TW201911200A - Fungus growth monitoring system - Google Patents

Abstract

A fungus growth monitoring system is used for an indoor fungi culture field including at least one cultivation shelf and fungus disposed on the shelf. The fungus growth monitoring system including an aircraft and a management host is provided. The aircraft has a positioning module and an image capture module. The positioning module includes ultrasonic sensing elements and is used for positioning the aircraft. The image capture module is configured to shoot the fungus to generate an image data. The management hostcommunicates with the aircraft. According to a scheduling trajectory database and a positioning data of these ultrasonic sensing elements, the aircraft is driven by the management hostto move along adefault path.

Description

Fungus growth image monitoring system

The invention relates to a fungus growth image monitoring system, and in particular to a fungus growth image monitoring system combined with an aerial camera.

Mushroom cultivation methods use space packs as the culture medium, and these space packs are stacked on each layer of the culture rack. The manufacturer needs to adjust the environment according to the needs of the mushrooms at different growth stages to ensure the quality and yield of the mushrooms. Generally speaking, the environmental management in the cultivation field is mostly manual work. It is necessary to adjust the environmental conditions of ventilation, humidity, light and temperature in the cultivation field according to the growth state of the mushroom and the current climatic conditions. Make adjustments.

However, in the mushroom culture field, since most of the manual operation methods are adopted, and the personnel are difficult to carry out the control, it is easy to bring the fungus or bacteria into the field, thereby causing the mushroom to be infected and affecting the overall quality and yield of the mushroom. Therefore, how to reduce the proportion of manual work in the cultivation field and effectively adjust the environment in the cultivation field is an important issue.

The invention provides a fungus growth image monitoring system, which can reduce the manual operation demand of the fungus culture field, and can effectively adjust the environment in the indoor fungus culture field.

In order to achieve one or a part or all of the above or other purposes, an embodiment of the present invention provides a fungus growth image monitoring system, which is suitable for an indoor fungus culture field, and the indoor fungus culture field includes at least a culture frame and is carried on the culture frame. The fungus and fungus growth image monitoring system includes an aerial camera and a management host. The aerial camera has a positioning module and an image capturing module. The positioning module has a plurality of ultrasonic sensing elements for positioning, and the image capturing module is used for photographing bacteria to generate image data. The management host and the aerial camera communicate with each other and are adapted to drive the empty camera to move along the preset path according to the scheduling trajectory database and the positioning data of the ultrasonic sensing components.

In an embodiment of the invention, the number of the ultrasonic sensing elements is three, and each ultrasonic sensing element is used to emit an acoustic beam, and the acoustic axes of the acoustic beams are perpendicular to each other, and the ultrasonic waves are The acoustic axis of the sensing element is directed below the aerial camera.

In an embodiment of the invention, the culture rack has an outer frame and a plurality of partitions connected to the outer frame, and the outer frame has a photographing side, and the image capturing module photographs the fungi located on the partitions toward the photographing side. The fungus growth image monitoring system further includes a plurality of reflecting plates disposed on the shooting side and located on the partitions, and the ultrasonic sensing elements are positioned according to the reflecting plates.

In an embodiment of the present invention, the fungus growth image monitoring system further includes a plurality of two-dimensional bar code components respectively disposed on the photographing side and located at opposite ends of the partitions, and the image capturing module Each two-dimensional bar code component is photographed to generate a positioning image data, and the positioning module receives the positioning image data for positioning.

In an embodiment of the present invention, the fungus growth image monitoring system further includes a plurality of scales respectively disposed on the shooting side and located on the partitions, and the image capturing module captures each scale to generate an image reference. The size and size data, the positioning module receives the positioning image data for positioning.

In an embodiment of the present invention, the management host has a scheduling trajectory database, a growth state database, and a deep learning module, and the management host determines the image data according to the growth state database and the deep learning model to generate The judgment result of the mushroom growth state.

In an embodiment of the present invention, the fungus growth image monitoring system further includes a cloud server, communicates with the management host and receives image data, and the cloud server has a growth state database and a deep learning model, and the cloud server is based on the cloud server. The growth state database and the deep learning model determine the image data to generate a judgment result, and then return the judgment result to the management host.

