TW201941680A - Automatic evacuating plantlets system based on a plant factory - Google Patents

Abstract

The present invention discloses an automatic evacuating plantlets system based on a plant factory, which includes a plant density measuring unit, a transplanting position selecting module, a central monitoring unit and a transplanting unit. The plant density measurement unit can measure the density distribution of plantlets in a plant area. When the density distribution of the plantlets reaches a preset threshold value, a pinch position signal is generated, and the transplanting position selecting module generate a shift position signal representing the position of the transplanted strain. The central monitoring unit processes the pinch position signal and the shift position signal to output a control signal. The transplanting unit is triggered by the control signal to move the plantlets from the gripping position to a transplanted position. Whereby the plantlets are distributed on an optimal growth space, so as to effectively achieve the purpose of improving the quality and quantity of crops.

Description

Automated seedling planting system based on plant factory

The present invention relates to an automatic seedling planting system based on a plant factory, and more particularly to an automatic seedling that can improve the quality of crops by determining the distribution of seedlings to determine whether to initiate sparse planting and effective transplantation so that the seedlings can be distributed to the optimal growth space. Planting technology.

According to the government's agricultural automation policy, the automation technology for vegetable seedling production in Taiwan has matured and has entered the stage of comprehensive promotion. However, the plant factory automation part is limited to the program control of the planting process, which is why it is even more prominent. Demand for mechanization of vegetable plant transplantation.

Furthermore, according to the research report of the Agricultural Committee of the Executive Yuan, seedlings are the foundation of crop production. In order to accelerate the development of Taiwan ’s seedlings, the government has listed automation of seedlings production as one of the key industries in Taiwan ’s agricultural construction plan. Beginning in 1974, R & D and application of plug tray seedlings has been started, and since 1980, the farmer has been instructed to set up automated seedling farms, and has actively promoted the professional production of plug tray seedlings. As of the year of the Republic of 88, he has set up automation in Taiwan. In the 23 nursery farms, more than 300 million seedlings of strong vegetables, fruits and vegetables can be cultivated each year, accounting for about 36% of Taiwan's total demand. It is known from the above that a complete seedling automation operation system must include the automatic equipment seedling system, handling system, seedling facility management, seedling farm operation and transplantation system and other automated equipment and technology development and application.

According to the knowledge, the relevant technical field has already developed a large agricultural machine that can be applied to automatic seeding, handling and transplanting of outdoor farmland systems, although the conventional agricultural tools can achieve a certain degree of automatic seeding, handling and transplantation. However, its structure, composition, and technical framework cannot be applied to small-scale plant factories, although at the current stage, plant plants can be mechanically completed in the transportation of seedlings, ditching for soil removal, and soil cover. It is difficult to automate the process of taking seedlings, transplanting seedlings, and sparse planting, but it must rely on manpower. Therefore, plant factories do cause a lot of inconvenience and trouble in terms of plant transplantation and sparse planting; not only that, the conventional agriculture Machines and plant factories do not have the function setting of plant densification measurement technology, so that the conventional agricultural machines and plant factories must rely on the operator's visual observation and experience to determine whether to start the transplantation. Mistakes in the timing of launching the transplantation system due to staff negligence , Resulting in a low plant survival rate due to high plant density; In addition, because the distribution of seedlings cannot be determined, the seedlings cannot be transplanted and distributed to the optimal growth space at the first time, resulting in slower plant growth rates . Therefore, how to develop a seedling value automation system that can determine the seedling distribution status to determine whether to start sparse planting to effectively transplant the seedlings to the optimal growth space has become an urgent need for the relevant technical field players to solve and challenge. Technical issues.

The main purpose of the present invention is to provide an automatic seedling planting system based on a plant factory, which can mainly determine whether to start the planting and effective transplantation according to the distribution status of seedlings, so that the seedlings can be distributed to the optimal growth space. In addition to quality and quantity, it has many features such as simplified structure, high-quality farming suitable for the current small economy, full automation, labor saving, and improved work efficiency. To achieve the main goal and technical means to solve the problem, The line includes plant density measurement unit, transplant position selection module, central monitoring unit and transplant unit. The plant density measurement unit can measure the density distribution status of the plurality of seedlings in the plant area. When the density distribution status of the plurality of seedlings reaches a preset threshold value, a clip corresponding to the gripping position of the seedlings to be transferred is generated. Take the position signal. The transplant position selection module is used to generate a transplant position signal representing the position of the transplant. The central monitoring unit is used for interpreting and processing the gripping position signal and the moving position signal and outputting the stroke control signal. The transplanting unit can be triggered by the stroke control signal to move the seedlings from the gripping position to the transplanting position.

