760 oxygen Inorganic materials 0.000 description 4
- 239000001301 oxygen Substances 0.000 description 4
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 3
- 239000013505 freshwater Substances 0.000 description 2
- 238000004806 packaging method and process Methods 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 241001124569 Lycaenidae Species 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 238000000746 purification Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 235000013311 vegetables Nutrition 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
- Y02P60/21—Dinitrogen oxide [N2O], e.g. using aquaponics, hydroponics or efficiency measures
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Abstract
The application discloses a control system and a control method for planting garlic yellow based on image recognition, which relate to the technical field of agricultural automation control, wherein a warehouse entry port of a garlic yellow three-dimensional planting warehouse is connected with a first end of a rotary assembly line, a second end of the warehouse entry port is arranged at an output port of a planting box of a garlic yellow harvester, a warehouse exit port is connected with the first end of an output assembly line, and a second end of the warehouse entry port is connected with an input end of the garlic yellow harvester; the garlic bulb output port of the garlic bulb harvester is provided with a garlic bulb conveying belt which is longitudinally and parallelly arranged with the output garlic bulbs; the image recognition device is used for carrying out image recognition on the growth state of the garlic yellow, the posture of the planting box and the identification information, and the planting box is controlled at different stages according to the recognition result. The whole cultivation stage of the garlic bulbs is streamlined, the garlic bulbs and the planting boxes are monitored in the whole process through the image recognition device, the planting boxes after harvesting the garlic bulbs can enter into second-crop planting, the automatic intelligent production of the garlic bulbs is realized by combining image recognition in the whole process, and the planting level of the garlic bulbs is improved.
Description
Technical Field
The application relates to the technical field of agricultural automation control, in particular to a system and a method for controlling garlic yellow planting based on image recognition.
Background
The garlic yellow is cultivated by utilizing garlic bulbs under dark and proper temperature and humidity conditions, is planted in various places in China, and is green vegetables which people like to eat. At present, garlic is mostly planted in a sheet-like and dense manner by adopting a production mode in a greenhouse, and the planting and harvesting of the garlic are mostly finished manually, so that the garlic is affected by the size of a planting field, light rays and harvesting equipment, the working environment is poor, the labor intensity is high and the planting and harvesting efficiency is low.
The development of vertical garlic yellow planting can use multilayer vegetation planting to fully utilize resources and space, can solve the problems of population pressure, reduced cultivated land, resource shortage and the like in the current agricultural development, and has the advantages of small occupied area, high yield, high quality and the like. Chinese patent CN214987863U discloses a three-dimensional storehouse that plant was used, including goods shelves, walking track and stacker, when the stacker removed the planting board, the planting board on the support frame was retreated or was advanced simultaneously, was convenient for place next planting board and take out the planting board at rear to replace manual work through the stacker, promoted work efficiency. Chinese patent CN210365426U discloses a stereoscopic warehouse suitable for plant cultivation, including warehouse body and set up whole stereoscopic warehouse pipelining of drum transmission line, walking track, stacker and plant goods shelves in the warehouse body, reduce artifical input, promote work efficiency.
The two three-dimensional planting structures can be used for planting the garlic yellow, and can achieve maximization of yield per unit area, but how to achieve automatic integrated planting, pipe and harvesting of the garlic yellow three-dimensional large-area planting is a technical problem to be solved in the field.
Disclosure of Invention
In order to solve the technical problems, the application provides the following technical scheme:
in a first aspect, an embodiment of the present application provides a system for controlling planting of garlic yellow based on image recognition, including: the three-dimensional planting warehouse for the garlic yellow comprises a transportation pipeline, wherein two ends of the transportation pipeline are respectively a warehouse entry port and a warehouse exit port of the three-dimensional planting warehouse for the garlic yellow, the warehouse entry port is connected with a first end of a rotary pipeline, the warehouse exit port is connected with a first end of an output pipeline, a second end of the output pipeline is connected with an input end of a garlic yellow harvester, and a second end of the rotary pipeline is arranged at an output port of a planting box of the garlic yellow harvester; the garlic bulb output port of the garlic bulb harvester is provided with a garlic bulb conveying belt, and the arrangement direction of the garlic bulb conveying belt is longitudinally parallel to the output garlic bulbs;
the three-dimensional planting warehouse for the garlic yellow, the transportation assembly line, the gyration assembly line and the output assembly line are all provided with image recognition devices, the image recognition devices are used for recognizing the growth state of the garlic yellow, the posture and the identification information of the planting boxes according to the acquired images, and the intelligent factory controller is used for completing the control of the planting boxes at different stages according to the recognition result of the image recognition devices, wherein the identification information of the planting boxes is different.
In one possible implementation manner, the garlic yellow stereoscopic planting warehouse comprises a stereoscopic warehouse bracket, wherein a cultivation water tank is arranged on the stereoscopic warehouse bracket, and the planting box is arranged on the cultivation water tank;
the image recognition device is used for monitoring the growth condition of the garlic yellow, and if the image recognition device determines that the garlic yellow grows slowly or wilts according to image comparison, the water supplementing device is controlled to supplement water to the cultivation water tank; when the height of the garlic bulbs reaches a preset harvesting height, placing a planting box in an output assembly line, controlling the output assembly line to operate so as to send the planting box into a garlic bulb harvester, and then controlling the garlic bulb harvester to harvest the garlic bulbs; in the harvesting process, if the planting box cannot be transported normally on the output assembly line, the posture of the planting box is adjusted.