In an embodiment of the invention, the management host further includes an environment sensing module and an environment control module, wherein the environment sensing module is configured to sense a plurality of environmental parameters of the indoor mushroom culture field, and the environmental control module is based on The results are judged with these environmental parameters to adjust the environment of the indoor fungus culture field.

In an embodiment of the invention, the environmental sensing module is at least one of a temperature sensor, a humidity sensor, an illuminance sensor, or a carbon dioxide sensor.

In an embodiment of the invention, the environmental control module is at least one of a temperature regulator, a humidity regulator, a light source or a fan.

The fungus growth image monitoring system of the embodiment of the invention has multiple ultrasonic sensing components capable of accurately positioning indoors, and after the positioning is completed, the management host can periodically drive the empty camera to move along the preset path and The image data of the growth of the fungus is photographed, and the image data is returned to the management host to monitor the growth state of the fungus. Therefore, the fungus growth image monitoring system of the embodiment of the invention can reduce the manual operation requirement of the indoor fungus culture field. In addition, the fungus growth image monitoring system of the embodiment of the present invention may have an environment sensing module and an environment control module. Therefore, after the image data and the growth state database are compared, the environmental control module can be effective according to the judgment result. Regulate the environment within the indoor fungus culture field.

The above and other objects, features and advantages of the present invention will become more <RTIgt;

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a schematic view showing a fungus growth image monitoring system according to an embodiment of the present invention. Figure 2 is a block diagram of Figure 1. Referring to FIG. 1 and FIG. 2, the present embodiment is a fungus growth image monitoring system 10, which is suitable for an indoor fungus culture field. The indoor fungus culture field includes at least a culture frame 20 and a fungus G carried on the culture frame 20, and the fungus growth image. The monitoring system 10 includes an aerial camera 11 and a management host 12. The air blasting machine 11 has a positioning module 111 and an image capturing module 112. The positioning module 111 has a plurality of ultrasonic sensing elements (not shown) for positioning, and the image capturing dies 112 are used for photographing the fungus G. To produce image data. The management host 12 communicates with the aerial camera 11 and is adapted to drive the aerial camera 11 to move along the preset path L according to the positioning data of the scheduling trajectory database 121 and the ultrasonic sensing element.

It should be mentioned that the fungus G is, for example, a ganoderma lucidum or other mushroom, and the space bag containing the fungus G is arranged on the culture frame 20. Specifically, the culture rack 20 has, for example, an outer frame 21 and a plurality of partitions 22 connected to the outer frame 20, and the outer frame 21 has a photographing side, and the image capturing module 112 photographs the partitions 22 toward the photographing side. A fruiting body of fungus G.

The air camera 11 of the present embodiment is a four-axis aircraft. The air camera 11 has a controller 113, a rotor module 114 and a transmission module 115, and the controller 113 and the positioning module 111 and the image capturing module 112. The rotor module 114 is electrically connected to the transmission module 115. The controller 113 drives the rotor module 114 according to the command of the management host 12, and causes the empty camera 11 to move along the preset path L after the positioning is completed. The controller 113 drives the image capturing module 112 to capture the fungus G until the null camera 11 returns to the origin of the preset path L, but is not limited thereto. For example, the image capturing module 112 can also be designed to be only required. The preset path L in the Y-axis direction is photographed, and the X-axis direction and the Z-axis direction are not photographed.

