KR102049234B1 - Self-Driving Apparatus for Plant Cultivation - Google Patents

Abstract

Providing autonomous driving device for plant cultivation.
The present invention provides an autonomous driving apparatus for transporting a cultivation tray into which plants are planted while moving in and out of a plant factory, the lower end having a pair of left and right side walls rotatably provided with a driving wheel and a driven wheel. A traveling part provided with a first driving motor for providing power for rotating the wheel and traveling in one direction; A left and right pair of lifters corresponding to the left and right edges of the cultivation tray positioned between the left and right pair of side walls, and a second driving motor providing a driving force for raising and lowering the left and right pair lifters; Lifting section for separating or seating the cultivation tray from the floor; It is installed on the upper side of the left and right pair of side walls and has a box body that forms an inner space in which the first and second drive motors are arranged, and has a water storage tank filled with a certain amount of water supplied to the cultivation tray to travel together with the traveling part. A moving body part; It includes.

Description

Self-driving Apparatus for Plant Cultivation

The present invention relates to an apparatus for autonomous driving to carry a cultivation tray used in a plant cultivating plant, and more particularly, in consideration of the growth rate and harvest time of the plant cultivated in a plant plant The present invention relates to a self-driving device for plant cultivation, which can be carried in and transported inside and harvested by discharging and transporting a cultivation tray outside the plant in accordance with the harvest time of the plant.

In general, a plant factory is to produce crops such as vegetable crops in large quantities regardless of the season or place, while artificially controlling environmental conditions such as light, temperature and humidity, carbon dioxide concentration, and culture solution within a controlled facility. .

These plant factories are able to obtain pollution-free fresh organic vegetables for four seasons regardless of the season and place, and the mass production can be efficiently carried out even in a narrow space, when weather extremes occur frequently and food stability and price spikes frequently occur. It is attracting attention in that it is.

Republic of Korea Patent No. 10-1263859 includes a bogie for carrying a culture plate containing a cultured potted plant seed is planted, the transfer plate containing the cultured plant containing the completed growth, plant seed is sowing from the bogie When the cultivation containing the cultured potted plants is delivered and received, the cultivated plates containing the cultivated plants containing the plants that have completed the growth are transferred sequentially. Disclosed is an unmanned plant cultivation apparatus that enables a large amount of plant cultivation and production with minimal manpower.

The bogie provided in the conventional unmanned planting device is to deliver the cultivation plate to the plant cultivator and to move the cultivation lined with the cultivated plants containing the completed plants in the plant cultivator to receive, move the upright bogie frame and It is provided by a combination of the transverse and longitudinal direction and has a bogie support plate for supporting the redistribution plate, and provided with a bogie moving roller and a bogie conveyer attached to the lower end of the bogie support frame, so that the bogie conveying support bar of the bogie conveyer has a bogie conveying motor. The energy provided by the vehicle is moved back and forth from one side of the bogie, along the guide rails installed on both sides of the bogie support frame, or by mechanical coupling with the bogie conveying motor.

However, such a truck has the advantage of bringing a large amount of redistribution into the inside of the plant cultivator and carrying it out to the outside, but it is difficult to bring in and take out the redistribution individually according to the growth rate of plants. Optimized plant plant management was not possible.

In addition, the bogie to transfer the cultivation should be designed with a large overall volume in accordance with the overall scale of the plant cultivator, and the internal guide structure of the plant cultivator must be strictly managed according to the design conditions of the bogie entering and exiting the plant cultivator. Therefore, the maintenance and maintenance costs are excessively consumed when operating a plant factory, and when a partial breakdown or damage of the bogie and plant cultivator is stopped, the operation of the entire plant plant system is interrupted, thereby lowering the cultivation efficiency.