In one possible implementation manner, the stereoscopic planting garage for garlic yellow further comprises a track fixing frame, and an overground track and a sky track respectively fixed at two ends of the track fixing frame, wherein the overground track and the sky track are arranged between the stereoscopic garage brackets; each overground track is provided with a planting box transfer station, each planting box transfer station is provided with a planting box transfer station assembly line, a first end of each planting box transfer station assembly line is arranged adjacent to the three-dimensional library support, and a second end of each planting box transfer station assembly line is arranged adjacent to each other; the double-finger stacker is slidably mounted on the ground track and the overhead track, the double-finger stacker is provided with a double-finger fork for inserting the planting box, the double-finger stacker places the inserted planting box at the first end of a planting box transfer station assembly line, then the planting box is transmitted to a transportation assembly line through the planting box transfer station assembly line, the planting box is transported to an output assembly line through the transportation assembly line, and when the planting box reaches the junction of the transportation assembly line and the output assembly line, a push rod arranged at the end part of the transportation assembly line pushes the planting box to the output assembly line.
In a possible implementation manner, a circulating water tank is arranged at one side of the three-dimensional warehouse support, the circulating water tank is communicated through a rubber joint arranged on the cultivation water tank, and adjacent cultivation water tanks are communicated through the rubber joint;
the circulating water tank comprises a clear water circulating water tank and a nutrient solution circulating water tank, and when the garlic yellow is planted for the first time, the clear water circulating water tank is controlled to supply water for the cultivation water tank; when the first planting box passes through the rotary assembly line for the first time, the image recognition device determines identification information of the first planting box, garlic seeds in the first planting box enter second-crop planting, the nutrient solution circulating water tank is controlled to supply water for the planting water tank corresponding to the first planting box, and the first planting box and the planting box for planting the garlic yellow for the first time are placed on different three-dimensional warehouse supports or different layers of the same three-dimensional warehouse support.
In one possible implementation manner, a plurality of jacking rotating devices are arranged on the transportation assembly line and the output assembly line, and each jacking rotating device is correspondingly provided with an image recognition device;
when the planting box is transported to the output assembly line from the planting box transfer station assembly line, a first gesture can not be transported on the output assembly line, the controller controls the jacking rotating device to adjust the planting box from the first gesture to a second gesture, the first gesture is an initial gesture of transporting the planting box to the output assembly line from the planting box transfer station assembly line, the second gesture is a gesture of transporting the planting box to the transport assembly line and the output assembly line, and the planting box is rotated 90 degrees from the first gesture to the second gesture.
In one possible implementation manner, the jacking and rotating device on the transportation assembly line is adjacently arranged at one end of the transfer station in the planting box, and the jacking and rotating device on the output assembly line is adjacently arranged at one end of the garlic yellow harvesting device.
In one possible implementation manner, the garlic bulb harvesting device comprises a planting box conveyor belt, the jacking rotating device is arranged adjacent to the first end of the planting box conveyor belt, a garlic bulb harvester is arranged on the planting box conveyor belt, an inlet of the garlic bulb harvester is arranged on one side close to the first end of the planting box conveyor belt, a planting box outlet of the garlic bulb harvester is arranged on one side close to the second end of the planting box conveyor belt, the planting box outlet is arranged adjacent to the starting end of the rotary pipeline, a garlic bulb outlet is arranged on one side of the middle position of the garlic bulb harvester, and the garlic bulb conveyor belt is arranged adjacent to the garlic bulb outlet;
controlling a planting box to enter from an inlet of the garlic yellow harvester, conveying the harvested garlic yellow to the garlic yellow conveying belt from the garlic yellow outlet, and conveying the planting box after harvesting the garlic yellow to the rotary assembly line from the planting box outlet for secondary planting; the method comprises the steps that an image recognition device is arranged at each of a garlic bulb outlet and a planting box outlet, a garlic bulb graph on a garlic bulb conveying belt is obtained by the image recognition device at the garlic bulb outlet, whether a preset included angle exists between stems of the garlic bulbs and the axis of the conveying direction of the garlic bulb conveying belt or not is determined, and if the included angle between the stems of the garlic bulbs and the axis of the conveying direction of the garlic bulb conveying belt is larger than the preset included angle, the garlic bulbs are combed through manual intervention; the image recognition device at the outlet of the planting box is used for determining the planting box which is conveyed out, the jacking rotating device is arranged at the position, corresponding to the outlet of the planting box, of the rotary assembly line, when the image recognition device extracts characteristic information of the planting box from a shot image, the planting box is output from the outlet of the planting box, the jacking rotating device is controlled to lift and receive the planting box, and the jacking rotating device receives the planting box after harvesting garlic yellow and then descends, and the planting box enters the rotary assembly line.
In one possible implementation manner, the output end of the garlic bulb conveyer belt is a garlic bulb weighing device, the garlic bulb weighing device comprises an induction weighing type conveyer and a control platform, the control platform is provided with weighing quality, and when the garlic bulbs on the induction weighing type conveyer reach the set quality, the induction weighing type conveyer starts to operate to transmit the garlic bulbs to the garlic bulb bundling device.
