KR20220091781A - Smart farm system using prefabricated robots and facilites - Google Patents

Abstract

The present invention relates to a smart farm system using prefabricated robots and facilities, comprising: an integrated vertical cultivation facility frame; a vision robot; a growth sensing module; at least one movable robot; a vertical elevator; and a smart farm server. According to the present invention, it is possible to build a smart farm system required for each crop facility.

Description

Smart farm system using prefabricated robots and facilities {SMART FARM SYSTEM USING PREFABRICATED ROBOTS AND FACILITES}

The present invention relates to a smart farm system using prefabricated robots and facilities, and more particularly, by mounting a standardized smart farm facility platform and various standardized robots on the facility platform to mount a robot system required for each crop environment, It relates to a smart farm system using prefabricated robots and facilities implemented to build a smart farm system for various environments and crops with one system by operating through an integrated operating system.

Smart Farm technology is a kind of intelligent farm that is automated by grafting information and communication technology (ICT) to agricultural technology. It is a technology related to a crop automation system that can measure and analyze the amount, carbon dioxide, soil, etc., and change it to an appropriate state by operating the automation system according to the analysis result, and can also remotely manage it through a mobile device such as a smartphone.

Conventionally, such a smart farm system cultivates and manages crops through robot facilities and facilities customized for each crop for automated robots and facilities.

However, with such a conventional smart farm system, it is necessary to separately manufacture new facilities for various crops, and standardize the robot system and operating system so that various applications can be sold from a large number of developers by making the operating system a platform. And standardization and modularization are not done, so the price of the equipment is high, and the operation of the smart farm system is inefficient.

On the other hand, the above-mentioned background art is technical information that the inventor possessed for the purpose of derivation of the present invention or acquired during the derivation process of the present invention, and it cannot be said that it is necessarily known technology disclosed to the general public before the filing of the present invention. .

Korean Patent Registration No. 10-2009453 Korean Patent No. 10-2188768

One aspect of the present invention is to standardize and modularize equipment parts that each robot can move, and to respond to standard specifications for automation robots such as vision robots, growth sensing modules, mobile robots and vertical elevators required for each crop, the module It provides a smart farm system using prefabricated robots and facilities implemented to build a smart farm system required for each crop facility by providing it in the form and linking it.

In addition, by standardizing and providing the standardized specification of smart farm system development, OS, API, development tools, and source package in the integrated operating system, a system provided so that a large number of developers can participate and develop various application products. We provide a smart farm system that utilizes prefabricated robots and facilities that have been implemented to solve these problems.

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

A smart farm system using a prefabricated robot and equipment according to an embodiment of the present invention includes: an integrated vertical cultivation facility frame consisting of a plurality of layers in the vertical direction so that a seedling plate for growing crops can be seated; a vision robot connected to the integrated vertical cultivation facility frame and installed to take and transmit an image of a crop growing on the seedling plate while moving along the integrated vertical cultivation facility frame; a growth sensing module connected to the integrated vertical cultivation facility frame and installed to transmit at least one of temperature, humidity, sunlight, and weather sensor data; At least one mobile robot for moving the seedling plate or the harvest box containing the crops that have been grown while moving in the left and right directions along the front end of the integrated vertical cultivation facility frame; Vertical type that is installed on one side or both sides of the integrated vertical cultivation facility frame, respectively, and moves the seedling plate or the harvest box moved by the mobile robot to another floor in the integrated vertical cultivation facility frame by elevating or lowering it elevator; and big data collected from horticultural, fruit or vegetable crop cultivation facilities in each region are integrated and managed to charge a monthly operation and management fee according to the cultivation area and crop type, and artificial intelligence using the collected big data and CNN (Convolution Neural Network) algorithm It may include; a smart farm server that performs at least one function of determining the state of the plant, determining the harvest time, determining the pests, and correcting errors through intelligent analysis.

In one embodiment, the vertical elevator includes: a vertical wall extending in the vertical direction; a vertical rail extending in the vertical direction along the inner surface of the vertical wall opposite to the integrated vertical cultivation facility frame; And one end is connected to the vertical rail, and when the seedling plate or the harvest box is delivered from the mobile robot, the seedling plate is raised or lowered along the vertical rail to another layer in the integrated vertical cultivation facility frame set Or a horizontal rail for moving the harvest box; may include.

In an embodiment, the vertical elevator may further include a charging station installed at an upper end of the vertical rail to charge the vision robot or the growth sensing module manufactured in a rechargeable manner.

In one embodiment, the vertical rail may be provided with a position identification device along the inner side so as to identify the correct lifting or lowering position of the horizontal rail.

In one embodiment, the integrated vertical cultivation facility frame includes a plurality of seating units installed at equal intervals in the vertical direction; an inter-rail support installed along between one seating part and another seating part to support between the one seating part and the other seating part; and a pedestal installed along the lower side of the lowermost seated portion to support the lowermost seated portion from the bottom to the upper side.

