TW201528932A - Planting system of building - Google Patents

Abstract

A planting system of building is disclosed. The planting system comprises an operation host, a hanging device, and a platform having two robotic arms with an adjustable distance between them. The hanging device is detachable disposed on the building or on the beams of the wall and connected to the platform for enabling the platform moving along the wall of the building. The operation host has a planting location defining module for defining the location of the planting, a planting growth determining module for determining the growth of the planting, and a controlling module for controlling the hanging device and the robotic arms. Wherein, the controlling module controls the hanging device to move the platform avoiding the obstacles of the building and to the location of the planting for controlling the robotic arms processing the planting.

Description

Building planting system 【0001】

The present invention relates to a building planting system, and more particularly to a building planting system for treating plants on a wall of a building using a robotic arm.

【0002】

With a comprehensive consideration of architectural aesthetics and environmental protection concepts, people are paying more and more attention to planting plants on the building. However, in order to avoid the impact of the dirty air emitted by the car, the planting of the building will start planting and arranging from a certain floor height (for example, above the eighth floor). As a result, it has led to the cultivation and pruning of planting, and even the sowing and harvesting has been difficult.

[0003]

However, the existing practice can only use the artificial hanging platform similar to the cleaning of the external wall, and the manpower is used for the planting of the building. Since planting requires immediate and appropriate treatment depending on the growth of plants and photosynthesis, it is necessary to observe and handle the planting plant from time to time instead of fixing it for a period of time. Therefore, it is often necessary to spend too much manpower to handle building planting from time to time. In addition, such an approach would also exist (and even magnify) the danger of building a building that has always been criticized.

[0004]

In view of the above-mentioned problems of the prior art, one of the objects of the present invention is to provide a planting system for processing a plant on a wall of a building, by adjusting the distance between the robot arms and using the hanging equipment to avoid The obstacles are opened, so that the positioning of the plant can be effectively and safely determined and the growth of the plant can be judged according to different building appearances and planting operations (for example, handling different sizes of plants, trimming or fixing).

[0005]

To achieve the above object, the present invention provides a building planting system for treating planting on a wall in a building. The planting system of the building comprises: a hanging device, which is detachably disposed on the building or on the wall of the building. On the beam body; connected to the robotic arm platform on the hanging device, the mechanical arm platform moves along the wall of the building and has two robot arms that can adjust the relative distance; and an operation host electrically connected to the hanging device and the mechanical arm platform, The operation host has at least a control module, a plant position definition module and a plant growth judgment module, wherein the plant position definition module defines and knows the area where the plant is located, and the control module controls the hanging device to move the robot arm The platform is in the area where the plant is planted and avoids obstacles on the wall surface, and the control module controls the two robot arms to process the plant, and the plant growth judgment module judges the growth of the plant.

[0006]

Wherein, the hanging device may have an extendable bracket to adjust the distance between the robot arm platform and the wall surface of the building.

【0007】

Wherein, the building planting system of the present invention further comprises a mobile pedestal which is detachably arranged on the building, and the hanging equipment is arranged on the mobile pedestal to be manually arranged on different buildings.

[0008]

Wherein, the hanging device may further have a track parallel to the vertical direction of the wall of the building, and the extendable bracket moves along the track to adjust the distance between the mechanical arm platform and the wall of the building.

【0009】

Wherein, the robot arm platform may further have a slide rail, and one or both of the two robot arms are disposed on the slide rail to adjust the relative distance between the two robot arms.

[0010]

Wherein, the robot arm platform can further have a photographic device for capturing images, and the plant growth judging module can judge the growth of the plant according to the image.

[0011]

Wherein, the robot arm platform may further have a distance sensor to sense the distance between the robot arm platform and the wall surface.

[0012]

The operation host further has a warning module electrically connected to the plant growth judgment module, and the warning module can issue a warning signal according to the judgment signal of the plant growth judgment module.

[0013]

The operation host can further have a dummy glove electrically connected to the control module, so that the user can control the planting of the wall on the wall by operating the simulated glove through the control module.

[0014]

The control module can be a programmable logic controller to automatically control the two robot arms.