In one possible implementation manner, the garlic bulb bundling device is composed of a narrow-belt garlic bulb conveyor and a bundling machine, preliminary gathering of the garlic bulbs is achieved on two sides of the narrow-belt garlic bulb conveyor, the narrow-belt garlic bulb conveyor runs to convey the garlic bulbs under the bundling machine, and the bundling machine finishes bundling of the garlic bulbs and conveys the garlic bulbs into a garlic bulb collecting box.
In a second aspect, an embodiment of the present application provides a method for controlling planting of garlic yellow based on image recognition, where the method includes:
placing garlic seeds into a planting box by using a mechanical arm, placing the planting box into a transportation assembly line through a warehouse entry port, wherein the transportation assembly line is used for transporting the planting box to a jacking rotating device;
the jacking rotating device controls the direction change of the planting box, determines that the direction change of the planting box is in place through the image recognition device, stops rotating and sends the planting box to the planting box transfer station;
the double-finger stacker controls the double-finger fork to put a planting box placed in a planting box transfer station on the three-dimensional warehouse bracket;
controlling a clear water circulation water tank to supply water for the cultivation water tank, setting soaking time by an intelligent control system, controlling a valve to be opened by the intelligent control system, and enabling water to flow back into the circulation water tank, wherein the cultivation water tank is supplied with water for a fixed time every day;
in the cultivation process of the garlic bulbs, the growth condition of the garlic bulbs is monitored through an image recognition device arranged on a three-dimensional warehouse bracket, and defective products are removed in real time in the cultivation process;
when the image recognition device monitors that the garlic bulbs reach the harvesting condition, controlling the double-finger stacker to place the garlic bulbs to be harvested and the planting boxes into a planting box transfer station together through the double-finger fork, and then transporting the garlic bulbs to a jacking rotating device of a transportation assembly line to realize the diversion of the planting boxes;
the planting box after the turning treatment is transported to the garlic yellow harvesting device through the output assembly line from the warehouse outlet, and the second turning conveying to the planting box conveyor belt is completed under the control of the image recognition device to complete the harvesting of the garlic yellow;
conveying the harvested garlic chives to a garlic chives conveyor belt through a garlic chives outlet after harvesting, detecting whether the output garlic chives are longitudinally parallel to the garlic chives conveyor belt or not in real time by an image recognition device of the garlic chives outlet, and weighing and bundling the harvested garlic chives through the garlic chives conveyor belt;
the planting boxes after harvesting the garlic yellow are output from the planting box outlet, the image recognition device at the planting outlet determines the conveyed planting boxes, and when the planting boxes are output from the planting box outlet, the jacking rotating device is controlled to lift and receive the planting boxes to be conveyed to the rotary assembly line;
the image recognition device arranged on the rotary assembly line recognizes the identification of the planting box entering the rotary assembly line, and judges the rotary times of the planting box;
if the planting box is judged to enter the rotary assembly line for the first time, the planting box is conveyed to a warehouse entry port through the rotary assembly line for second-crop planting, wherein the first planted garlic yellow and the second planted garlic yellow are placed on different three-dimensional warehouse supports or different layers of the same three-dimensional warehouse support, and the nutrient solution circulating water tank is controlled to supply water for the cultivation water tank where the planting box for second-crop planting is located;
or if judging that the cultivating box entering the rotary assembly line is the second time, removing the cultivating box and replacing a new garlic seed
In this application embodiment, the whole cultivation stage pipelining of garlic yellow is monitored the garlic yellow and plants the case through image recognition device in whole in-process moreover, plants the case after reaping the garlic yellow and can also enter into the second stubble and plant, and the automatic intelligent production of garlic yellow has been realized to whole in-process combination image recognition, has improved the garlic yellow and has planted the level.
Drawings
Fig. 1 is a schematic structural diagram of a control system for planting garlic yellow based on image recognition according to an embodiment of the present application;
FIG. 2 is a schematic view of a constant temperature separator installation provided in an embodiment of the present application;
fig. 3 is a schematic structural view of a stereoscopic garlic yellow planting library according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a two-finger stacker and two-finger fork provided herein;
fig. 5 is a schematic structural diagram of a stereoscopic garage bracket according to an embodiment of the present application;
FIG. 6 is a schematic view of a planting box and a planting water box according to an embodiment of the present disclosure;
fig. 7 is a schematic diagram of a garlic yellow transporting, harvesting and packaging assembly line provided by an embodiment of the application;
FIG. 8 is a schematic diagram of a push rod setting position according to an embodiment of the present disclosure;
FIG. 9 is a partial side view of a transport harvesting packaging line provided in an embodiment of the present application;
FIG. 10 is a schematic diagram of a control system architecture according to an embodiment of the present disclosure;
in fig. 1 to 10, the symbols are represented as:
1-garlic yellow three-dimensional planting warehouse, 2-constant temperature partition plates, 3-transportation pipelines, 4-warehouse entry, 5-warehouse exit, 6-rotation pipelines, 7-output pipelines, 8-garlic yellow conveyor belts, 9-planting boxes, 10-three-dimensional warehouse supports, 11-planting water boxes, 12-temperature and humidity sensors, 13-oxygen sensors, 14-track fixing frames, 15-ground tracks, 16-day tracks, 17-planting box transfer stations, 18-double-finger stacking machines, 19-double-finger forks, 20-circulation water boxes, 21-rubber joints, 22-planting box positioning supports, 23-constant pressure water supply equipment, 24-jacking rotating devices, 25-planting box conveyor belts, 26-garlic yellow harvesters, 27-induction weighing type conveyors, 28-control platforms, 29-narrow belt conveyors, 30-bundling machines, 31-collecting boxes and 32-push rods.