1‧‧‧ Seedlings

10‧‧‧ Plant density determination unit

11‧‧‧Image capture device

12‧‧‧block parameter database

13‧‧‧Image recognition module

14‧‧‧Image Database

20‧‧‧Transplantation position selection module

30‧‧‧ Central Monitoring Unit

31‧‧‧Signal Transmission Module

40‧‧‧ Transplantation Unit

41‧‧‧Clamping / ditching mechanism

410,430‧‧‧mobile vehicles

411,431‧‧‧Jaw

412‧‧‧Ditching device

42‧‧‧Automatic pickup mechanism

43‧‧‧Clamping mechanism

50‧‧‧ plant area

50a‧‧‧The first cultivation vessel

51‧‧‧Clamping position

51a, 61a‧‧‧hole

60‧‧‧ Transplantation area

60a‧‧‧Second cultivation vessel

61‧‧‧Transplantation position

FIG. 1 is a schematic diagram showing the distribution state of the seedlings of the present invention before being sparsely planted.

Fig. 2 is a schematic diagram showing the distribution state of the seedlings of the present invention after being sparsely planted.

FIG. 3 is a schematic diagram of the implementation of the present invention to use the image positioning algorithm to circle over-dense parts of seedlings and compare them with their respective coordinate positions.

FIG. 4 is a schematic diagram of a sample image exceeding a preset threshold according to the present invention.

FIG. 5 is a schematic diagram of the implementation structure of all transplants of the seedlings of the present invention.

FIG. 6 is a schematic front view of the implementation structure of all transplants of the seedlings of the present invention.

FIG. 7 is another schematic front view of the implementation structure of all transplants of the seedlings of the present invention

FIG. 8 is a functional block diagram of the implementation structure of the seedling partial transplantation of the present invention.

FIG. 9 is a functional block diagram of the implementation structure of all transplants of the seedlings of the present invention.

In order to allow your reviewers to further understand the overall technical features of the present invention and the technical means for achieving the purpose of the present invention, specific embodiments and drawings are described in detail as follows: Please refer to FIG. 1 to FIG. 5 for a specific embodiment for achieving the main purpose of the present invention, which includes a plant density measurement unit 10 and a transplant position selection module 20 (such as an operation interface; or a preset stroke control). Data; but not limited to this), a central monitoring unit 30 (such as a computer; or a server, etc.) and a plant moving unit 40 and other technical features. The plant density determination unit 10 can measure the density of the plurality of seedlings 1 in at least one plant area in a plant factory. When the density of the plurality of seedlings 1 reaches a preset threshold, at least one The gripping position 51 signal corresponding to the gripping position of the seedling 1 to be transferred. The transplant position selection module 20 is used to generate a transplant position signal representing at least one transplant position 61 located in the plant factory. The central monitoring unit 30 is used for interpreting and processing the gripping position signal and the transplanting position signal and outputting at least one corresponding stroke control signal. The plant transfer unit 40 may be triggered by the stroke control signal to sequentially transfer the seedling 1 from the gripping position 51 to the plant transfer position 52.

Please refer to the embodiment shown in FIG. 3. The above-mentioned transplanting unit 40 may be triggered by the stroke control signal to transfer the seedlings 1 in the over-densified part of the plant area 50 to the planting area 60 in the plant factory. ; Or the transplanting position 61 in the transplanting area 60 to which all the seedlings 1 are transplanted.