The number of ultrasonic sensing elements of the positioning module 111 is, for example, three, and each ultrasonic sensing element is used to emit a sound beam, and the acoustic axes S1, S2, S3 of the respective sound beams are perpendicular to each other, and these ultrasonic waves One of the sensing elements S1 is directed downward of the air-slot machine 11, i.e., toward the bottom surface of the indoor mushroom culture field, and the ultrasonic beams are received by the ultrasonic sensing elements to perform positioning of the aerial camera 11. Specifically, referring to FIG. 3A and FIG. 3B, the indoor fungus culture field 30 has a bottom surface 31 and a top surface 32, and a plurality of side walls 33 and 34 connected between the bottom surface 31 and the top surface 32, and has an acoustic axis S1 ultrasonic wave. The sensing element emits an acoustic beam along the Z-axis direction to the bottom surface 31 and receives the sound beam, and the ultrasonic sensing elements having the acoustic axes S2, S3 respectively emit the acoustic beam to the side wall 33 along the Y-axis direction and the X-axis direction, The side wall 34 receives the sound beam. Thereafter, the controller 113 receives the distance data generated by each of the ultrasonic sensing elements (ie, the first distance D1, the second distance D2, and the third distance D3) to be converted into coordinates (D3, D2) in the corresponding indoor mushroom culture field 30. , D1), thereby positioning the air-slot machine 11, and returning the positioning data to the management host 12.

The management host 12 has, for example, a scheduling trajectory database 121, a central processing module 122, and a transmission module 123, and the central processing module 122 is electrically connected to the scheduling trajectory database 121 and the transmission module 123, and the scheduling trajectory database 121 The schedule data and the trajectory data are provided, for example, including a plurality of time points for driving the aerial camera 11, and the trajectory data includes, for example, map data of the indoor fungus culture field 30 and a predetermined path L of the aerial camera 11. The transmission module 123 is used to communicate with the transmission module 115 of the aerial camera 11 to receive or transmit the aforementioned data. In addition, the transmission module 123 and the transmission module 115 are wirelessly transmitted, for example, mobile communication technologies (2G, GPRS, 3D, and 4G), wireless network technology (Wi-Fi), Ethernet (Ethernet), or blue. Bud transmission.

In order to understand the control method of the management host 12 in the idler 11 in this embodiment, referring to FIG. 2, the management host 12 first drives the empty camera 11 according to the schedule data, and then the aerial camera 11 performs positioning. After the positioning of the aerial camera 11 is completed, if the coordinates of the aerial camera 11 are located at the origin of the preset path L, the aerial camera 11 moves along the preset path L, and the image capturing module 112 is photographed toward the shooting side. A fruiting body of fungus G. If the coordinates of the idler 11 are not the origin of the preset path L, the idler 11 is driven by the management host 12 to return to the origin of the preset path L first. Next, the aerial camera 11 moves along the preset path L until returning to the origin, and transmits the image data to the management host 12 to complete one schedule. And the schedule can be adjusted according to the needs of the manager.

The fungus growth image monitoring system 10 of the present embodiment can accurately position the indoor fungus culture field 30 because the air take-up machine 11 has a plurality of ultrasonic sensing elements. After the positioning is completed, the management host 12 periodically drives the aerial shooting. The machine 11 moves along the preset path L and photographs the image data of the growth of the fungus G, and returns the image data to the management host 12 to monitor the growth condition of the fungus G. Therefore, the fungus growth image monitoring system 10 of the present embodiment can Reduce the manual work requirements of the indoor fungus culture field 30.

On the other hand, the management host 12 of the present embodiment can also be used for judging image data to generate a mushroom growth state judgment result. Specifically, the management host 12 may include, for example, a growth status database 124, and the central processing module 122 compares the image data to the fungus G based on the growth status database 124. The image data includes, for example, a sub-entity image of the fungus G, and the central processing module 122 can calculate (eg, combine image processing) the size of the sub-entity or the appearance of the sub-entity according to the image data, and then compare to the growth state database 124. Generate judgment data. The judgment data refers to, for example, insufficient or excessive temperature, humidity, illuminance, and carbon dioxide concentration of the environmental parameters of the indoor fungus culture field 30. However, the present invention is not limited thereto, and other types of environmental parameters may be added depending on the culture culture demand.

In addition, the management host 12 of the embodiment may further have a deep learning model, and the central processing module generates the above-mentioned judgment data according to the growth state database 124 and the deep learning model 125. For example, the deep learning model 125 is to continuously correct the built-in parameters (or weight values) by a large amount of data input, so that the central processing module 122 can generate more accurate judgment results. However, in other embodiments, other types of operational models that are similar or similar to the deep learning model in the prior art may also be employed.