Detailed Description
The present invention is described below with reference to the drawings and the detailed description.
Referring to fig. 1 and 2, the system for controlling planting of garlic yellow based on image recognition provided in the embodiment of the present application includes: the three-dimensional garlic bulb planting warehouse 1, constant temperature baffle plates 2 are installed around the three-dimensional garlic bulb planting warehouse, and the constant temperature baffle plates 2 are used for ensuring that the temperature of the three-dimensional garlic bulb planting warehouse is most suitable for the growth of garlic bulbs. In this embodiment, the three-dimensional garlic bulb planting warehouse 1 is provided with a transportation assembly line 3, two ends of the transportation assembly line 3 are respectively a warehouse entry port 4 and a warehouse exit port 5 of the three-dimensional garlic bulb planting warehouse 1, the warehouse entry port 4 is connected with a first end of a rotary assembly line 6, the warehouse exit port 5 is connected with a first end of an output assembly line 7, a second end of the output assembly line 7 is connected with an input end of a garlic bulb harvester 26, and a second end of the rotary assembly line 6 is arranged at an output port of a planting box of the garlic bulb harvester 26; the garlic bulb output port of the garlic bulb harvester 26 is provided with a garlic bulb conveying belt 8, and the arrangement direction of the garlic bulb conveying belt 8 is longitudinally parallel to the output garlic bulbs; the three-dimensional garlic bulb planting warehouse 1, the transportation assembly line 3, the rotation assembly line 6 and the output assembly line 7 are all provided with image recognition devices, the image recognition devices are used for recognizing the garlic bulb growing state, the posture and the identification information of the planting boxes 9 according to the obtained images, and controlling the planting boxes 9 in different stages according to recognition results, wherein the identification information of the planting boxes 9 is different.
Referring to fig. 3, 4, 5 and 6, in this embodiment, the stereoscopic planting warehouse 1 for garlic yellow is fixed on the ground and extends vertically, and includes a stereoscopic warehouse support 10, the stereoscopic warehouse support 10 is welded and fixed by a plurality of rectangular supports with steel structures, a cultivation water tank 11 is arranged on the stereoscopic warehouse support 10, the planting box 9 is arranged on the cultivation water tank 11, an image recognition device arranged on the stereoscopic warehouse support 10 is used for monitoring the growth condition of garlic yellow, and if the image recognition device determines that the garlic yellow has slow growth or wilts according to image comparison, the water supplementing device is controlled to supplement water to the cultivation water tank 11; when the height of the garlic bulbs reaches the preset harvesting height, the planting box 9 is placed in the output assembly line 7, the output assembly line 7 is controlled to operate so that the planting box 9 is sent to the garlic bulb harvester, and then the garlic bulb harvester 26 is controlled to harvest the garlic bulbs. In the harvesting process, if the planting box 9 cannot be transported normally on the output assembly line 7, the posture of the planting box is adjusted. The three-dimensional warehouse support 10 is also fixedly provided with a temperature and humidity sensor 12 and an oxygen sensor 13, and the temperature and humidity sensor 12 and the oxygen sensor 13 realize monitoring of temperature and humidity and oxygen content of a production factory.
In this embodiment, the stereoscopic garlic yellow planting warehouse 1 further includes a rail fixing frame 14, and an overground rail 15 and a top rail 16 respectively fixed at two ends of the rail fixing frame 14, where the overground rail 15 and the top rail 16 are both disposed between the stereoscopic warehouse brackets 10. The track fixing frame 14 is fixedly mounted on the stereo garage support 10 by a welding mode, and the top rail 16 is fixedly mounted on the track fixing frame 14 by a bolt fastening mode. Every the above-ground track 15 all is provided with plants case transfer station 17, it is provided with the production line of planting case transfer station to plant the case transfer station, plants the first end of case transfer station production line and the adjacent setting of three-dimensional storehouse support, plant the second end of case transfer station production line with transportation assembly line 3 is adjacent to be set up. The double-finger stacker 18 slidable mounting in on track 15 and the sky rail 16 on the ground, install double-finger fork 19 on the double-finger stacker 18 and be used for inserting and get plant case 9, double-finger stacker 18 will insert the planting case of getting and place in the first end of planting case transfer station assembly line, then transfer to transportation assembly line 3 through planting case transfer station assembly line, plant case 9 and transport to output assembly line 7 through transportation assembly line 3, when planting case 9 reachs transportation assembly line 3 and output assembly line 7 juncture, push rod 32 that sets up at transportation assembly line 3 tip will plant case 9 propelling movement to output assembly line 7.