In one embodiment, the seating unit, a shelf module formed in the form of a square flat plate to seat the seedling plate on the upper side; a rail module formed in a rectangular flat plate shape corresponding to the shape of the shelf module, facing the shelf module, and spaced apart from the shelf module downwardly; a first upper rail extending in a left and right longitudinal direction along a lower front end of the shelf module; a second upper rail extending in a left and right longitudinal direction along a lower rear end of the shelf module; a first lower rail facing the first upper rail and extending in a left and right longitudinal direction along an upper side of the front end of the rail module; a second lower rail facing the second upper rail and extending in a left and right longitudinal direction along an upper side of the rear end of the rail module; a supply piping line extending in the left and right longitudinal directions along the upper side of the shelf module and delivering at least one material of moisture, nutrient solution, and vaccine to be supplied to the seedling plate; And a plurality of pieces are installed at regular intervals along the front and rear ends of the supply piping line, and when the seedling plate is seated on the shelf module, the seedling plate is fastened to the seedling plate and at the same time an inlet is opened to receive the material flowing through the supply pipe line and the seedling plate It may include; a hose stroke to supply to.

In one embodiment, the mobile robot, a seating shelf formed in the form of a square plate so that the seedling plate or the harvest box can be seated; Two that are spaced apart from each other in the front-rear direction and installed at the front and rear ends of one side of the seating shelf opposite to the integrated vertical cultivation facility frame, are seated in a space between the shelf module and the rail module to support the seating shelf support roller unit; a transfer plate installed at the front end of the seating shelf and forming an inclined surface so that the front end is inclined downward so that the seedling plate or the harvest box seated on the seating shelf can be delivered to the vertical elevator; It is installed on the upper side of the front end of the seating shelf and is engaged with the lower front end of the seedling plate or the harvest box, rotates clockwise or counterclockwise to move the seedling plate or the harvest box seated on the seating shelf in the direction of the delivery plate transmission gear that allows; A rail movement motor installed on the outer surface of one side of the seating shelf, coupled to the first lower rail, and moving the seating shelf while moving in the left and right directions along the space between the front ends of the shelf module and the rail module ; Opposite the rail movement motor and installed on the inner surface of one side of the seating shelf is connected to the lower one side of the seedling plate or the harvest box to move clockwise or counterclockwise to place the seedling plate or the harvest box on the seating shelf A forward or backward movement motor for moving forward or backward on the phase; Two rack gear rollers installed at the upper front end and rear end of one side of the seating shelf, respectively, and rotated in engagement with the lower side of the seedling plate or the harvest box to move the seedling plate or the harvest box to be seated on the seating shelf; and two elevating cylinders facing the rack gear roller and installed at the front and rear ends of one side of the seating shelf, respectively, for lifting or lowering one side of the seedling plate or the harvest box seated on the seating shelf; includes; can do.

In one embodiment, the seedling plate, forming an inner space for growing crops, the upper side corresponding to the shape of the seating shelf is formed in the form of an open box growth table; a stroke insertion hole installed at a lower end of one side of the growth table opposite to the hose stroke so that the hose stroke is inserted and a material flowing through the supply pipe line can be received from the hose stroke; a nutrient solution supply pipe installed in the form of a net along the inner bottom surface of the growing table, receiving a material flowing through the supply pipe line from the stroke insertion port, and supplying the material to the crop growing on the growing table; Handles respectively installed at the front and rear ends of the growing table; and a stacking groove formed to be stepped from the upper outside of the handle to the inside so that the growing table can be stacked and seated on the upper side of the other growing table or under the other growing table.

According to one aspect of the present invention described above, a robot system and a robot system so that various applications can be developed and sold from a number of developers through the developer platform provided in the integrated operating system without the need to separately manufacture a new system for each crop. Through standardization, standardization, and modularization of the operating system, it is possible to provide the effect of manufacturing and selling various applied robot systems for various crops and environments.

The effects of the present invention are not limited to the above-mentioned effects, and various effects may be included within the range apparent to those skilled in the art from the following description.

1 is a diagram showing a schematic configuration of a smart farm system utilizing a prefabricated robot and equipment according to an embodiment of the present invention.
2 and 3 are views showing the integrated vertical cultivation facility frame of FIG.
4 and 5 are views showing the vision robot of FIG. 1 .
FIG. 6 is a view showing the vertical elevator of FIG. 1 .
7 and 8 are views showing the mobile robot of FIG. 1 .
FIG. 9 is a view showing the seedling plate of FIG. 1 .

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS [0012] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS [0010] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS [0010] Reference is made to the accompanying drawings, which show by way of illustration specific embodiments in which the present invention may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the present invention. It should be understood that the various embodiments of the present invention are different but need not be mutually exclusive. For example, certain shapes, structures, and characteristics described herein with respect to one embodiment may be implemented in other embodiments without departing from the spirit and scope of the invention. In addition, it should be understood that the location or arrangement of individual components within each disclosed embodiment may be changed without departing from the spirit and scope of the present invention. Accordingly, the detailed description set forth below is not intended to be taken in a limiting sense, and the scope of the present invention, if properly described, is limited only by the appended claims, along with all scope equivalents as those claimed. Like reference numerals in the drawings refer to the same or similar functions throughout the various aspects.

Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the drawings.

1 is a view showing a schematic configuration of a smart farm system utilizing a prefabricated robot and equipment according to an embodiment of the present invention.

Referring to FIG. 1 , a smart farm system 10 using a prefabricated robot and equipment according to an embodiment of the present invention includes an integrated vertical cultivation facility frame 100 , a vision robot 300 , and a growth sensing module 400 . ), and at least one mobile robot 500 , vertical elevators 600-1 and 600-2, and a smart farm server 700 .

The integrated vertical cultivation facility frame 100 is a facility provided in the agricultural automation facility to grow crops, and at least one seedling plate 200 for growing crops is seated, and the movement of the seedling plate 200 or the cultivation of crops. Standardized devices such as the necessary vision robot 300, growth sensing module 400, and mobile robot 500 are installed.

The vision robot 300 is connected to the integrated vertical cultivation facility frame 100 and installed, and while moving along the integrated vertical cultivation facility frame 100 , it takes an image of a crop growing on the seedling plate 200 , through a wired or wireless network. is transmitted to the smart farm server 700 using

The growth sensing module 400 is connected to the integrated vertical cultivation facility frame 100 and transmits temperature, humidity, sunlight, and weather sensor data to the smart farm server 700 using a wired or wireless network.

The mobile robot 500 moves in the left and right directions along the front end of the integrated vertical cultivation facility frame 100 while moving the seedling plate 200 or the harvest box 800 containing the crops that have been grown, the integrated vertical cultivation facility frame Moving from 100 to the vertical elevator (600-1, 600-2), or moving the harvest box 800 from the vertical elevator (600-1, 600-2) to the integrated vertical cultivation facility frame 100 do it

The vertical elevators 600-1 and 600-2 are respectively installed on one side or both sides of the integrated vertical cultivation facility frame 100, and the seedling plate 200 or the harvest box 800 moved by the mobile robot 500 ) by elevating or lowering it to move it from the integrated vertical cultivation facility frame 100 to another floor.

In addition, the vertical elevators 600-1 and 600-2 are installed to extend to other floors of the cultivation facility and move the seedling plate 200 or the harvest box 800 within the integrated vertical cultivation facility frame 100 as well. Of course, it can also be moved to another floor of the facility.

The smart farm server 700 integrates and manages big data collected from horticultural, fruit or vegetable crop cultivation facilities in each region to charge a monthly operation and management fee according to the cultivation area and crop type, and collect big data and CNN (Convolution) Through artificial intelligence analysis using Neural Network) algorithm, it performs at least one function among plant status determination, harvest time determination, pest determination, and error correction.

In one embodiment, the smart farm server 700 is a server for building an integrated operating system, and includes a robot module and a facility for each facility, robot, and crop (ie, vision robot 300, growth sensing module 400, movement By standardizing the robot 500 and vertical elevators (600-1, 600-2, etc.) and sharing related manuals, APIs, and crop-specific characteristic data for developing applied robots, various developers can develop new robots. Participate in development and provide products for sale in online/offline distribution markets.

The smart farm system 10 using the prefabricated robot and equipment according to an embodiment of the present invention having the configuration as described above can be linked to the integrated control system driven by the application robot and control system developed by all developers. The open API, development tool, and frame/rail standard are provided so that the developed product can provide a business structure that can obtain sales profit excluding a 10-30% distribution fee.

Through this, it is possible to build an online distribution and sales platform that can develop and sell various products such as SW, HW, and robots.

In one embodiment, the smart farm server 700 may provide the following two SW standard platforms.

First, as a big data integration platform, data provided from a number of cultivation facilities is collected by the smart farm server 700 as an integrated control system (central server/DB system), and through this, vegetation identification, harvest time/fruit identification, pests and pests are collected. The performance of discrimination can be continuously directed toward artificial intelligence analysis performance through big data and CNN algorithm.

For example, 1) Fruit sampling (random) determined to have high sugar content or high sugar content with the vision robot 300 at harvest time 2) Measuring the actual sugar content of sampled fruit 3) Receive measurement data from the smart farm server 700 4) Determination of data error value 5) Big data collection 6) Improvement of harvest fruit identification with CNN algorithm 7) It can be implemented through the steps of improving service quality.

In another example, 1) Basic scenario setting for fruit growth management 2) Classifying by farm environment (country, soil quality, etc.) Return 4) In the smart farm server 700, which is an integrated control system, yield and sugar content according to the data change of light quantity/temperature/humidity/nutrient supply (new nutrient solution, green vaccine) according to farm environment and crop (fruit) type Analysis of big data on the impact on results 5) Optimal operation scenarios for each farm environment, crop, and season Analysis with CNN algorithm 6) Optimal operation data service provision can be implemented through the steps.