Therefore, the present invention is to solve the problems described above, the purpose is to carry in and transport the cultivation tray in consideration of the growth rate and harvesting time of the plants while autonomous driving inside and outside of the plant factory, the plants grow It is intended to provide an autonomous driving device for plant cultivation that can transport and cultivate the cultivation tray to the outside of the factory at the time of harvesting, and can carry the cultivation tray individually while freely running autonomously without interfering with the inside of the large-scale plant factory. .

Another object of the present invention is to import and export the cultivation tray to the inside and outside of the factory while autonomous driving in a clean room type plant factory designed to minimize the inflow of external contaminants such as bacteria and fungi from the outside into the factory from the outside To provide a self-driving device for plant cultivation.

The technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned above will be clearly understood by those skilled in the art from the following description. Could be.

According to a preferred embodiment of the present invention as a specific means for achieving the above object, in the autonomous driving apparatus for transporting a cultivation tray including a culture soil or a culture medium in which plants are planted while entering and exiting a plant factory, A traveling part provided with a left and right pair of side walls rotatably provided with a driving wheel and a driven wheel, and having a first driving motor for providing power for rotating the driving wheel; A left and right pair of lifters corresponding to the left and right edges of the cultivation tray positioned between the left and right pair of side walls, and a second driving motor for providing driving force for lifting and lowering the left and right pair of lifters; Lifting section for separating or seating the cultivation tray from the floor; It is installed on the upper side of the left and right pair of side walls and has a box body that forms an inner space in which the first and second drive motors are arranged, and has a water storage tank filled with a certain amount of water supplied to the cultivation tray to travel together with the traveling part. A moving body part; It provides a self-driving device for plant cultivation comprising a.

Preferably, the left and right pairs of side walls have a first vertical stand rotatably provided with the driving wheel at the lower end, and a second vertical stand rotatably provided with the driven wheel at the lower end, and each other in the driving direction. It may include a plurality of horizontal connecting rods to integrally connect between the adjacent first and second vertical table.

More preferably, the drive pulley provided on the drive shaft of the first drive motor is connected via the drive wheel and the belt member.

More preferably, the first vertical table may be formed of a pair of vertical plates parallel to each other by having a gap retaining material at the upper and lower ends so as to form a passage through which the belt member connecting the driving pulley and the driving wheel passes.

Preferably, any one of the left and right pair of side walls may include a driving sensor for generating a signal for controlling the driving of the first driving motor by detecting the induction line disposed on the bottom surface.

Preferably, the left and right pair of lifters are guide blocks which are integrally assembled with the left and right edges of the cultivation tray and corresponding hangers, and sliders installed perpendicular to the inside of the side wall such that the guide blocks are slidably assembled. It may include.

More preferably, including a rotation drive shaft rotated in the forward or reverse direction by the rotation driving force of the second drive motor, the rotary rolls provided at both ends of the rotation drive shaft is connected to one end of the connection member having a predetermined length, The other end of the connecting member is connected to the guide block.

More preferably, any one of the left and right pair of side walls includes an upper and lower position sensors for generating a signal for controlling the driving of the second drive motor by sensing the upper and lower positions of the hanger or guide block, respectively. Can be.

Preferably, the left and right pair of side walls include a nozzle for injecting water through at least one through hole formed in the left and right sides of the cultivation tray, the water storage tank is in communication with the pumping member for discharging the stored water to the outside The pumping member is connected to the distribution side via a connection line and vertically along the left and right pair of side walls from the left and right pair of first branch lines extending horizontally from the distribution side to the left and right pair of side walls. It may include a second branch line that extends, and a nozzle corresponding to the through hole at the discharge end of the second branch line bent to correspond to the cultivation tray.

More preferably, including a nozzle moving unit for reciprocating the support base on which the nozzle is mounted to the cultivation tray side, the nozzle moving unit is a carriage coupled integrally with the support base, and one side of the carriage A rail that is slidably assembled and an actuator having the rail integrated therein may be fixed to the sidewalls of the left and right pairs of actuators connected to one end of the carriage and the rod end.