The three-dimensional storehouse support 10 one side is provided with circulation water tank 20, circulation water tank 20 is through setting up the rubber joint 21 on cultivating water tank 11 is linked together, adjacent cultivating water tank 11 is through rubber joint 21 is linked together. A plurality of planting box positioning brackets 22 are fixedly arranged in the planting water tank 11 in a welding mode, and planting boxes 9 are placed on the planting box positioning brackets 22. In this embodiment, the circulation water tank 20 includes a fresh water circulation water tank and a nutrient solution circulation water tank, and when the garlic yellow is planted for the first time, the fresh water circulation water tank is controlled to supply water for the cultivation water tank 11. When the first planting box passes through the rotary assembly line 6 for the first time, the image recognition device determines the identification information of the first planting box, garlic seeds in the first planting box enter second-crop planting, the nutrient solution circulating water tank is controlled to supply water for the planting water tank 11 corresponding to the first planting box, and the first planting box and the planting box for planting the garlic yellow for the first time are placed on different three-dimensional warehouse supports or different layers of the same three-dimensional warehouse support. The circulation water tank 20 is provided with a constant pressure water supply device 23, and the constant pressure water supply device 23 conveys water in the circulation water tank 20 into the cultivation water tank 11 to realize the water planting of the garlic yellow and complete the water circulation purification.
Referring to fig. 7, the transportation pipeline 3 and the output pipeline 7 are provided with a plurality of lifting rotating devices 24, and each lifting rotating device 24 is correspondingly provided with an image recognition device. When the planting box 9 cannot be transported on the output assembly line 7 from the first posture after being transported to the output assembly line 7 by the planting box transfer station assembly line, the controller controls the jacking rotating device 24 to adjust the planting box 9 from the first posture to the second posture, the first posture is the initial posture of the planting box 9 transported to the output assembly line 7 from the planting box transfer station assembly line, the second posture is the posture of the planting box 9 transported on each assembly line, and the planting box is changed into the second posture from the first posture to rotate 90 degrees. Referring to fig. 8, when the planting box 9 is transported on the output assembly line 7, push rods 32 are arranged at 90-degree corners, and the push rods 32 directly change the transportation direction of the planting box 9, so that the normal transportation of the planting box 9 is realized
The jacking and rotating device 24 on the transportation assembly line 3 is adjacently arranged at one end of the planting box transfer station 17, and the jacking and rotating device 24 on the output assembly line 7 is adjacently arranged at one end of the garlic yellow harvesting device. The jacking and rotating device 24 on the conveying assembly line 3 adjusts the posture of the planting box 9 for harvesting the garlic bulbs and then conveys the planting box to the garlic bulb harvester 26 through the output assembly line 7.
The garlic bulb harvesting device comprises a planting box conveying belt 25, the jacking rotating device 24 is arranged adjacent to the first end of the planting box conveying belt 25, when the jacking rotating device 24 which conveys the planting box 9 to the front of the garlic bulb harvesting device is identified, conveying of the planting box 9 is stopped, and the jacking rotating device 24 is controlled to convey the lifting direction of the planting box 9 to the planting box conveying belt 25. The planting box conveyer belt 25 is provided with a garlic yellow harvester 26, an inlet of the garlic yellow harvester 26 is arranged on one side close to a first end of the planting box conveyer belt 25, a planting box outlet of the garlic yellow harvester 26 is arranged on one side close to a second end of the planting box conveyer belt, the planting box outlet is arranged adjacent to a starting end of the rotary assembly line 6, a garlic yellow outlet is arranged on one side of the middle position of the garlic yellow harvester 26, and the garlic yellow conveyer belt 8 is arranged adjacent to the garlic yellow outlet.
The planting box 9 enters from the inlet of the garlic bulb harvester 26 under the conveying of the planting box conveying belt 25, the harvested garlic bulbs are conveyed onto the garlic bulb conveying belt 8 from the garlic bulb outlet, and the planting box 9 after harvesting the garlic bulbs is conveyed to the rotary assembly line 6 from the planting box outlet for secondary planting.
In this embodiment, the yellow garlic outlet and the planting box outlet are both provided with image recognition devices, the image recognition devices at the yellow garlic outlet acquire the yellow garlic pattern on the yellow garlic conveyer belt 8, determine whether a preset included angle exists between the stalk of the yellow garlic and the axis of the conveying direction of the yellow garlic conveyer belt 8, and if the included angle between the stalk of the yellow garlic and the axis of the conveying direction of the yellow garlic conveyer belt 8 is greater than the preset included angle, comb the yellow garlic through manual intervention. The image recognition device at the outlet of the planting box is used for determining the planting box 9 conveyed out, the jacking rotating device 24 is arranged at the position, adjacent to the outlet of the planting box, of the rotary assembly line 6, when the image recognition device extracts the characteristic information of the planting box from the shot image, the planting box 9 is output from the outlet of the planting box, the jacking rotating device 24 is controlled to jack up to receive the planting box, the jacking rotating device 24 receives the planting box 9 after harvesting the garlic yellow, then descends, and the planting box 9 enters the rotary assembly line 6. Referring to fig. 9, the rotary pipeline 6 is positioned below the garlic bulb conveyer belt 8 with a certain space therebetween, and the planting boxes 9 output from the planting box outlet are conveyed out through the rotary pipeline 6.
The output end of the garlic bulb conveyer belt 8 is a garlic bulb weighing device, the garlic bulb weighing device comprises an induction weighing type conveyer 27 and a control platform 28, the control platform 28 is provided with weighing quality, when the garlic bulbs on the induction weighing type conveyer 27 reach set quality, the induction weighing type conveyer 27 starts to operate to transmit the garlic bulbs to the garlic bulb bundling device.