Furthermore, the management host 12 of the present embodiment may further include an environment sensing module 126 and an environment control module 127 for sensing a plurality of environmental parameters of the indoor fungus culture field 30. The environmental control module 127 adjusts the environment within the indoor fungus culture field 30 based on the determination results and these environmental parameters. In addition, the environment sensing module 126 is, for example, at least one of a temperature sensor, a humidity sensor, an illuminance sensor, or a carbon dioxide sensor, and the environment control module 127 is, for example, a temperature regulator and a humidity regulator. At least one of a light source or a fan, but the invention is not limited thereto, and in other embodiments, other types of sensors or regulators may be added depending on the design requirements of the indoor fungus culture field 30. Therefore, after the management host 12 compares the image data with the growth state database 124 to generate the determination result, the environment control module 127 can effectively adjust the environment in the indoor fungus culture field 30 according to the determination result. It should be noted that, in the present invention, the environment monitoring module 126 and the environment control module 127 automatically read environmental parameters to adjust the environment in the indoor fungus culture field, and after the management host 12 produces the judgment result, Adjust according to the judgment result.

Although FIG. 1 is positioned by the ultrasonic sensing element, in other embodiments, other auxiliary positioning members may be disposed on the culture frame 20 of the fungus G, and the corresponding preset path L is disposed on the shooting side and is located in the partition plate. 22, for example, a reflector or a two-dimensional bar code component or the like is used to assist the positioning of the indoor fungus culture field 30 by the aerial camera 11, and the details are as follows.

4 is a schematic view of a fungus growth image monitoring system according to another embodiment of the present invention. Referring to FIG. 4, the fungus growth image monitoring system 10a further includes a plurality of reflecting plates 40 disposed on the capturing side and located on the partitions 22, and the ultrasonic sensing elements are positioned according to the reflecting plates 40. These reflecting plates 40 correspond, for example, to a preset path L. For example, when the aerial camera 11 completes positioning and moves along the preset path L, the ultrasonic sensing element having the acoustic axis S3 emits an acoustic beam to the reflecting plate 40 along the X-axis direction and receives, and the controller 113 Receiving the distance data of the ultrasonic sensing component, if the distance data conforms to the preset distance data, the empty camera 11 is located on the preset path L to continuously move forward. Although FIG. 2 is taken as an example in which the reflecting plate 40 is located on the partition plates 22, in other embodiments, the reflecting plate 40 may be disposed on the photographing side and located on the outer frame 21 as the design requirements.

In addition, the fungus growth image monitoring system 10a may further include a plurality of two-dimensional bar code components 60, which are respectively disposed on the photographing side and located at opposite ends of the partitions 22, and the image capturing module 112 captures each The two-dimensional barcode component 60 generates the positioning image data, and the positioning module 111 receives the positioning image data for positioning.

In addition to the above-described auxiliary positioning method, the aerial camera 11 further includes, for example, a Global Positioning System (GPS), and can assist positioning of the positioning module 111 in the X-axis direction and the Y-axis direction. Further, the aerial camera 11 further includes electronic components such as an acceleration gauge and a gyroscope, and the floating position of the aerial camera 11 can be stabilized, but is not limited thereto.

On the other hand, the fungus growth image monitoring system 10a further includes a plurality of scales 50, which are respectively disposed on the photographing side and located on the partitions 22, and the image capturing module 112 captures each scale 50 to generate an image size. The data is then passed back to the management host 12 for comparing the growth status database 124 to generate the determination data. Specifically, as shown in FIG. 5, when the central processing module 122 of the present embodiment compares the image data of the growth state database 124 to the fungus G, the image data includes, for example, the fruit entity image of the fungus G and the scale 50. The central processing module 122 can calculate the size of the fungal G sub-entity based on the image data (take the width D4 as an example), and then compare the growth state database 124 to generate the judgment data, or can be combined with the deep learning model 125. This judgment data is generated, so the accuracy of the judgment data can be improved.