According to the present invention as described above has the following advantages.

1) By bringing in and out of the cultivation tray where plants are cultivated into the plant factory by autonomous driving, it is possible to increase productivity by promoting full automation of the plant factory.

2) Optimum cultivation conditions by transporting cultivated trays with plants planted inside the plant factory in consideration of the growth rate and growth time of the plant, which is the object of cultivation, and taking them out of the plant factory at the harvesting time when plant growth is completed. Plants can be cultivated in order to cultivate high-quality agricultural products, and cultivation management of crops with difficult growing conditions can be strictly performed.

3) Bacteria or fungus during plant cultivation because the planting tray can be transported unattended autonomous driving inside the clean room type plant factory while preventing the inflow of external contaminants such as bacteria and fungus into the plant factory where the plant is grown. It is possible to prevent the death of special crops vulnerable to susceptibility and to secure a stable yield.

4) When water or culture solution is supplied to the growing tray stably, it can prevent the plant cultivated due to lack of moisture to prevent the dead and increase the cultivation efficiency.

1 is an overall perspective view showing a plant cultivation autonomous driving apparatus according to a preferred embodiment of the present invention.
2a and 2b is a perspective view of the whole plant cultivation autonomous driving apparatus according to an embodiment of the present invention from the top, bottom.
3A and 3B are perspective views illustrating a cultivation tray applied to a plant cultivation autonomous driving apparatus according to a preferred embodiment of the present invention.
Figure 4 is a perspective view showing the internal state of the autonomous running device for plant cultivation according to an embodiment of the present invention.
Figure 5 is a perspective view of the internal state of the autonomous driving device for plant cultivation according to an embodiment of the present invention from a different angle.
Figure 6 is a detailed view showing the coupling state of the first and second drive motors in the autonomous driving device for plant cultivation according to an embodiment of the present invention.
7 is a detailed view showing a lifter and a nozzle moving part applied to a plant cultivation autonomous driving apparatus according to a preferred embodiment of the present invention.
8 is a schematic plan view showing a plant factory to which the autonomous driving device for plant cultivation according to an embodiment of the present invention is applied.
9 is a side view showing a plant factory to which the autonomous driving device for plant cultivation according to an embodiment of the present invention is applied.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention. However, in describing in detail the structural principle of the preferred embodiment of the present invention, when it is determined that the detailed description of the related known functions or configurations may unnecessarily obscure the subject matter of the present invention, the detailed description thereof will be omitted.

In addition, the same reference numerals are used for parts having similar functions and functions throughout the drawings.

In addition, throughout the specification, when a part is 'connected' to another part, it is not only 'directly connected' but also 'indirectly connected' with another element in between. Include. In addition, the term 'comprising' a certain component means that the component may be further included, without excluding the other component unless specifically stated otherwise.

Autonomous running device 100 for plant cultivation according to an embodiment of the present invention, as shown in Figures 1 to 4, the cultivation tray 10, the running unit 110, the elevating unit 120 and the main body 130 ) May be included.

The driving unit 110 includes a pair of left and right side walls 110a and 110b rotatably supporting the driving wheel 111a and the driven wheel 112a at the lower end, respectively. The side walls 110a and 110b include a first vertical stand 111 that rotatably includes the driving wheel 111a at a lower end thereof, and a second vertical line rotatably including the driven wheel 112a at a lower end thereof. A plurality of horizontal connecting rods 113 may be provided, and the plurality of horizontal connecting rods 113 may be integrally connected to each other between the first vertical stand 111 and the second vertical stand 112 adjacent to each other in the driving direction.

The pair of left and right driving wheels 111a provided at the lower end of the first vertical stand 111 positioned on the front side of the driving unit in the forward direction by the rotational driving force of the first driving motor 114. It is rotated or reversed.