[0015]

Therefore, the planting system of the building of the invention can be carried out in a mobile planting related project, and the plant growth can be monitored frequently, and the robotic arm can be used for sowing, trimming and harvesting functions, and even the detachable whole planting pot Follow up. Thereby, the building planting system of the invention can avoid the potential danger of danger caused by artificial work on the outer wall of the building.

[0016]

Therefore, the building planting system according to the present invention may have one or more of the following advantages:

[0017]

(1) By hanging the equipment, the robotic arm platform can be moved away from obstacles on the wall of the building.

[0018]

(2) Effectively and safely handle the robotic arm with adjustable relative distance on the robotic arm platform for different planting operations (such as handling different sizes of plants, trimming or fixing) Planting.

[0019]

(3) By operating the host with the planting position definition module and the plant growth judgment module, by defining the location of the planting on the wall of the building and judging the growth of the plant, the plant can be effectively and safely monitored. Planting situation.

[0041]

110‧‧‧ hanging equipment
111‧‧‧Extensible bracket
112‧‧‧rope
113‧‧‧winding device
114‧‧‧ Track
120‧‧‧Mechanical arm platform
121, 122‧‧ ‧ robotic arm
123‧‧‧rails
124‧‧‧Photographing device
125‧‧‧Contact elements
126‧‧‧Distance sensor
130‧‧‧Operator
131‧‧‧Control Module
132‧‧‧plant growth judgment module
133‧‧‧plant position definition module
134‧‧‧ Warning Module
135‧‧‧Mock gloves
140‧‧‧Mobile pedestal
150‧‧‧ hanging equipment
200‧‧‧ Building
201‧‧‧ wall
202‧‧‧ beam body
210‧‧‧planting
220‧‧‧ obstacles
230‧‧‧ Area

[0020]

Figure 1 is a schematic view showing the structure of a first embodiment of a planting system of the present invention.

[0021]

Figure 2 is a schematic view showing the structure of a second embodiment of the planting system of the present invention.

[0022]

Figure 3 is a schematic view showing the structure of the robot arm platform of the building planting system of the present invention.

[0023]

Figure 4 is a schematic view showing the implementation of the planting system of the building of the present invention.

[0024]

Please refer to FIG. 1 to FIG. 4 , FIG. 1 is a schematic structural view of a first embodiment of a planting system of the present invention, and FIG. 2 is a structure of a second embodiment of the building planting system of the present invention. Schematic diagram, Fig. 3 is a schematic view showing the structure of the robot arm platform of the building planting system of the present invention, and Fig. 4 is a schematic view showing the implementation of the planting system of the building of the present invention. The difference between the first embodiment and the second embodiment of the building planting system of the present invention is that the hanging device of the first embodiment is detachably disposed on the beam body of the wall of the building, and the mechanical arm platform is The hanging device of the second embodiment is detachably disposed on the platform of the building, and further includes a rope body to suspend the robot arm platform.

[0025]

As shown in FIGS. 1 to 4, the building planting system of the present invention is used to treat the plant 210 on the building 200, and the building planting system of the present invention comprises at least the hanging device 110 or 150 and the robotic arm platform 120. And operating the host 130. For example, the hanging device 110 is detachably disposed on a plane or a wall surface of any floor of the building 200; or, the hanging device 150 is detachably disposed on the beam body 202 of the wall 201 of the building 200, and The beam body 202 can be, for example, a bracket or the like on the wall surface 201. Wherein, if the hanging device 110 is detachably disposed on a plane or a wall surface of any floor of the building 200, the building planting system of the present invention may further include a motorized pedestal 140, and the mobile pedestal 140 may be Detachable on the top floor of building 200, on the floor or wall of any floor. When the mobile pedestal 140 is disposed on the building 200, the hanging device 110 is further disposed on the motorized pedestal 140 to allow the hanging device 110 to be disposed on the building 200. In addition, the hanging device 110 can also be fixed to the motorized pedestal 140 to form a detachable combination.