Fig. 6 is a block diagram showing a fungus growth image monitoring system according to another embodiment of the present invention. As shown in FIG. 6, the fungus growth image monitoring system 10b of the present embodiment is similar to the fungus growth image monitoring system 10 of FIG. 1. The main difference is that the fungus growth image monitoring system 10b includes, for example, a cloud server 13 and a management host 12b. Communicating with each other and receiving image data, the cloud server 13 has, for example, a growth state database 131 and a deep learning model 132, and the cloud server 13 determines the image data according to the growth state database 131 and the deep learning model 132 to generate a determination result, and then The result of the judgment is transmitted back to the management host 12b. Specifically, the management host 12b of the embodiment may not have the growth state database 131 and the deep learning model 132 of FIG. 1, but the cloud server 13 may generate the determination result, and the cloud server 13 may be matched with the plurality of management hosts 12b. And by synchronously managing the environment of the plurality of indoor fungus culture fields, wherein the cloud server 13 has a transmission module 133 to communicate with the management host 12b via the Internet 14, and the cloud server 13 has, for example, a cloud computing module. 134. The cloud computing module 134 can determine the image data according to the growth state database 131 and the deep learning model to generate a determination result.

In this way, in addition to the advantages mentioned in the foregoing embodiments, the cloud computing module 134 can simultaneously manage a plurality of indoor fungus culture fields, and provide a large amount of data to the deep learning model 132 according to each indoor fungus culture field. The algorithm of the deep learning model 132 is optimized to improve the accuracy of the judgment results of each indoor fungus culture field, that is, to manage a plurality of indoor fungus culture fields by means of the Internet of Things, thereby reducing the manual operation demand of the indoor fungus culture field. It can help to improve the needs of automated management of indoor fungal culture fields.

In addition, according to the needs of the administrator, the above-mentioned environmental parameters, image data, positioning data, growth status database, and scheduling trajectory database can be transmitted to the manager terminal 15 through the Internet or wireless transmission. The manager terminal 15 is, for example, a smart phone, a tablet computer or other portable electronic device with a display function, to help the manager to immediately grasp the situation in the fungus culture field.

In summary, the fungus growth image monitoring system of the embodiment of the present invention has multiple ultrasonic sensing components capable of performing accurate indoor positioning. After the positioning is completed, the management host can periodically drive the aerial camera along the path. The preset path moves and photographs the image data of the growth of the fungus, and the image data is returned to the management host to monitor the growth state of the fungus. Therefore, the fungus growth image monitoring system of the embodiment of the invention can reduce the manual operation requirement of the indoor fungus culture field. . In addition, the fungus growth image monitoring system of the embodiment of the present invention may have an environment sensing module and an environment control module. Therefore, after the image data and the growth state database are compared, the environmental control module can be effective according to the judgment result. Regulate the environment within the indoor fungus culture field.

Although the present invention has been disclosed in the above embodiments, it is not intended to limit the present invention, and those skilled in the art can make some modifications and refinements without departing from the spirit and scope of the invention. Therefore, the scope of the invention is defined by the scope of the appended claims.