In this case, as shown in FIGS. 4 to 6, the first driving motors 114 are arranged in a left and right pair provided on the lower plate 130a corresponding to the bottom plate of the main body 130, and the first The drive pulley 114a provided on each drive shaft of the drive motor 114 is connected to the drive wheel 111a via the belt member 115, and the reducer 114b is connected between the drive pulley 114a and the drive shaft. It may include.

The belt member 115, which is a power transmission means for connecting between the drive pulley 114a and the drive wheel 111a, is formed of a timing belt member wound around a gear surface formed on each outer surface of the drive pulley and the drive wheel, or V. FIG. It may be made of a belt member.

Accordingly, the driving wheel 111a may be rotated forward or backward by the rotational driving of the first driving motor 114 to move the whole body part forward and backward along with the driving part.

The first driving motor 114 is shown and described as being provided with a pair of left and right motor members disposed on both sides of the bottom plate of the main body so as to rotate the pair of left and right driving wheels respectively, but is not limited thereto. The first drive motor 114 is arranged as a single motor member in the center of the bottom plate of the main body so that the left and right pair of driving wheels can be rotated at the same time by a gear bit structure between the driving bevel gear and the left and right pair of driven bevel gears. It is possible to drive one rotation drive shaft each provided with the drive pulley at both ends.

In addition, the first vertical stand 111 is connected between the drive pulley 114a and the drive wheel 111a to form a vertical passage through which the belt member 115 for transmitting power passes without interference. Each of the gap holding members 111b may be formed in a pair of vertical plates parallel to each other.

In this case, the second vertical stand 112 also includes a pair of vertical plates parallel to each other like the first vertical table, and the horizontal connecting rod 113 is a first vertical table and a second vertical table formed of a pair of vertical plates. It can consist of a pair of horizontal plates that connect metabolites to each other.

At this time, the left and right pair of side walls (110a, 110b) is provided with a closing plate 116 of approximately 'c' cross section between the pair of first and second vertical stand adjacent to each other in the running direction, the first and second vertical table as an inner material and The left and right sides of the traveling part may be finished in the form of a wall to prevent external exposure of the horizontal connector and protect it from the external environment.

In addition, any one of the left and right pair of side walls (110a, 110b) can detect the magnetic field generated in the induction line is disposed on the floor surface is capable of autonomous driving to bring in the cultivation tray in the plant factory or transport to the outside It may include a driving sensor 117 for generating a signal for controlling the drive of the first driving motor 114 to.

The traveling sensor 117 is installed at a lower end of the first sensor fixing unit installed perpendicular to the horizontal connecting unit provided on the left and right pair of side walls, and the lower end of the first sensor fixing unit is a bottom surface on which the induction line is disposed. It is preferable to be spaced apart from each other at a predetermined interval, and the first sensor fixture 117a is preferably assembled to the inside of the side wall so as to adjust the distance between the traveling sensor and the bottom surface.

Accordingly, the driving wheel is operated while the first driving motor is operated in the forward direction by the detection signal of the traveling sensor 117 that recognizes the magnetic field generated in the induction line provided on the bottom surface corresponding to the inside or outside of the plant factory. When the driving unit 111a rotates in the forward direction, the driving unit 110 moves along the induction line disposed on the floor.

Here, the induction line may be provided as a magnetic force line for generating a magnetic field of a certain intensity, or may be provided as a conductor line for generating a magnetic field of a certain intensity when the power is applied, or may be provided as a reflection line for reflecting light for sensing, The traveling sensor 117 may be provided as any one of a hall sensor and a scanner for generating a detection signal by sensing a magnetic field or light for sensing, while the induction line may be positioned at a preset work standby position in the induction line. It is desirable to provide a separate reference mark so that it can be detected.

The elevating unit 120 is spaced apart from the bottom surface of the cultivation tray 10 to be transported or seated on the bottom surface, the left and right sides of the cultivation tray 10 located between the left and right pair of side walls (110a, 110b) It may include a pair of left and right lifters (120a, 120b) corresponding to the rim.