The device for bundling the garlic yellow comprises a narrow-belt garlic yellow conveyor 29 and a bundling machine 30, wherein preliminary gathering of the garlic yellow is realized on two sides of the narrow-belt garlic yellow conveyor 29, the narrow-belt garlic yellow conveyor 29 runs to convey the garlic yellow to the position below the bundling machine 30, and the bundling machine 30 finishes bundling of the garlic yellow and conveys the garlic yellow to a garlic yellow collecting box 31.
Referring to fig. 7, for the control system architecture provided in the embodiment of the present application, the controller in fig. 7 is used as a control core, and the image recognition device is disposed at different positions of the garlic yellow intelligent planting factory, and controls the transportation assembly line, the rotation assembly line and the output assembly line to perform transportation planting box operation according to the result recognized by the image recognition device. When the planting box needs to change direction in the transportation process, the image recognition device, the jacking rotation device and the controller are matched. And after the garlic bulblet enters the garlic bulblet harvesting device, the harvesting, weighing and bundling of the garlic bulblet are controlled by the controller to control the corresponding devices, such as: harvesting speed of the garlic yellow, whether the state of outputting the garlic yellow meets the requirement, whether weighing meets the bundling requirement, and the like. In a word, the embodiment of the application is added with the image recognition device, so that accurate automatic intelligent production from planting to harvesting of the garlic yellow is realized.
Corresponding to the system for controlling the planting of the garlic bulbs based on the image recognition provided by the embodiment, the application also provides an embodiment of a method for controlling the planting of the garlic bulbs based on the image recognition.
In this embodiment, the system for controlling planting of garlic yellow based on image recognition in the above embodiment is adopted, and the specific method for controlling planting of garlic yellow includes:
s101, placing garlic seeds into a planting box by using a mechanical arm, placing the planting box into a transportation assembly line through a warehouse entry port, and transporting the planting box to a jacking rotating device by using the transportation assembly line.
S102, the jacking and rotating device controls the direction change of the planting box, and the image recognition device determines that the direction change of the planting box is in place, stops rotating and sends the planting box to the planting box transfer station.
S103, controlling the double-finger pallet fork to place the planting box placed in the planting box transfer station on the three-dimensional warehouse support by the double-finger stacker.
S104, controlling the clear water circulation water tank to supply water for the cultivation water tank, setting soaking time by the intelligent control system, enabling the intelligent control system to control the valve to be opened, and enabling the water to flow back into the circulation water tank, wherein the cultivation water tank is supplied with water in the above mode for the fixed time every day.
S105, monitoring the growth condition of the garlic yellow through an image recognition device arranged on a three-dimensional warehouse bracket in the garlic yellow cultivation process, and removing defective products in real time in the cultivation process.
S106, when the image recognition device monitors that the garlic bulbs reach the harvesting condition, controlling the double-finger stacker to place the garlic bulbs to be harvested and the planting boxes into the planting box transfer station together through the double-finger fork, and then transporting the garlic bulbs to the jacking rotating device of the transportation assembly line to realize the diversion of the planting boxes.
S107, the planting boxes subjected to the turning treatment are transported to the garlic yellow harvesting device through the output assembly line from the warehouse outlet, and the second turning conveying to the planting box conveyor belt is completed under the control of the image recognition device to complete the harvesting of the garlic yellow.
S108, conveying the harvested garlic chives to a garlic chives conveyor belt through a garlic chives outlet, detecting whether the output garlic chives are longitudinally parallel to the garlic chives conveyor belt or not in real time by an image recognition device of the garlic chives outlet, and weighing and bundling the harvested garlic chives through the garlic chives conveyor belt.
S109, outputting the planting boxes after harvesting the garlic yellow from the planting box outlet, determining the conveyed planting boxes by the image recognition device of the planting outlet, and controlling the jacking rotating device to lift and receive the planting boxes to be conveyed to the rotary assembly line when the planting boxes are output from the planting box outlet.
S1010, an image recognition device arranged on the rotary assembly line recognizes the identification of the planting box entering the rotary assembly line, and judges the rotary times of the planting box.
S1011, if the planting box is judged to enter the rotary assembly line for the first time, the planting box is conveyed to a warehouse entry port through the rotary assembly line for secondary planting, wherein the garlic yellow planted for the first time and the garlic yellow planted for the secondary planting are placed on different three-dimensional warehouse supports or different layers of the same three-dimensional warehouse support, and the nutrient solution circulating water tank is controlled to supply water for the cultivation water tank where the planting box planted for the secondary planting is located. And if judging that the cultivation box entering the rotary assembly line is the second time, removing the cultivation box and replacing a new garlic seed.
In the embodiments of the present application, "at least one" means one or more, and "a plurality" means two or more. "and/or", describes an association relation of association objects, and indicates that there may be three kinds of relations, for example, a and/or B, and may indicate that a alone exists, a and B together, and B alone exists. Wherein A, B may be singular or plural. The character "/" generally indicates that the context-dependent object is an "or" relationship. "at least one of the following" and the like means any combination of these items, including any combination of single or plural items. For example, at least one of a, b and c may represent: a, b, c, a-b, a-c, b-c, or a-b-c, wherein a, b, c may be single or plural.