Next, in the case of the platform service for developers, various application SWs for plant status determination, management, and operation are provided as an open API for the OS of the smart farm server 700, an integrated control system, so that application developers can participate in the development It is provided so that the system performance can be upgraded, and in the future, development tools and package sources for developers can be provided to induce more free development participation.

The smart farm system 10 using a prefabricated robot and equipment according to an embodiment of the present invention having the configuration as described above is a developer platform provided in an integrated operating system without the need to separately manufacture a new system for each various crops. Through standardization, standardization, and modularization of the robot system and operating system so that various application programs can be developed and sold by a large number of developers, it is possible to manufacture and sell various application robot systems for various crops and environments.

2 and 3 are views showing the integrated vertical cultivation facility frame of FIG.

2 and 3 , the integrated vertical cultivation facility frame 100 includes a seating unit 110 , a rail-to-rail support 120 , and a pedestal 130 .

A plurality of seating units 110 are installed to be spaced apart from each other at equal intervals in the vertical direction so that the seedling plate 200 can be mounted on the upper front and rear ends, respectively.

In one embodiment, the seating unit 110 includes a shelf module 111 , a rail module 112 , a first upper rail (not shown in the drawing for convenience of description), and a second upper rail (shown in the drawing for convenience of explanation). not shown), a first lower rail (not shown in the drawing for convenience of description), a second lower rail (not shown in the drawing for convenience of explanation), a supply pipe line 113 and a hose stroke 114 . have.

The shelf module 111 is formed in a square flat plate shape so that the seedling plate 200 can be seated on the upper side, and is installed to be spaced apart from the rail module 112 upward.

The rail module 112 is formed in a rectangular flat plate shape corresponding to the shape of the shelf module 111 , and is installed to face the shelf module 111 while being spaced downward from the shelf module 111 .

The first upper rail faces the first lower rail so as to be seated on the upper side of the first roller unit 310 to be described later and move, and extends in the left and right longitudinal directions along the lower side of the front end of the shelf module 111 .

The second upper rail faces the second lower rail so that the upper side of the second roller unit 320, which will be described later, is seated and moved, and extends in the left and right longitudinal direction along the lower side of the rear end of the shelf module 111 .

The first lower rail is formed to extend in the left and right longitudinal direction along the upper side of the front end of the rail module 112 while facing the first upper rail so as to be seated on the lower side of the first roller part 310 and move.

The second lower rail is formed to extend in the left and right longitudinal direction along the upper side of the rear end of the rail module 112 while facing the second upper rail so that the lower side of the second roller part 320 can be seated and moved.

The supply piping line 113 is formed to extend in the left and right longitudinal direction along the upper side of the shelf module 111 , and transfers at least any one or more materials of moisture, nutrient solution, and vaccine to be supplied to the seedling plate 200 to the hose stroke 114 . transmit

In an embodiment, the supply pipe line 113 extends along the center of the shelf module 111 so as to divide the upper side of the shelf module 111 into the front and rear ends of the shelf module 111 , thereby forming the front and rear ends of the shelf module 111 . Each seedling plate 200 may be separated from each other to be seated.

A plurality of hose strokes 114 are installed at regular intervals along the front and rear ends of the supply piping line 113, and when the seedling plate 200 is seated on the shelf module 111, it is fastened to the seedling plate 200 and at the same time the inlet is It receives the material flowing through the open supply pipe line 113 and supplies it to the seedling plate 200 .

The rail-to-rail support 120 is installed along between the one seating part 110 and the other seating part 110 to support between the one seating part 110 and the other seating part 110 .

The pedestal 130 is installed along the lower side of the seating unit 110 located at the lowermost side to support the seating unit 110 located at the lowermost side by being spaced apart from the bottom to the upper side.

The integrated vertical cultivation facility frame 100 having the configuration as described above is provided as a shelf of standardized standards corresponding to various crops, and the shelf module 111 and the shelf module 111 are vertically and horizontally fastened. It is provided so as to be connected to each other, and a standardized horizontal (Y-axis) inter-floor rail module 112 is inserted between the shelf module 111 and the vertical layers of the shelf module 111 so that each shelf module 111 is fastened to each other. provided as much as possible.

The upper part of the shelf module 111 is provided with a predetermined space through which the robot can pass, and an inter-floor rail configured to move in a horizontal direction (Y-axis) path above (not shown in the drawings for convenience of explanation) Various types of modularized robots are configured to pass along the outer side of the shelf module 111 .

The rail module 112 is provided with a rail space and gear so that the standardized robot can move horizontally and vertically along the rail, and a position identification module that can identify the position of the robot (not shown in the drawings for convenience of description) is provided, including

Under the rail module 112, an LED module (not shown in the drawing for convenience of explanation) capable of irradiating light of various wavelengths corresponding to each crop is mounted and installed so as to be installed. Various LED module panels are additionally mounted for each crop, crop, and required function. It is provided in the form of a module.