The left and right pair of lifters (120a, 120b) is provided on the upper end of the object tray cultivation tray 10 has a hanger (121) corresponding to the left and right edges protruding outward, the guide block is integrally assembled with the hanger (121) 122 is assembled so as to slide up and down on a slider 123 installed vertically in the middle of the length of the horizontal connecting rod 113 constituting the left and right pair of side walls.

The left and right pair of lifters 120a and 120b provided on the inner side of the left and right pair of side walls are raised or lowered to be spaced apart from the bottom surface by the rotation driving force of the second driving motor 124. .

At this time, the second driving motor 124 is disposed as a single motor member in the center of the lower plate 130a corresponding to the bottom plate of the main body 130, as shown in Figure 4 to 6 The rotary rolls 124b provided at both ends of the rotation drive shaft 124a rotated in the forward or reverse direction by the rotation driving force of the two drive motor 124 are connected to one end of the connection member 125 having a predetermined length, and the connection The other end of the member is connected to the guide block 122.

At this time, the connecting member 125 is made of a belt-shaped material that can be wound or unwound without changing the length on the outer surface of the rotary roll, the connecting member may be provided replaced by a belt member or a wire rope member. .

Accordingly, the connecting member 125 is wound or unwound by the rotary roll during the forward or reverse rotation driving of the second driving motor 124 to move the guide block of the lifter up or down along the slider. It is possible to move the planting tray caught in the lifter's hanger.

Here, the lowering operation of each lifter (120a, 120b) by the reverse rotation driving of the second drive motor 124 is the weight of the cultivation tray 10 caught on the weight of the guide block 122 or the hanger 121. Can be made by.

The second driving motor 124 is disposed at the center of the bottom plate of the main body as a single motor member, and the rotary rolls are formed at both ends by a gearbox having a gear biting structure between the driving bevel gear and the left and right pair of driven bevel gears. Although illustrated and described to rotate the rotary drive shafts provided with each, but is not limited to this may be provided with a pair of left and right motor members on the bottom plate of the main body to rotate the left and right pair of rotary rolls.

In addition, as shown in FIG. 7, one of the left and right pairs of side walls 110a and 110b may have an upper limit position of the latch 121 or the guide block 122 that is moved up and down when the second driving motor 124 is driven. And upper and lower position sensors 126a and 126 for sensing the lower and lower positions, respectively, and generating a signal for controlling the forward and reverse rotation driving of the second driving motor 124 based on the detected signal. have.

The upper and lower position sensors 126a and 126b are preferably mounted adjacent to each other on a second sensor fixing stand 126 that is vertically installed adjacent to the slider. Such upper and lower position sensors are arranged on both sides of the cultivation tray. Although shown and described as being made of a sensor member for detecting the shangdong of the hanger in contact with a non-contact type, but not limited to this, is provided with an optical sensor or a proximity sensor for detecting the guide block in a non-contact type or a limit switch for detecting the contact type. Can be.

Meanwhile, as shown in FIGS. 3A and 3B, the cultivation tray 10 is filled with a predetermined amount of culture soil or a culture solution so that plants such as special crops or vegetable crops are planted and grown. Both sides may include a plurality of through holes 15 formed to penetrate to a predetermined size so that water or culture may be supplied to the plant to be cultivated through a nozzle 135 to be described later.

Such a cultivation tray 10 is illustrated and described as being made of a box in which a culture soil or a culture medium in which plants are planted in an internal space in which a bottom surface is recessed to a predetermined depth is not limited thereto, and the cultivation tray covers an open upper part. A plurality of potholes may be formed in the upper plate, and cup-shaped pots in which the soil is filled so that plants are planted in the plurality of potholes may be individually inserted and disposed.