Please refer to FIG. 1 to FIG. 3 and FIG. 8, which is a specific embodiment of transplanting the seedling 1 of the over-densified part of the plant area 50 to the plant-moving area 51 a. The above-mentioned plant density measuring unit 10 includes at least one An image capturing device 11 for capturing images of the densely distributed state of a plurality of seedlings above the plant area 50, a block parameter database 12 for establishing coordinate positioning parameter data of a plurality of marked points, and an image recognition module 13. Each marked point represents each seedling 1 in the plant area 50. When the image recognition module 13 inputs the densely distributed image captured by the image capturing device in real time, it performs image preprocessing to obtain the point coordinates of each seedling 1 in the plant area 50, and then combines the point coordinates with the block parameters The database 12 is substituted into an image positioning algorithm to calculate the actual coordinate position of the point coordinates. The image recognition module 13 then judges each adjacent Whether the separation distance between at least two coordinate positions is less than a preset interval value, and if yes, circle seedlings 1 smaller than the interval value and need to be transplanted, and sequentially output each transplanted seedling 1 selected Location signal.

In the embodiment described above, please refer to FIG. 8 again. The above-mentioned plant transfer unit 40 includes a gripping / ditching mechanism 41. The gripping / ditching mechanism 41 includes at least one moving carrier 410, at least A set of clamping jaws 411 and at least one ditching device 412. A moving carrier 410 is used to carry the claws 411 and ditching device 412 back and forth from the gripping position 51 of the plant area 50 to each of the transplanting positions 60 to open the trench. The apparatus 412 sequentially ditched the soil or culture substrate at each transplanting position 61 to generate at least one hole ditch, and at least one gripper claw 411 sequentially picked at least one seedling 1 from the clamping position 51 and then transferred the plant to each hole Inside, and the soil or the culture medium near each hole is covered with each hole, and the transplanting operation of the seedling 1 can be completed.

Please refer to FIG. 5 to FIG. 7 and FIG. 9 for a specific example of the transplanting position 61 in the transplanting area 60 in which all the seedlings 1 are transplanted. The above-mentioned plant density determination 10 includes at least one planting area 50 The image capture device 11 for capturing images of the densely distributed state of a plurality of seedlings, an image database 14 for inputting a sample image of a plurality of seedlings 1 in a densely distributed state, and an image recognition module 13. The preset threshold is each sample image. When the image recognition module 13 receives the densely distributed image captured by the image capturing device in real time, it searches the image database 14 for a plurality of sample images with matching characteristics to determine whether the densely distributed image has reached a preset threshold. When the result of the judgment is yes, the signal of the position of the transplanted seedling 1 that needs to be started is output. The sample image shown in FIG. 4 is an implementation illustration that exceeds a preset threshold.

As mentioned above, please refer to FIG. 9. The above-mentioned plant area 50 is the first cultivation vessel 50 a. Each planting position 61 is a second planting vessel 60a having a smaller planting density in the planting area 60 than the first planting vessel 50a. The plant transfer unit 40 includes an automatic pickup mechanism 42 and a clamping mechanism 43. The automatic pick-up and delivery mechanism 42 is used to transfer each first cultivation vessel that needs to be transplanted. 50a is transported to the first position, and the automatic take-out mechanism 42 may transport the empty second cultivation vessel 60a to the second position. The gripping mechanism 43 includes at least one gripper 430 and a moving carrier 430 capable of carrying the reciprocating displacement of the gripper from the first position to the second position. The gripper 430 is sequentially from the first cultivation vessel 50a in the first position. The gripping position 51 grips at least one seedling 1 and moves to the second position, and then moves the at least one seedling 1 to the transplanting position 61 in the second cultivation vessel 60a, repeating the above steps until the first cultivation vessel 50a All the seedlings 1 in the plant are transferred to each plant position 61 in the second cultivation vessel 60a.

Specifically, please refer to FIG. 7 to FIG. 8. The above-mentioned first cultivation vessel 50a and second cultivation vessel 60a are both plugs. The hole diameter is smaller than that of the hole 61a of the second cultivation vessel 60a, and each of the holes 51a and 61a of each tray is filled with a medium for seedling 1 cultivation or a highly flexible culture sponge (this The illustration is not shown in the figure). When the clamping claw 430 is used to clamp the seedling 1, it is clamped on at least two end surfaces of the culture sponge.