In addition, the rail module 112 is equipped with a location identification module (not shown in the drawing for convenience of explanation) capable of identifying the location of the robot, and this location identification module is an image tag method, RFID tag, Bluetooth, contact Various position identification devices such as type/non-contact sensors can be used, and through this, the robot can more accurately determine its own position as it passes through the rail, so that it can be operated more precisely in the process of being controlled by interworking with other types of robots.

In addition, on one side or inside of the rail module 112, a DC or AC power supply line (not shown in the drawing for convenience of explanation) capable of supplying electricity to the robot may be additionally wired, and data communication in addition to the electricity supply To enable this, a cable for data communication may be provided.

For example, specifically, at the same time as the robot is bitten by the rail module 112, the (+) electric wire of the upper part of the rail module 112 and the (-) electric wire of the lower part of the rail are connected to the robot (that is, the vision robot 300). The sensing module 400 and the mobile robot 500, etc.) may be continuously supplied with power while moving along the rail without additional charging, and may additionally be bitten by a buried data communication line to transmit and receive data by wire. .

In addition, the shelf module 111 is provided with a hose stroke 114 that can supply or drain nutrients, moisture, vaccine, etc., and when the mobile robot 500 inserts the seedling plate 200 into the shelf, the hose stroke ( 114) is automatically opened to connect the hose, and on the contrary, when the seedling plate 200 is detached from the shelf module 111, the hose stroke 114 is automatically closed.

4 and 5 are views showing the vision robot of FIG. 1 .

4 and 5 , the vision robot 300 moves along the spacing S between the shelf module 111 and the rail module 112 while growing on the seedling plate 200 located at the lower side. As an apparatus for taking still images or moving images of It includes a unit 360 and a camera unit 370 .

The first roller part 310 is connected and installed by the second roller part 320 and the roller connection part 330, and the upper part is seated on the first upper rail and the lower part is seated on the first lower rail, and the shelf module ( 111) and the front end of the rail module 112 move in the left and right directions along the separation space.

In one embodiment, the first roller unit 310 may include a support plate 311 , a pair of upper rollers 312 , and a pair of lower rollers 323 .

The support plate 311 is formed extending in the vertical direction and is disposed to be perpendicular to the movement direction, the upper and lower portions are formed in a round shape, and the upper rollers 312 are connected to the upper front and rear ends, respectively. A lower roller 323 is connected to the lower front and rear ends, respectively.

The upper roller 312 is installed at the upper front end and the rear end of the support plate 311 , respectively, and is seated on the first upper rail and moves along the first upper rail while rotating.

The lower roller 323 is installed at the lower front end and the rear end of the support plate 311 , respectively, and is seated on the first lower rail and moves along the first lower rail while rotating.

The second roller unit 320 has an upper portion seated on the second upper rail and a lower portion seated on the second lower rail, and moves in the left and right directions along the space between the rear ends of the shelf module 111 and the rail module 112 . .

Here, the second roller unit 320 is a configuration symmetrical to the first roller unit 310 , and the components of the first roller unit 310 can be equally applied, and in order to avoid duplication of description, its description shall be omitted.

The roller connecting part 330 connects between the first roller part 310 and the second roller part 320 .

That is, the roller connection part 330 is formed to extend to a length corresponding to the front and rear lengths of the shelf module 111 and the rail module 112 , so that the first roller part 310 and the second roller part 320 are connected to the shelf module. (111) and it would be desirable to be seated correctly on the rail module (112).

The vertical height adjustment unit 340 is installed at the front end of the first roller unit 310 and adjusts the installation height of the link unit 350 as the length is adjusted when it is extended or contracted in the lower vertical direction.

The link unit 350 is installed at a right angle to the vertical height adjustment unit 340 at the lower side of the vertical height adjustment unit 340 .

The rotation control unit 360 is connected to the lower side of the rear end of the link unit 350, and the image of the camera unit 370 is installed on the lower side while rotating clockwise or counterclockwise with a rotation axis perpendicular to the floor surface. Adjust the shooting angle.

The camera unit 370 is installed below the rotation control unit 360 , and takes an image of a crop growing in the seedling plate 200 and transmits it to the smart farm server 700 .

The vision robot 300 having the above-described configuration is standardized to correspond to the specifications of the rail module 112 by the above-described first upper rail, second upper rail, first lower rail, and second lower rail. The same standard and standardized rail movement device provided to enable movement along the rail module 112 performs a function.

This rail moving device is standardized, and a standardized coupling device capable of combining various types of robots with the standardized rail moving device is provided, and various types of robots other than the vision robot 300 are provided through the coupling device of the same standard. In combination, the supply of power, communication of data, control of the robot, etc. can be standardized and provided.

Here, the vision robot 300 may be equipped with one or more of a high-resolution camera, a stereo camera, a spectrum camera, a lidar sensor, and a laser sensor.

The vision robot 300 may constantly monitor growth information, growth status, harvest time, pest status, etc. while continuously moving the rail module 112 .

In addition, it is linked to the integrated control system with other robots, such as harvesting robots, pollination robots, and seedling robots, which may be separately provided, so that they can take charge of the eyes (eyes) of other robots when performing various tasks.