The main body 130 has a box body 131 that is fixedly installed in a substantially rectangular parallelepiped structure on the upper left and right pairs of side walls, and forms a predetermined internal space in which the first and second driving motors 114 and 124 are disposed. In addition, the inner space of the box body 131 includes at least one reservoir tank 132 filled with a predetermined amount of water or culture medium supplied to the cultivation tray 10 is a plant cultivation of the running unit 110 In addition, when traveling, the driving moves.

The box body 131 has a first opening 131a having a predetermined size opening on a front surface corresponding to the front in the driving direction, and photographing and confirming a front image along with a cultivation tray in the first opening, and photographing At least one camera 133 for transmitting the recorded image to the outside or for storing and recording the image to a storage medium is exposed.

The upper surface of the box body 131 is provided with a second opening 131b opening to a predetermined size, the second opening to expose the inlet 132a for guiding and supplying water or culture solution into the water storage tank 132. Can be.

Accordingly, the main body 130, which is moved together with the driving unit, can check the position of the cultivation tray while watching the front safely while driving through the front image photographed by the camera, and through the injection hole 132a, The culture solution can be replenished by supplying it to the reservoir tank.

In addition, the left and right side wall (110a, 110b) to supply the water from the water storage tank 132 to the inside of the cultivation tray through a plurality of through holes 15 formed through the left and right sides of the cultivation tray. It may include a plurality of nozzles 135 corresponding to the through hole one-to-one.

The reservoir tank 132 is connected to the pumping member 132b for discharging the stored water or the culture to the outside, the pumping member is connected to the distribution side 134 via a connection line, the distribution side A left and right pair of first branch lines 134a extending horizontally from 134 toward the left and right pair of side walls, and vertically extending along the left and right pair side walls from the left and right pair of first branch lines 134a And a second branch line 134b, and the nozzle is mounted to the discharge end of the second branch line bent to correspond to the cultivation tray so as to correspond to the through hole.

In addition, the left and right sidewalls 110a and 110b horizontally move the supporting base 136 on which the nozzles are mounted to the cultivation tray side, so that the ends of the nozzles are penetrated through the left and right sides of the cultivation tray 15. It may include a nozzle moving unit 137 to enter.

The nozzle mover 137 includes a carriage 137a integrally coupled with the support carrier 136, and an upper surface of one side of the carriage 137a is slidably assembled. 137b is integrally provided and includes an actuator 137c which is connected to one end of the carriage 137a and the rod end, and is fixedly installed to the horizontal connecting rod 113 constituting the left and right pairs of side walls. In the forward operation of an actuator such as a cylinder, the nozzle 135 is horizontally moved toward the cultivation tray side along with the support base to enter the through hole.

In this state, when the water in the reservoir tank is forcibly pumped by the operation of the pumping member, the water forcibly pumped through the distribution valve and the first and second branch lines is cultivated through nozzles correspondingly inserted into the through holes of the cultivation tray. By spraying and supplying the inside of the tray, it is to stably provide moisture and nutrients to the plants grown in the cultivation tray.

The nozzle entering the through hole of the cultivation tray by the forward operation of the actuator is returned to its original state by the backward return operation of the actuator to stop the operation of supplying water into the cultivation tray.

The water supply through the nozzle may set the position of the support base on which the nozzle is raised so that the cultivation tray may be placed on the bottom surface and stopped or lifted from the bottom surface by the lifter.

On the other hand, the box body 131 is provided with a lower plate 130a which is a bottom surface on which the first and second drive motors 114 and 124 are disposed and fixed, and a camera 133 for photographing the front of the driving unit when the driving unit is installed. Intermediate plate 130b on which the reservoir tank 132 is fixedly installed, and an upper plate 130c on which the pumping member 132b connected to the reservoir tank, the distribution valve 134 and the first branch line 134a are horizontally disposed. Can be installed in multiple stages sequentially in the height direction.

Here, the upper and lower plates 130a and 130c and the intermediate plate 130b interposed therebetween show and explain that the inner space of the box body 131 is divided into three regions in the height direction, but is limited thereto. It can be divided into three or more areas by adding a horizontal plate, or can be formed into a single space with only one bottom plate.