[0026]

Wherein, if the hanging device 150 is detachably disposed on the beam body 202 of the wall 201 of the building 200 (as shown in FIG. 1), the hanging device 150 may have an extendable bracket (not shown), or The hanging device 150 itself is an extendable hanging device for adjusting the distance between the robotic arm platform 120 and the wall 201 of the building 200, thereby avoiding the obstacle 220 on the wall 201. Wherein, the hanging device 150 itself can be extended or contracted to adjust the distance between the robot arm platform 120 and the wall 201 of the building 200. Also, the hanging device 150 can move along the beam 202 to avoid the obstacle 220 on the wall 201 and reach the desired area 230. The obstacle 220 may be, for example, a platform protruding from the wall 201 or a platform recessed on the wall 201. In other words, the building planting system of the present invention can move the hanging device 150 to avoid the obstacle 220 or the plant 210 in response to the obstacle 220 on the wall 201 or the position of the plant 210 and the beam 202. The hanging device 150 is extended or contracted to pull apart or reduce the distance from the wall 201.

[0027]

If the hanging device 110 is detachably disposed on a plane or a wall surface of any floor of the building 200 (as shown in FIG. 2), the hanging device 110 may have an extendable bracket 111 and a connection extendable bracket 111. Rope body 112. The number of the cords 112 may be plural and both are connected to the extendable bracket 111. In addition, the hanging device 110 may further have a winding device 113 for retracting the cord body 112. For example, the cord winding device 113 can be disposed, for example, on the extendable bracket 111, and the cord body 112 is coupled to the cord winding device 113 such that when the cord winding device 113 is rotated in one direction (counterclockwise or clockwise), it can be rolled up The rope body 112 is such that the rope body 112 is wound around the winding device 113 to take up the rope body 112; and when the winding device 113 is rotated in the opposite direction, the rope body 112 of the winding wire winding device 113 can be released to make the rope body 112 Move down. The robot arm platform 120 is coupled to the other end of the rope body 112, so that the robot arm platform 120 can be moved along the wall surface 201 of the building 200 by the left and right movement of the hanging device 110 and the upward movement of the rope body 112. Moreover, the extendable bracket 111 can be used to adjust the distance between the robot arm platform 120 and the wall surface 201 of the building 200, thereby avoiding the obstacle 220 on the wall surface 201.

[0028]

Furthermore, the hanging device 110 can have a track 114 that is parallel to the vertical direction of the wall 201. The extendable bracket 111 is disposed on the rail 114 to move along the rail 114, so that the cord body 112 connected to the extendable bracket 111 is away from or close to the wall 201, so that the building planting system of the present invention can respond to the wall surface 201. The obstacle 220 or the plant 210 is placed to adjust the distance between the robot arm platform 120 and the wall 201.

[0029]

In addition, in the first embodiment or in the second embodiment, the robot arm platform 120 may further have a distance sensor 126 for sensing between the robot arm platform 120 and the wall surface 201 (or the plant 210). The distance is such that the user adjusts the distance between the robotic arm platform 120 and the wall 201 (or the plant 210) to the desired distance by the extendable bracket 111 or the hanging device 150. Furthermore, the second embodiment of the building planting system of the present invention may further comprise a contact element 125, and the contact element 125 connects the robotic arm platform 120 and contacts the wall surface 201. In addition, the contact element 125 can emit a contact signal depending on the area, area or contact time with which the wall 201 is in contact. The contact element 125 can be, for example, a push rod or a skid or the like.

[0030]

Thus, the building planting system of the present invention can adjust the distance between the robotic arm platform 120 and the wall 201 of the building 200 by the extendable bracket 111 or the hanging device 150, and/or the hanging device 150 on the beam 202. The path is such that the robotic arm platform 120 avoids the obstacle 220 on the wall 201 of the building 200 as it moves.

[0031]

In addition, the robot arm platform 120 has at least a robot arm 121 and 122 that can adjust the relative distance, so that when the robot arm platform 120 reaches the region 230 where the plant 210 is to be processed, it can respond to different plant processing actions (for example, The relative distance between the robot arms 121 and 122 is adjusted by handling different sizes of plants, trimming or fixing, and the like. The robot arm platform 120 can have a slide rail 123, and one or both of the robot arms 121 and 122 are disposed on the slide rail 123. The relative movement of the mechanical arms 121 and 122 on the slide rail 123 is Thereby, the building planting system of the present invention can adjust the relative distance between the robot arms 121 and 122. For example, when the robot arms 121 and 122 are to transport a larger size plant 210, the distance between the robot arms 121 and 122 can be pulled apart so that the plant 210 is interposed between the robot arms 121 and 122 and each Do not touch the robot arms 121 and 122, so that the robot arms 121 and 122 can pick up the plant 210; on the contrary, when the robot arms 121 and 122 are to transport the smaller size plant 210, the robot arms 121 and 122 can be reduced. The distance between them is to pick up the plant 210. In addition, the front ends of the robot arms 121 and 122 can also simulate, for example, a human finger or a palm, thereby performing operations such as trimming, picking, or fixing the plant 210 on the wall surface 201.