Through this, it can be provided to reduce facility facility cost and operating cost by removing the redundant vision sensor 400 required for other mission robots.

The vision robot 300 having the configuration as described above is configured to move in the horizontal (Y-axis direction) and vertical (Z-axis) directions so as to move along horizontal and vertical rails, and an electric joint equipped with a step motor It may be provided so that the photographing position can be changed through (ie, the vertical height adjustment unit 340 and the rotation adjustment unit 360 ).

FIG. 6 is a view showing the vertical elevator of FIG. 1 .

Referring to FIG. 6 , the vertical elevator 600 includes a vertical wall 610 , a vertical rail 620 , and a horizontal rail 630 .

The vertical wall 610 is formed extending in the vertical direction, and the vertical rail 620 is connected and installed along the inner side in the vertical direction.

In one embodiment, the vertical wall 610 is manufactured to a height corresponding to the vertical height of the integrated vertical cultivation facility frame 100, or is formed to extend to other floors of the facility, so that it may be manufactured to move step by step. .

The vertical rail 620 is formed to extend in the vertical direction along the inner surface of the vertical wall 610 opposite to the integrated vertical cultivation facility frame 100, and the horizontal rail 630 is interlocked and connected and installed in the vertical direction make it move

In one embodiment, the vertical rail 620 may be provided with a location identification device (not shown in the drawings for convenience of description) along the inner side so as to identify the correct elevation or lowering position of the horizontal rail 630 . .

The horizontal rail 630, one end is engaged with the vertical rail 620, and the connection installation is formed as a seating shelf, and when the seedling plate 200 or the harvest box 800 is delivered from the mobile robot 500, the vertical rail 620 ) to move the seedling plate 200 or the harvest box 800 to another floor in the set integrated vertical cultivation facility frame 100 by ascending or descending along the .

The vertical elevator 600 having the configuration as described above may further include a charging station (not shown in the drawings for convenience of description).

The charging station is installed at the top of the vertical rail 620 to charge the vision robot 300 or the growth sensing module 400 manufactured in a rechargeable manner.

The vertical elevator 600 having the configuration as described above is configured so that the mobile robot 500 can move in the vertical direction (height direction, Z-axis) in the horizontal direction (Y-axis), or can move vertically The moving robot 500 may be raised or lowered along the vertical rail 620 so that the robot can move to a shelf on a different floor to work.

7 and 8 are views showing the mobile robot of FIG. 1 .

7 and 8 , the mobile robot 500 includes a seating shelf 510 , two support roller parts 520-1 and 520-2, a transmission plate 530, a transmission gear 540, and a rail. It includes a movement motor 550 , a forward and backward movement motor 560 , and two elevating cylinders 580 .

The seating shelf 510 is formed in a square plate shape so that the seedling plate 200 or the harvest box 800 can be mounted.

The support roller parts 520-1 and 520-2 are spaced apart from each other in the front-rear direction and are installed at the front end and rear end of one side of the seating shelf 510 opposite to the integrated vertical cultivation facility frame 100, and the shelf module 111 ) is seated in the space between the rail module 112 and the mounting shelf 510 is supported.

That is, the support roller parts 520-1 and 520-2 may be connected and installed to be movable, respectively, between the first upper rail and the first lower rail and between the second upper rail and the second lower rail.

Here, the first roller part 310 , the second roller part 320 , and the roller connecting part 330 of the vision robot 300 are equally applied to the configuration of the supporting roller parts 520-1 and 520-2. As a platform, in order to avoid duplication of description, a corresponding description will be omitted below.

The transfer plate 530 forms an inclined surface so that the front end is inclined in the downward direction so that the seedling plate 200 or the harvest box 800 seated on the seating shelf 510 can be slidably transferred to the vertical elevator 600, and It is installed at the front end of the seating shelf 510 .

The transmission gear 540 is installed on the upper side of the front end of the seating shelf 510 and is engaged with the lower side of the front end of the seedling plate 200 or the harvest box 800, rotates clockwise or counterclockwise to be seated on the seating shelf 510 It moves the seedling plate 200 or the harvest box 800 in the direction of the delivery plate 530 .

The rail movement motor 550 is installed on the outer surface of one side of the seating shelf 510 and is connected to and engaged with the first lower rail, and the front end space (S) of the shelf module 111 and the rail module 112 is separated. Accordingly, the seating shelf 510 is moved while moving in the left and right directions.

The forward and backward movement motor 560 is installed on the inner surface of one side of the seating shelf 510 opposite to the rail movement motor 550 and connected to the lower side of the seedling plate 200 or the harvest box 800 to be connected to the watch Alternatively, it moves counterclockwise to move the seedling plate 200 or the harvest box 800 forward or backward on the mounting shelf 510 .

The rack gear roller 570 is installed at the upper front end and the rear end of one side of the seating shelf 510, respectively, and rotates in engagement with the lower side of the seedling plate 200 or the harvest box 800 to the seedling plate 200 or the harvest box 800 ) to be seated on the mounting shelf 510 by moving it.