The inner space of the box body 131 includes a power supply unit having at least one battery electrically connected to the first and second driving motors to provide a driving source, and generates electricity generated by solar light or artificial light. It is preferable that the solar panel stored in the power supply unit is provided on an upper surface of the box body.

In addition, the box body 131 receives the image transmitted from the camera imaging the presence and the front of the cultivation tray and image the front, the detection signal transmitted from the driving sensor and the detection signal detected by the upper and lower limit sensors It may include a control unit for receiving a control to control the driving of the first and second drive motor.

In addition, the box body is equipped with various environmental sensors such as an illuminance sensor, a temperature sensor, a humidity sensor, a carbon dioxide sensor, and an oxygen sensor so as to check the cultivation conditions inside the plant factory in real time. In addition to the wireless transmitting and receiving unit may include a full-length unit.

Meanwhile, the plant factory 200 having the cultivation room 200a in which the cultivation tray is arranged in a plurality of rows in one cultivation layer, as shown in FIG. 8, is isolated from the cultivation room via a partition. It comprises a room (200b), the partition partitioning between the cultivation room and the waiting room is provided with an entrance 201 through which the autonomous vehicle carrying a cultivation tray is passed, and the entrance 201 of the autonomous driving device It is desirable to install a door that automatically opens and closes when approaching.

Accordingly, the door of the doorway is opened only when passing through the autonomous driving device, and is normally kept closed, thereby minimizing the introduction of external pollution sources into the internal space of the cultivation room where the cultivation tray is arranged to grow plants. Can be.

Arranging the lifting means 210 such as an elevator so as to transport the cultivation tray while traveling by entering the autonomous driving device on each side of the cultivation room 200a of the plant factory 200 in a multi-layer cultivation layer. Preferably, it may be provided with a replenishment line connected to the replenishment tank to replenish water or culture medium to the reservoir tank while being lowered in the height direction in the lifting means.

In addition, the plant factory 200 having the cultivation room 200a and the waiting room, as shown in Figure 9, the solar power for generating electricity supplied to a light source, such as LED, which is an illumination source installed inside the plant factory The power generation module 250 may be installed on the roof.

The photovoltaic module is developed to generate electricity using sunlight (S) irradiated from the sun during the day, and a portion of the sunlight (S1) is transmitted through the interior of the plant factory to provide dye-sensitized solar cells. It is preferable to be provided with.

At this time, the lower portion of the photovoltaic module is preferably provided with a film filter 255 to transmit only a part of the Taeangwang having a growth wavelength band optimized for the type of crop into the plant factory.

Accordingly, in the photovoltaic power generation module provided with a dye-sensitized solar cell, a portion of sunlight having growth wavelengths is transmitted through the inside of the plant factory in the form of natural light to enable photosynthesis for plant growth, and absorbs sunlight during the day. Dye-sensitized solar cells generate electricity to accumulate electricity in storage batteries.

In this case, when electricity supplied to the LED light source installed inside the plant factory as a light source is stored at night or on a cloudy day when there is a lack of sunlight, the plant growth to be cultivated can be continuously maintained throughout the day and night. It is possible to control the harvesting time of plant cultivation by controlling the light irradiation amount of artificial light through the light source provided to the plants grown in the plant factory while reducing the harvesting time and improving the cultivation efficiency.

The present invention described above is not limited to the above-described embodiment and the accompanying drawings, and various substitutions, modifications, and changes are possible within the scope without departing from the technical spirit of the present invention. It will be evident to those who have knowledge of.