The foregoing is merely specific embodiments of the present application, and any person skilled in the art may easily conceive of changes or substitutions within the technical scope of the present application, which should be covered by the protection scope of the present application. The protection scope of the present application shall be subject to the protection scope of the claims.
Claims (5)
1. The system for controlling the planting of the garlic yellow based on the image recognition is characterized by comprising the following components: the three-dimensional planting warehouse for the garlic yellow comprises a transportation pipeline, wherein two ends of the transportation pipeline are respectively a warehouse entry port and a warehouse exit port of the three-dimensional planting warehouse for the garlic yellow, the warehouse entry port is connected with a first end of a rotary pipeline, the warehouse exit port is connected with a first end of an output pipeline, a second end of the output pipeline is connected with an input end of a garlic yellow harvester, and a second end of the rotary pipeline is arranged at an output port of a planting box of the garlic yellow harvester; the garlic bulb output port of the garlic bulb harvester is provided with a garlic bulb conveying belt, and the arrangement direction of the garlic bulb conveying belt is longitudinally parallel to the output garlic bulbs;
the intelligent factory controller is used for completing control of the planting boxes at different stages according to the identification result of the image recognition device, wherein the identification information of different planting boxes is different;
the garlic yellow three-dimensional planting warehouse comprises a three-dimensional warehouse support, wherein a cultivation water tank is arranged on the three-dimensional warehouse support, and the planting box is arranged on the cultivation water tank;
the image recognition device is used for monitoring the growth condition of the garlic yellow, and if the image recognition device determines that the garlic yellow grows slowly or wilts according to image comparison, the water supplementing device is controlled to supplement water to the cultivation water tank; when the height of the garlic bulbs reaches a preset harvesting height, placing a planting box in an output assembly line, controlling the output assembly line to operate so as to send the planting box into a garlic bulb harvester, and then controlling the garlic bulb harvester to harvest the garlic bulbs; in the harvesting process, if the planting box cannot be transported normally on an output assembly line, the posture of the planting box is adjusted;
one side of the three-dimensional warehouse support is provided with a circulating water tank, the circulating water tank is communicated through a rubber joint arranged on the cultivation water tank, and adjacent cultivation water tanks are communicated through the rubber joint;
the circulating water tank comprises a clear water circulating water tank and a nutrient solution circulating water tank, and when the garlic yellow is planted for the first time, the clear water circulating water tank is controlled to supply water for the cultivation water tank; when a first planting box passes through the rotary assembly line for the first time, the image recognition device determines identification information of the first planting box, garlic seeds in the first planting box enter second-crop planting, a nutrient solution circulating water tank is controlled to supply water for a planting water tank corresponding to the first planting box, and the first planting box and the planting box for planting the garlic yellow for the first time are placed in different three-dimensional warehouse supports or different layers of the same three-dimensional warehouse support;
a plurality of jacking rotating devices are arranged on the transportation assembly line and the output assembly line, and each jacking rotating device is correspondingly provided with an image recognition device;
when the first gesture of the planting box after being conveyed onto the output pipeline from the planting box transfer station pipeline cannot be conveyed onto the output pipeline, the controller controls the jacking rotating device to adjust the planting box from the first gesture to the second gesture, wherein the first gesture is an initial gesture of the planting box conveyed onto the output pipeline from the planting box transfer station pipeline, the second gesture is a gesture of the planting box realizing conveying on the conveying pipeline and the output pipeline, and the planting box is changed into the second gesture from the first gesture to rotate 90 degrees;
the jacking and rotating device on the conveying assembly line is adjacently arranged at one end of the transfer station of the planting box, and the jacking and rotating device on the output assembly line is adjacently arranged at one end of the garlic yellow harvesting device;
the garlic yellow harvesting device comprises a planting box conveyor belt, the jacking rotating device is arranged adjacent to the first end of the planting box conveyor belt, a garlic yellow harvester is arranged on the planting box conveyor belt, an inlet of the garlic yellow harvester is arranged on one side close to the first end of the planting box conveyor belt, a planting box outlet of the garlic yellow harvester is arranged on one side close to the second end of the planting box conveyor belt, a planting box outlet is arranged adjacent to the starting end of the rotary assembly line, a garlic yellow outlet is arranged on one side of the middle position of the garlic yellow harvester, and a garlic yellow conveyor belt is arranged adjacent to the garlic yellow outlet;
controlling a planting box to enter from an inlet of the garlic yellow harvester, conveying the harvested garlic yellow to the garlic yellow conveying belt from the garlic yellow outlet, and conveying the planting box after harvesting the garlic yellow to the rotary assembly line from the planting box outlet for secondary planting; the method comprises the steps that an image recognition device is arranged at each of a garlic bulb outlet and a planting box outlet, a garlic bulb graph on a garlic bulb conveying belt is obtained by the image recognition device at the garlic bulb outlet, whether a preset included angle exists between stems of the garlic bulbs and the axis of the conveying direction of the garlic bulb conveying belt or not is determined, and if the included angle between the stems of the garlic bulbs and the axis of the conveying direction of the garlic bulb conveying belt is larger than the preset included angle, the garlic bulbs are combed through manual intervention; the image recognition device at the outlet of the planting box is used for determining the planting box which is conveyed out, the jacking rotating device is arranged at the position, corresponding to the outlet of the planting box, of the rotary assembly line, when the image recognition device extracts characteristic information of the planting box from a shot image, the planting box is output from the outlet of the planting box, the jacking rotating device is controlled to lift and receive the planting box, and the jacking rotating device receives the planting box after harvesting garlic yellow and then descends, and the planting box enters the rotary assembly line.