In addition, please cooperate with reference to FIGS. 8 and 9. The above-mentioned plant density measurement unit 10 and the central monitoring unit 30 are connected by a wireless or wired signal transmission module 31. On the other hand, the operation control of the automatic pick-up and delivery mechanism 42 and the gripping mechanism 43 can be controlled by a PLC controller built in the central monitoring unit 30.

After the description of the above specific embodiments, the present invention does have the following characteristics:

1. The present invention can determine whether to initiate sparse planting and effective transplantation according to the distribution status of seedlings, so that the seedlings can be distributed to the optimal growth space. In addition to the purpose of improving the quality and quantity of crops, it has a simplified structure and is applicable It is a small economy with high-quality farming, which can be fully automated, save manpower, improve work efficiency, and improve the quality and quantity of agricultural products.

2. The composition structure of the present invention is indeed different from the traditional large-scale equipment, so it has a machine Structure is simplified.

3. The present invention is indeed applicable to small and economical farming.

4. The invention does have the characteristics of high stability and good safety.

5. The invention can indeed be fully automated to improve the quality and quantity of farming.

The above description is only a feasible embodiment of the present invention, and is not intended to limit the patent scope of the present invention. Any equivalent implementation of other changes based on the content, characteristics and spirit of the following claims should be It is included in the patent scope of the present invention. The structural features specifically defined in the present invention are not found in similar items, and are practical and progressive. They have met the requirements for invention patents. They have filed applications in accordance with the law. I would like to request the Bureau to verify the patents in accordance with the law in order to maintain this document. Applicants' legitimate rights and interests.

Claims (10)