In one embodiment, the seedling plate 200 or the harvest box 800, the rack gear (not shown in the drawing for convenience of explanation) is installed in the width direction along the lower side so that the rack gear roller 570 can engage. can

The elevating cylinder 580 faces the rack gear roller 570 and is respectively installed at the front and rear ends of one side of the seating shelf 510, and is seated on the seating shelf 510. The seedling plate 200 or the harvest box 800 ) to raise or lower one side.

The mobile robot 500 having the configuration as described above may be provided to move both the seedling plate 200 and the harvest box 800, of course, for moving the seedling plate 200 and the harvest box 800 separately. It can be installed as a separate device.

However, the mobile robot 500 is standardized and manufactured to have the same or similar standards in horizontal and vertical sizes as the seedling plate 200, and through this, both the harvest box 800 and the seedling plate 200 are moved to the desired position with one robot. It is desirable to reduce the number of unnecessary robots by moving and stacking them, moving them to storage, and stacking them so that one robot can perform various tasks at the same time.

Here, the harvest box 800 is moved by interworking with the robot arm module by dropping the box harvested by the lower rack gear (not shown in the drawing for convenience of explanation) or mounted on the mobile robot 500 . It may be provided to perform a mission while doing so.

FIG. 9 is a view showing the seedling plate of FIG. 1 .

Referring to FIG. 9 , the seedling plate 200 includes a growth table 210 , a stroke insertion hole 220 , a nutrient solution supply pipe 230 , a handle 240 , and a stacking groove 250 .

The growth table 210 forms an inner space for growing crops, and an upper side corresponding to the shape of the seating shelf 510 of the mobile robot 500 is opened so that it can be seated on the mobile robot 500 . formed in the form

Stroke insertion port 220, the hose stroke 114 is inserted so that the material flowing through the supply pipe line 113 from the hose stroke 114 can be received and delivered to the nutrient solution supply pipe 230 with the hose stroke 114 and It is installed at the lower end of one side of the opposing growth table 210 .

The nutrient solution supply pipe 230 is installed in the form of a net along the inner bottom surface of the growth table 210 , and receives the material flowing through the supply pipe line 113 from the stroke insertion hole 220 in the growth table 210 . Feed as a growing crop.

The handle 240 is installed at the front end and the rear end of the growth table 210, respectively, and the stacking groove 250 is formed on the outer side of the upper part.

The stacking groove 250 is formed such that the growth table 210 is stepped from the upper outside of the handle 240 to the inside so that the growing table 210 can be stacked and seated on the upper side of the other growing table 210 or the lower side of the other growing table 210 . do.

The seedling plate 200 having the configuration as described above is moved to the stacking position through the mobile robot 500 and dropped to fit into the stacking groove 250 of another seedling plate 200 to facilitate stacking. Can be provided. .

The seedling plate 200 having the configuration as described above provides an optimal space for crops to be grown, thereby providing a series of processes, such as providing nutrients from pollination of crops to harvest, through one system according to the present invention. can

The above-described embodiments are for illustration, and those of ordinary skill in the art to which the above-described embodiments pertain can easily transform into other specific forms without changing the technical idea or essential features of the above-described embodiments. you will understand Therefore, it should be understood that the above-described embodiments are illustrative in all respects and not restrictive. For example, each component described as a single type may be implemented in a dispersed form, and likewise components described as distributed may be implemented in a combined form.

The scope to be protected through the present specification is indicated by the claims described below rather than the above detailed description, and should be construed to include all changes or modifications derived from the meaning and scope of the claims and their equivalents. .

10: Smart farm system using prefabricated robots and facilities
100: Integrated Vertical Growing Facility Frame
200: seedling plate
300: vision robot
400: growth sensing module
500: mobile robot
600: vertical elevator
700: smart farm server

Claims (6)