10, 10a, 10b‧‧‧ fungus growth image monitoring system

11‧‧ ‧ empty camera

111‧‧‧ Positioning Module

112‧‧‧Image capture module

113‧‧‧ Controller

114‧‧‧Rotor Module

115‧‧‧Transmission module

12‧‧‧Management host

121‧‧‧ Schedule Track Database

122‧‧‧Central Processing Module

123‧‧‧Transmission module

124‧‧‧ Growth Status Database

125‧‧‧Deep learning model

126‧‧‧Environment Sensing Module

127‧‧‧Environmental Control Module

13‧‧‧Cloud Server

131‧‧‧ Growth Status Database

132‧‧‧Deep learning model

133‧‧‧Transmission module

134‧‧‧Cloud computing module

14‧‧‧Internet

15‧‧‧Manager terminal

20‧‧‧Cultivator

21‧‧‧Front frame

22‧‧‧Baffle

30‧‧‧ Indoor fungus breeding grounds

31‧‧‧ bottom

32‧‧‧ top surface

33, 34‧‧‧ side wall

40‧‧‧reflector

50‧‧‧ scale

60‧‧‧2D barcode components

D1‧‧‧First distance

D2‧‧‧Second distance

D3‧‧‧ third distance

D4‧‧‧Width

G‧‧‧ fungi

L‧‧‧Preset path

S1, S2, S3‧‧‧ sound axes

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a schematic view showing a fungus growth image monitoring system according to an embodiment of the present invention. Figure 2 is a block diagram of Figure 1. 3A and 3B are schematic diagrams showing the calculation of the indoor coordinates of the ultrasonic sensor of the positioning module of FIG. 1. 4 is a schematic view of a fungus growth image monitoring system according to another embodiment of the present invention. Fig. 5 is a schematic view showing the size of the fungus according to the scale of the scale of Fig. 4; Fig. 6 is a block diagram showing a fungus growth image monitoring system according to another embodiment of the present invention.

Claims (10)

The invention relates to a fungus growth image monitoring system, which is suitable for an indoor fungus culture field. The indoor fungus culture field comprises at least a culture frame and a fungus carried on the culture frame. The fungus growth image monitoring system comprises: an aerial camera with a positioning a module and an image capturing module, the positioning module having a plurality of ultrasonic sensing components for positioning, the image capturing module for capturing bacteria to generate an image data; and a management host, and the empty The cameras communicate with each other and are adapted to drive the aerial camera to move along a predetermined path according to a scheduling trajectory database and positioning data of the ultrasonic sensing components. The fungus growth image monitoring system of claim 1, wherein the number of the ultrasonic sensing elements is three, each of the ultrasonic sensing elements is configured to emit a sound beam, and each of the sound beams The acoustic axes are perpendicular to one another and the acoustic axis of one of the ultrasonic sensing elements faces the underside of the aerial camera. The fungus growth image monitoring system of claim 2, wherein the culture frame has an outer frame and a plurality of partitions connected to the outer frame, and the outer frame has a photographing side, and the image captures The module is configured to photograph the fungi on the partitions toward the photographing side, and the fungus growth image monitoring system further includes a plurality of reflectors disposed on the photographing side and located in the partitions, the ultrasonic waves The sensing elements are positioned according to the reflectors. The fungus growth image monitoring system of claim 1, wherein the culture frame has an outer frame and a plurality of partitions connected to the outer frame, and the outer frame has a photographing side, and the image captures The module is configured to photograph the fungi on the partitions toward the photographing side, and the fungus growth image monitoring system further includes a plurality of two-dimensional barcode components, and the two-dimensional barcode components are respectively disposed on the photographing side and located on the partitions The image capturing module captures each of the two-dimensional barcode components to generate a positioning image data, and the positioning module receives the positioning image data for positioning. The fungus growth image monitoring system of claim 1, wherein the culture frame has an outer frame and a plurality of partitions connected to the outer frame, and the outer frame has a photographing side, and the image captures The module is configured to photograph the fungi on the partitions toward the photographing side, and the fungus growth image monitoring system further includes a plurality of scales respectively disposed on the photographing side and located on the partitions. The module takes each of the scales and the fungus to generate an image size data, and then returns to the management host. The fungus growth image monitoring system of claim 1, wherein the management host has the scheduling trajectory database, a growth state database, and a deep learning model, and the management host according to the growth state database and the The deep learning model determines the image data to produce a judgment result. For example, the fungus growth image monitoring system described in claim 1 further includes a cloud server that communicates with the management host and receives the image data, and the cloud server has a growth state database and a deep learning model. And the cloud server determines the image data according to the growth state database and the deep learning model to generate a determination result, and then returns the determination result to the management host. The fungus growth image monitoring system of claim 6 or 7, wherein the management host further comprises an environment sensing module and an environmental control module, wherein the environment sensing module is configured to sense the indoor fungus The plurality of environmental parameters of the cultivation field are determined, and the environmental control module adjusts the environment in the indoor mushroom culture field according to the determination result and the environmental parameters. The fungus growth image monitoring system of claim 8, wherein the environment sensing module is at least one of a temperature sensor, a humidity sensor, an illuminance sensor, or a carbon dioxide sensor. The fungus growth image monitoring system of claim 8, wherein the environmental control module is at least one of a temperature regulator, a humidity regulator, a light source or a fan.