An automated seedling dispersal system based on a plant factory includes: a plant densification measuring unit that can measure the density distribution status of a plurality of kinds of plants in at least one plant area in the plant factory. When the distribution status reaches a preset threshold value, at least one gripping position signal corresponding to the seedling gripping position of the seedling to be transferred is generated; a transplanting position selection module is used to generate a Transplanting position signal; a central monitoring unit that interprets and processes the gripping position signal and the transplanting position signal and outputs at least one corresponding travel control signal; and a transplanting unit that can be subject to the travel control signal. Trigger and sequentially transfer the seedlings from the gripping position to the transplanting position. The automatic plant seedling dispersing system based on a plant factory as described in claim 1, wherein the transplanting unit can be triggered by the stroke control signal to sequentially transfer the plurality of seedlings in the dense part of the plant area to the Each of the transplanted positions in a sparse planting area in a plant factory; or all of the plurality of seedlings are sequentially transferred to each of the transferred positions. The automatic plant seedling dispersing system based on a plant factory according to claim 1, wherein the plant density measurement unit includes at least one image capture set up above the plant area to capture images of the dense distribution status of the plurality of seedlings A device, a block parameter database for establishing coordinate positioning parameter data of a plurality of marked points, and an image recognition module, each of the marked points represents each seedling in the plant area; the image recognition module When inputting the sparsely distributed state image captured by the image capture device in real time, the image pre-processing is performed to obtain the point coordinates of each seedling in the plant area, and the point coordinates are combined with the block parameter data After the library is substituted into an image positioning algorithm to calculate the actual coordinate position of each point coordinate, the image recognition module then Determine whether the spacing distance between each adjacent at least two coordinate positions is less than a preset interval value, and if yes, circle out the seedlings that need to be transplanted less than the interval value, and sequentially output the circled ones Signal of each transplant position of seedlings. The automatic plant seedling dispersing system based on a plant factory according to claim 1, wherein the plant density measurement unit includes at least one image capture set up above the plant area to capture images of the dense distribution status of the plurality of seedlings A device, an image database for inputting sample images with multiple seedlings overly densely distributed, and an image recognition module, the preset threshold value is for each of the sample images, and the image recognition module receives the image capture device When the sparsely distributed state image is captured in real time, the plurality of sample images matching the characteristics are searched in the image database to determine whether the sparsely distributed state image has reached the preset threshold; if the determination result is yes, the output is required The signal of the position of the transplanted seedling is started. The plant seedling-based automatic planting and planting system according to claim 1, wherein the plant density measurement unit and the central monitoring unit are connected by a wireless or wired signal transmission module; The unit includes a gripping / grooving mechanism. The gripping / grooving mechanism includes at least one mobile carrier, at least one set of grippers, and at least one trenching tool. The mobile carrier is used to carry the grippers and the trench. The device is reciprocated from the gripping position of the plant area to each of the transplanting positions. The ditching device sequentially ditches the soil or culture substrate of each of the transplanting positions to generate at least one hole ditch, the at least one The gripper claws sequentially pick at least one seedling from the gripping position, and then transplant the plants into each of the holes, and cover the holes or the soil or the culture medium near each of the holes. The plant seedling-based automatic planting system according to claim 1, wherein the plant area is a first cultivation vessel, and each of the planting positions is located at a planting density lower than that of the first cultivation vessel. Two cultivation vessels; the transplanting unit includes an automatic taking and sending mechanism and a gripping mechanism; the automatic taking and sending mechanism is used to transport each of the first cultivation vessels that need to be transplanted to a first position And the automatic pick-up and delivery mechanism can transport the empty second cultivation vessel to a second position; the gripping mechanism includes at least one gripper and a gripper capable of carrying the gripper from the first position to the second position The reciprocating displacement moving vehicle, the clamping claw sequentially picks at least one seedling from the clamping position in the first cultivation vessel in the first position, moves to the second position, and then moves at least one seedling The plant is transferred to the planting position in the second cultivation vessel, and the above steps are repeated until all the seedlings in the first planting vessel are transplanted to each of the planting positions in the second cultivation vessel. The plant seedling-based automatic planting system according to claim 6, wherein the first cultivation vessel and the second cultivation vessel are both plugs, and the plugs include a plurality of holes, and the first cultivation vessel The hole hole diameter is smaller than the hole hole diameter of the second cultivation vessel; each hole in each of the hole plates is filled with a culture medium and a highly flexible culture sponge for the cultivation and growth of the plurality of seedlings. The clamping claws are clamped on at least two end faces of the culture sponge when clamping the plurality of seedlings. An automatic seedling planting method based on a plant factory, comprising: providing a plant density measurement unit, a plant location selection module, a central monitoring unit, and a plant transfer unit; and using the plant density measurement unit to a plant factory A plurality of seedlings in the at least one plant area are measured for the densely distributed state. When the densely distributed state of the plurality of seedlings reaches a preset threshold, at least one corresponding to the position of the seedlings to be removed is generated. The gripping position signal; using the translocation position selection module to generate a translocation position signal representing at least one translocation position; the central monitoring unit interpreting and processing the gripping position signal and the translocation position signal to output at least one stroke control A signal; and enabling the transplanting unit to be triggered by the stroke control signal to sequentially transfer the seedlings from at least one of the picking positions to at least one of the transplanting positions. The plant seedling-based automatic planting method according to claim 8, wherein the plant The plant density determination unit includes at least one image capturing device set above the plant area to capture images of the densely distributed state of the plurality of seedlings, an image database inputting sample images of multiple densely distributed seedling patterns, and An image recognition module, the preset threshold is each sample image, and when the image recognition module receives the densely distributed image captured by the image capture device in real time, it searches for features in the image database The plurality of matched sample images are used to determine whether the image of the sparsely distributed state has reached the preset threshold value; if the determination result is yes, a signal of the position of the transplanting plant of the seedling to be transplanted is output. The automatic plant seedling dispersing method based on a plant factory according to claim 8, wherein the plant density measurement unit includes at least one image capture set up above the plant area to capture images of the dense distribution status of the plurality of seedlings A device, a block parameter database for establishing coordinate positioning parameter data of a plurality of marked points, and an image recognition module, each of the marked points represents each seedling in the plant area; the image recognition module When inputting the sparsely distributed state image captured by the image capture device in real time, the image pre-processing is performed to obtain the point coordinates of each seedling in the plant area, and the point coordinates are combined with the block parameter data After the library, it is substituted into an image positioning algorithm to calculate the position signal of the actual coordinates of the point coordinates. The image recognition module then selects the seedlings that need to be transplanted below the interval value based on a preset interval value. , And sequentially output the position signal of the transplanted plant selected by the circle.