An integrated vertical cultivation facility frame consisting of a plurality of layers in the vertical direction so that the seedling plate for growing crops can be seated;
a vision robot connected to the integrated vertical cultivation facility frame and installed to take and transmit an image of a crop growing on the seedling plate while moving along the integrated vertical cultivation facility frame;
a growth sensing module connected to the integrated vertical cultivation facility frame and installed to transmit at least one of temperature, humidity, sunlight, and weather sensor data;
At least one mobile robot for moving the seedling plate or the harvest box containing the crops that have been grown while moving in the left and right directions along the front end of the integrated vertical cultivation facility frame;
Vertical type that is installed on one side or both sides of the integrated vertical cultivation facility frame, respectively, and moves the seedling plate or the harvest box moved by the mobile robot to another floor in the integrated vertical cultivation facility frame by elevating or lowering it elevator; and
The big data collected from horticultural, fruit or vegetable crop cultivation facilities in each region are integrated and managed, and the monthly operation and management fee is charged according to the cultivation area and crop type, and artificial intelligence using the collected big data and CNN (Convolution Neural Network) algorithm. A smart farm system using prefabricated robots and facilities, including; a smart farm server that performs at least one of the following functions: determining the state of a plant, determining the harvest time, determining pests, and correcting errors through analysis.
According to claim 1, The vertical elevator,
a vertical wall extending in the vertical direction;
a vertical rail extending in the vertical direction along the inner surface of the vertical wall opposite to the integrated vertical cultivation facility frame; and
One end is installed in connection with the vertical rail, and when the seedling plate or the harvest box is delivered from the mobile robot, the seedling plate or the seedling plate or A smart farm system using prefabricated robots and facilities, including; a horizontal rail that moves the harvest box.
According to claim 2, wherein the vertical elevator,
A smart farm system using prefabricated robots and facilities, further comprising; a charging station installed on the top of the vertical rail to charge the vision robot or the growth sensing module manufactured in a rechargeable manner.
According to claim 1, The integrated vertical cultivation facility frame,
a plurality of seating units installed at equal intervals in the vertical direction;
an inter-rail support installed along between one seating part and another seating part to support between the one seating part and the other seating part; and
It includes; a pedestal installed along the lower side of the seating part located at the lowermost side to support the seating part located at the lowermost side by being spaced upward from the bottom surface.
The seating part,
a shelf module formed in the form of a square plate so that the seedling plate can be seated on the upper side;
a rail module formed in a rectangular flat plate shape corresponding to the shape of the shelf module, facing the shelf module, and spaced downward from the shelf module;
a first upper rail extending in a left and right longitudinal direction along a lower front end of the shelf module;
a second upper rail extending in a left and right longitudinal direction along a lower rear end of the shelf module;
a first lower rail facing the first upper rail and extending in a left and right longitudinal direction along an upper side of the front end of the rail module;
a second lower rail facing the second upper rail and extending in a left and right longitudinal direction along an upper side of the rear end of the rail module;
a supply pipe line extending in the left and right longitudinal directions along the upper side of the shelf module and delivering at least one of moisture, nutrient solution, and vaccine to be supplied to the seedling plate; and
A plurality of pieces are installed at regular intervals along the front and rear ends of the supply pipe line, and when the seedling plate is seated on the shelf module, it is fastened to the seedling plate and at the same time an inlet is opened to receive the material flowing through the supply pipe line and to the seedling plate A smart farm system using prefabricated robots and facilities, including; a hose stroke to supply.
According to claim 4, wherein the mobile robot,
A seating shelf formed in the form of a square plate so that the seedling plate or the harvest box can be seated;
Two that are spaced apart from each other in the front-rear direction and installed at the front and rear ends of one side of the seating shelf opposite to the integrated vertical cultivation facility frame, are seated in a space between the shelf module and the rail module to support the seating shelf support roller unit;
a transfer plate installed at the front end of the seating shelf and forming an inclined surface so that the front end is inclined downward so that the seedling plate or the harvest box seated on the seating shelf can be delivered to the vertical elevator;
It is installed on the upper side of the front end of the seating shelf and is engaged with the lower front end of the seedling plate or the harvest box, rotates clockwise or counterclockwise to move the seedling plate or the harvest box seated on the seating shelf in the direction of the delivery plate transmission gear that allows;
A rail movement motor installed on the outer surface of one side of the seating shelf, coupled to the first lower rail, and moving the seating shelf while moving in the left and right directions along the space between the front ends of the shelf module and the rail module ;
Opposite the rail movement motor and installed on the inner surface of one side of the seating shelf is connected to the lower one side of the seedling plate or the harvest box to move clockwise or counterclockwise to place the seedling plate or the harvest box on the seating shelf A forward or backward movement motor for moving forward or backward on the phase;
Two rack gear rollers installed at the upper front end and rear end of one side of the seating shelf, respectively, and rotated in engagement with the lower side of the seedling plate or the harvest box to move the seedling plate or the harvest box to be seated on the seating shelf; and
Two elevating cylinders facing the rack gear roller and installed at the front end and rear end of one side of the seating shelf, respectively, for lifting or lowering one side of the seedling plate or the harvest box seated on the seating shelf; Containing , a smart farm system using prefabricated robots and facilities.
The method of claim 5, wherein the seedling plate,
a growth table that forms an internal space for growing crops and is formed in a box shape with an upper side corresponding to the shape of the seating shelf open;
a stroke insertion hole installed at a lower end of one side of the growth table opposite to the hose stroke so that the hose stroke is inserted and a material flowing through the supply pipe line can be received from the hose stroke;
a nutrient solution supply pipe installed in the form of a net along the inner bottom surface of the growing table, receiving a material flowing through the supply pipe line from the stroke insertion port, and supplying the material to the crop growing on the growing table;
Handles respectively installed at the front and rear ends of the growing table; and
A smart farm utilizing prefabricated robots and facilities, including; a stacking groove formed so that the growth table is stepped from the outside to the inside of the handle so that the growth table can be stacked and seated on the upper side of the other growth table or on the lower side of the other growth table system.

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