110: driving unit
110a, 110b: side wall
111: 1st vertical
111a: drive wheel
112: second vertical
112a: driven wheel
113: horizontal connecting rod
114: first drive motor
115: belt member
116: finishing plate
117: driving sensor
120: lifting section
120a, 120b: Lifter
121: hanger
122: guide block
123: slider
124: second drive motor
125: connecting member
126a, 126b: high and low position sensor
130: main body
131: box body
132: water storage tank
133: camera
134: distribution valve
135: nozzle
136: support base
137: nozzle moving part
137a: shuttle
137b: rail
137c: Actuator

Claims (10)

In the autonomous driving apparatus which carries the cultivation tray which plant is planted while entering / exiting inside and outside of a plant factory,
The plant has a first drive motor having a pair of left and right side walls rotatably provided with a driving wheel and a driven wheel at the lower end, and a first driving motor for providing power to drive the driving wheels respectively provided on the left and right pair of side walls. A traveling part traveling in one direction from the inside and the outside;
A guide block, which is integrally assembled with the left and right side edges protruding outward from the upper end of the cultivation tray located between the left and right pairs of side walls and the corresponding hangers, is perpendicular to the inside of the length center of the horizontal connecting rods forming the left and right pairs of side walls. A rearing tray having a pair of left and right lifters, which are assembled to slide up and down, and a second drive motor providing a driving force for raising and lowering the left and right pair of lifters. Elevating section to space or seat the body off the floor;
A box body having a lower plate fixed to the upper left and right pairs of side walls, the first and second drive motors disposed in an inner space of the box body, and a water tank filled with a predetermined amount of water supplied to the cultivation tray; A main body having a moving unit along with the traveling unit; Including;
The left and right pair of side walls include a nozzle for injecting water through at least one through hole formed in the left and right sides of the cultivation tray,
The reservoir tank is in communication with the pumping member for discharging the stored water to the outside, the pumping member is in communication with the distribution side via a connecting line, and extends horizontally from the distribution side to the left and right pair of side walls A second branch including a left and right pair of first branch lines, a second branch line extending vertically from the left and right pair of first branch lines along the left and right pair of side walls, and bent to correspond to the cultivation tray; A nozzle corresponding to the through hole at the discharge end of the line;
It includes a nozzle moving unit for reciprocating the support movable base on which the nozzle is raised to the cultivation tray side,
The nozzle moving unit includes a carriage coupled to the support base integrally, a rail on which one side of the carriage is slidably assembled, and an actuator including the rail integrally, and one end and the rod of the carriage Automated driving device for plant cultivation, characterized in that the actuator connected to the front end fixed to the left and right pair of side walls. The method of claim 1,
The left and right pair of side walls may include a first vertical table rotatably provided with the driving wheel at the lower end, and a second vertical table rotatably provided with the driven wheel at the lower end and adjacent to each other in the driving direction. An autonomous driving device for plant cultivation, comprising a plurality of connecting rods integrally connecting the one vertical stand and the second vertical stand. The method of claim 2,
The drive pulley provided on the drive shaft of the first drive motor is autonomous running device for plant cultivation, characterized in that connected via the drive wheel and the belt member. The method of claim 2,
The first vertical stand is a plant cultivating autonomous driving device comprising a pair of vertical plates parallel to each other with a gap retaining material at the top and bottom to form a passage through which the belt member connecting the drive pulley and the driving wheel passes. The method of claim 1,
Any one of the left and right pair of side walls includes a driving sensor for generating a signal for controlling the driving of the first driving motor by detecting an induction line disposed on the bottom surface. delete The method of claim 1,
Rotation driving shaft which is rotated in the forward or reverse direction by the rotation driving force of the second driving motor, the rotary rolls provided at both ends of the rotation driving shaft is connected to one end of the connection member having a predetermined length, the other end of the connection member Autonomous driving device for plant cultivation, characterized in that connected to the guide block. The method of claim 1,
Any one of the left and right pair of side walls includes an upper and lower position sensors for generating a signal for controlling the driving of the second drive motor by sensing the upper and lower positions of the hanger or guide block, respectively. Autonomous driving device for plant cultivation. delete delete

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