[0032]

Therefore, the building planting system of the present invention can be adapted to different planting operations (such as handling different sizes of plants, trimming or by means of robotic arms 121 and 122 with adjustable relative distances on the robotic arm platform 120). The plant 210 is treated efficiently and safely by fixing the action.

[0033]

In addition, the operation host 130 is electrically connected to the hanging device 110 or 150 and the robot arm platform 120 , and the operation host 130 has at least a control module 131 , a planting position definition module 133 and a plant growth determination module 132 . The planting position definition module 133 defines and knows the area 230 where the plant 210 is located. For example, the planting position definition module 133 can be, for example, a program in the operation host 130 or a planting position definition processor in the operation host 130, and a specific setting when the user wants to set the plant 210 on the wall 201. For the pattern or font on the wall 201, the plant position definition module 133 may be used to define the overall appearance and/or size of the building 200, and the area to be set by the plant 210 is located in the wall. In which area of the face 201 (for example, a coordinate point is defined on the entire wall 201 of the defined building 200, and the coordinate point to be set by the plant 210 is set as the area 230 where the plant 210 is located). Alternatively, when the user wants to process the specific plant 210 on the wall 201, the plant location definition module 133 can also be used to define and know the area 230 where the plant 210 is located.

[0034]

After the plant location definition module 133 defines and knows the area 230 where the plant 210 is located, the message can be sent to the control module 131, so that the control module 131 knows the area 230 where the plant 210 is located according to the message, and The hanging device 110 or 150 is then controlled to move the robotic arm platform 120 to the region 230 where the plant 210 is located. For example, the control module 131 can first set the path of the hanging device 150, and then move the hanging device 150 and the robot arm platform 120 located thereon to the region 230 where the plant 210 is located according to the path. The control module 131 can be, for example, a program in the operation host 130 or a controller or a processor in the operation host 130. In addition, the control module 131 can also control the action of the extendable bracket 111 and the cord body 112 of the hanging device 110 by the message transmitted by the planting position definition module 133, so that the robot arm platform 120 avoids the wall 201. Obstacle 220. The control module 131 can also adjust the distance between the robot arm platform 120 and the wall surface 201 by controlling the movement of the hanging device 110 by the contact signal emitted by the contact element 125 or the distance sensed by the distance sensor 126.

[0035]

In other words, when the control module 131 controls the hanging device 110 or 150 to move the robot arm platform 120 to the region 230 where the plant 210 is located, the plant growth determining module 132 can determine the growth of the plant 210 and provide Judge the message. Wherein, the robot arm platform 120 can further have a photographing device 124 for capturing images, and the photographing device can be electrically connected to the plant growth judging module 132 to return the image to the plant growth judging module 132, so that the plant grows. The judging module 132 can determine the growth of the plant by the image returned by the photographing device 124 and provide a judgment message to the control module 131. In addition, the operation host 130 can further have a warning module 134, and the warning module 134 is electrically connected to the plant growth determination module 132, so that the plant growth determination module 132 can transmit the determination message to the warning module 134. The warning module 134 is caused to issue a warning signal according to the determination signal. The alert module 134 can be, for example, a voice alert, an image alerter, or other alert that alerts the user.

[0036]

In addition, after the robot arm platform 120 moves to the area 230 where the plant 210 is located, the control module 131 can control the planting 210 in the area 230 where the robot arms 121 and 122 are processed, for example, the planting plant 210, the trimming plant 210 Or other planting treatments. The control module 131 can be, for example, a Programmable Logic Controller (PLC) to automatically control the robot arms 121 and 122 and/or automatically control the hanging device 110. For example, the user can set the control module 131 in advance, so that the control module 131 performs a planting process, such as trimming, seeding, or harvesting, at a fixed time or at a specific time period.