2. The system for controlling the planting of the garlic yellow based on the image recognition according to claim 1, wherein the stereoscopic planting warehouse of the garlic yellow comprises a track fixing frame, an overground track and a sky track respectively fixed at two ends of the track fixing frame, and the overground track and the sky track are arranged between the stereoscopic warehouse brackets; each overground track is provided with a planting box transfer station, each planting box transfer station is provided with a planting box transfer station assembly line, a first end of each planting box transfer station assembly line is arranged adjacent to the three-dimensional warehouse support, and a second end of each planting box transfer station assembly line is arranged adjacent to the transportation assembly line; the double-finger stacker is slidably mounted on the ground track and the overhead track, the double-finger stacker is provided with a double-finger fork for inserting the planting box, the double-finger stacker places the inserted planting box at the first end of a planting box transfer station assembly line, then the planting box is transmitted to a transportation assembly line through the planting box transfer station assembly line, the planting box is transported to an output assembly line through the transportation assembly line, and when the planting box reaches the junction of the transportation assembly line and the output assembly line, a push rod arranged at the end part of the transportation assembly line pushes the planting box to the output assembly line.
3. The image recognition-based garlic bulb planting control system according to claim 1, wherein the output end of the garlic bulb conveyor belt is a garlic bulb weighing device, the garlic bulb weighing device comprises an induction weighing type conveyor and a control platform, the control platform sets weighing quality, and when the garlic bulbs on the induction weighing type conveyor reach the set quality, the induction weighing type conveyor starts to operate to transmit the garlic bulbs to the garlic bulb bundling device.
4. The image recognition-based garlic bulb planting control system according to claim 3, wherein the garlic bulb bundling device is composed of a narrow-belt garlic bulb conveyor and a bundling machine, the two sides of the narrow-belt garlic bulb conveyor are used for achieving preliminary gathering of the garlic bulbs, the narrow-belt garlic bulb conveyor operates to transport the garlic bulbs under the bundling machine, and the bundling machine is used for bundling the garlic bulbs and transporting the garlic bulbs into a garlic bulb collecting box.
5. An image recognition-based garlic yellow planting control method, characterized by using the image recognition-based garlic yellow planting control system as set forth in any one of claims 1 to 4, the method comprising:
placing garlic seeds into a planting box by using a mechanical arm, placing the planting box into a transportation assembly line through a warehouse entry port, wherein the transportation assembly line is used for transporting the planting box to a jacking rotating device;
the jacking rotating device controls the direction change of the planting box, determines that the direction change of the planting box is in place through the image recognition device, stops rotating and sends the planting box to the planting box transfer station;
the double-finger stacker controls the double-finger fork to put a planting box placed in a planting box transfer station on the three-dimensional warehouse bracket;
controlling a clear water circulation water tank to supply water for the cultivation water tank, setting soaking time by an intelligent control system, controlling a valve to be opened by the intelligent control system, and enabling water to flow back into the circulation water tank, wherein the cultivation water tank is supplied with water for a fixed time every day;
in the cultivation process of the garlic bulbs, the growth condition of the garlic bulbs is monitored through an image recognition device arranged on a three-dimensional warehouse bracket, and defective products are removed in real time in the cultivation process;
when the image recognition device monitors that the garlic bulbs reach the harvesting condition, controlling the double-finger stacker to place the garlic bulbs to be harvested and the planting boxes into a planting box transfer station together through the double-finger fork, and then transporting the garlic bulbs to a jacking rotating device of a transportation assembly line to realize the diversion of the planting boxes;
the planting box after the turning treatment is transported to the garlic yellow harvesting device through the output assembly line from the warehouse outlet, and the second turning conveying to the planting box conveyor belt is completed under the control of the image recognition device to complete the harvesting of the garlic yellow;
conveying the harvested garlic chives to a garlic chives conveyor belt through a garlic chives outlet after harvesting, detecting whether the output garlic chives are longitudinally parallel to the garlic chives conveyor belt or not in real time by an image recognition device of the garlic chives outlet, and weighing and bundling the harvested garlic chives through the garlic chives conveyor belt;
the planting boxes after harvesting the garlic yellow are output from the planting box outlet, the image recognition device at the planting outlet determines the conveyed planting boxes, and when the planting boxes are output from the planting box outlet, the jacking rotating device is controlled to lift and receive the planting boxes to be conveyed to the rotary assembly line;
the image recognition device arranged on the rotary assembly line recognizes the identification of the planting box entering the rotary assembly line, and judges the rotary times of the planting box;
if the planting box is judged to enter the rotary assembly line for the first time, the planting box is conveyed to a warehouse entry port through the rotary assembly line for second-crop planting, wherein the first planted garlic yellow and the second planted garlic yellow are placed on different three-dimensional warehouse supports or different layers of the same three-dimensional warehouse support, and the nutrient solution circulating water tank is controlled to supply water for the cultivation water tank where the planting box for second-crop planting is located;
or if the cultivation box entering the rotary assembly line is judged to be the second time, the cultivation box is removed, and a new garlic seed is replaced.
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