[0037]

Therefore, the building planting system of the present invention can define the location of the plant 210 on the wall 201 of the building 200 by the control module 131, the planting position definition module 132 and the plant growth determining module 133. And judging the growth of the plant 210, the condition of the plant 210 can be monitored effectively and safely.

[0038]

Furthermore, the operation host 130 can further have a dummy glove 135 electrically connected to the control module 131, so that the user of the building planting system of the present invention can control the robot arm 121 through the control module 131 by operating the simulated glove 135. And 122 treatment plant 210. For example, when the user wants to make the mechanical arms 121 and 122 perform small movements, for example, to loosen or lock the fixing screws (not shown) of the plant 210 on the wall surface 201, perform artistic performance trimming or When the leaves or fruits of the plant are harvested, the simulated gloves 135 can be worn and operated in a safe place. Since the simulated gloves 135 are electrically connected to the control module 131, the control module 131 receives the user's The operation is operated, and thereby the robot arms 121 and 122 are controlled to simulate the user's operation to perform the fine action. Therefore, the building planting system of the present invention can avoid the potential risk of danger from being artificially applied to the exterior wall of the building.

[0039]

In summary, the building planting system of the present invention can be used for mobile planting related projects, frequently monitoring plant growth, using a robotic arm to perform sowing, trimming and harvesting functions, and disassembling the entire set of planting pots for follow-up Processing. Therefore, the building planting system of the present invention can avoid the potential risk of danger from being artificially applied to the exterior wall of the building.

[0040]

The above is intended to be illustrative only and not limiting. Any equivalent modifications or alterations to the spirit and scope of the invention are intended to be included in the scope of the appended claims.

120‧‧‧Mechanical arm platform

121, 122‧‧ ‧ robotic arm

123‧‧‧rails

130‧‧‧Operator

131‧‧‧Control Module

132‧‧‧plant growth judgment module

133‧‧‧plant position definition module

150‧‧‧ hanging equipment

200‧‧‧ Building

201‧‧‧ wall

202‧‧‧ beam body

210‧‧‧planting

220‧‧‧ obstacles

230‧‧‧ Area

Claims (10)

[Item 1] A building planting system for treating a plant in a building, the building planting system comprising:
a hanging device detachably disposed on one of the walls of the building or one of the walls of the building;
a mechanical arm platform coupled to the hanging device for moving along the wall of the building, the robot arm platform having two robot arms capable of adjusting a relative distance; and an operating host electrically connecting the hanging device and the robot arm The platform has at least one control module, a planting position definition module and a plant growth judging module, wherein the planting position definition module defines and knows the area where the plant is located, the control The module controls the hanging device to move the mechanical arm platform to the area and avoid an obstacle on the wall, the control module controls the two robotic arms to process the plant, and the plant growth prediction mode The group judged the growth of one of the plants. [Item 2] The building planting system of claim 1, wherein the hanging device has an extendable bracket to adjust a distance of the robotic arm platform from the wall of the building. [Item 3] The building planting system of claim 1, further comprising a motorized pedestal detachably disposed on the building, the hanging device being disposed on the mobile pedestal. [Item 4] The building planting system of claim 1, wherein the hanging device further has a track parallel to the vertical direction of the wall, and the extendable bracket moves along the track to adjust the mechanical arm platform and the wall surface. One of the distances. [Item 5] The building planting system of claim 1, wherein the robot arm platform further has a slide rail, and the two robot arms are disposed on the slide rail to adjust a relative distance between the two robot arms. [Item 6] The building planting system of claim 1, wherein the robot arm platform further has a photographing device for capturing an image, and the plant growth judging module judges the growth of the plant according to the image. [Item 7] The building planting system of claim 1, wherein the robot arm platform further has a distance sensor that senses a distance between the robot arm platform and the wall surface. [Item 8] The building planting system of claim 1, wherein the operating host further has a warning module electrically connected to the plant growth judging module, and the warning module is based on the plant growth judging module. A warning signal is sent to determine the signal. [Item 9] The building planting system of claim 1, wherein the operating host further has a dummy glove electrically connected to the control module, such that a user controls the simulation module by operating the simulated glove. The robotic arm handles the plant. [Item 10] The building planting system of claim 1, wherein the control module is a programmable logic controller to automatically control the two robot arms.