TWI719924B - Mushroom growth monitoring system and method - Google Patents

Abstract

The present invention discloses a mushroom growth monitoring system and method, which includes a self-driving car inspection, a growth environment control module and a central control unit. The patrol self-driving car includes a power driving device with walking wheels, a signal processing unit, a growth environment state sensing module, and a growth image capturing module. The signal processing unit controls the inspection self-driving car to walk along the preset inspection path laid on the ground channel of the mushroom cultivation field, and arrive at the inspection parking positions and inspection positions distributed on the preset inspection path in sequence , And control the growth environment state sensing module and the growth image capturing module to respectively sense the real-time mushroom growth environment state and mushroom growth image. The central control unit receives and processes the growth environment state and mushroom growth images of the mushrooms, and generates real-time growth environment state parameters and real-time growth image characteristic parameters in the corresponding real-time cultivation time series respectively, and combines real-time growth environment state parameters and real-time growth image characteristics The parameters are compared with the reference growth environment state parameters and reference growth image characteristic parameters of the corresponding reference mushroom cultivation time series. When the difference between the comparison results exceeds a predetermined range, the central control unit controls the activation of the growth environment control device to adjust The mushroom growth environment in this mushroom cultivation field.

Description

Mushroom growth monitoring system and method

The invention relates to a mushroom growth monitoring system and method, in particular to a mushroom cultivation field and a planned inspection path to walk on the ground channel of the mushroom cultivation field, and to sense the real-time mushrooms in sequence The real-time growth environment state and real-time mushroom growth images are generated to generate real-time growth environment state parameters and real-time growth image characteristic parameters to compare with the reference growth environment state parameters and reference growth image characteristic parameters of the corresponding time series, and determine whether or not according to the comparison results The growth environment control equipment is activated to adjust the mushroom growth environment status of the mushroom cultivation field, thereby achieving modular equipment and technology for accurately monitoring mushroom cultivation and improving economic benefits.

According to what is known, among the artificially cultivated edible mushrooms, Pleurotus eryngii is most favored and loved by general consumers. Generally speaking, Pleurotus eryngii is a mushroom crop that is easily affected by external environmental conditions. Therefore, when Pleurotus eryngii is planted, it is indeed necessary to properly control the environmental conditions such as temperature, humidity and light. Only then can the Pleurotus eryngii crop be cultivated economically. Furthermore, most of the mushroom crops are cultivated in an indoor environment. The main purpose is to stably control the growth environment conditions required for the cultivation of several kinds of mushroom crops, so that they can successfully grow into the mycelium or mycelium required for mushrooms. Is the fruiting body. As for the above-mentioned growth environment state, it can refer to the temperature, humidity, illuminance, carbon dioxide concentration or the pH value of the culture medium. In addition, most early mushroom farmers relied on years of experience to control the growth environment. This kind of non-quantitative human control cultivation is difficult to pass on cultivation techniques, and it is difficult to make complete and stable reproducible cultivation. The control results in the inability to provide optimal growth environment conditions for the mushroom crops, so that the better harvest yield and quality cannot be obtained, thus causing inconvenience and troubles in the cultivation of mushroom crops.

In order to solve the above-mentioned deficiencies, in recent years, the relevant technical field has developed a technology for automatic control of cultivated mushroom crops. The representative patent of the automatic control of cultivated mushroom crop technology is, for example, Mainland China Invention Publication No. CN103869796 "Edible Fungus Production Environment Monitoring Method and monitoring system", ROC Invention Announcement No. I624799 "Management System for Intelligent Mushroom Cultivation Using the Internet of Things" and ROC New Announcement No. M582293 "Mushroom Cultivation Detection Device" and other patents. These patents are based on the known suitable growth factors for mushrooms, such as the known suitable temperature range, humidity range, illuminance range, and carbon dioxide concentration range, using growth factor sensors, such as temperature sensors and humidity sensors, respectively. Sensors, illuminance sensors, and carbon dioxide sensors sense the current actual growth factor status, and then adjust them with various corresponding growth environment control equipment, such as air conditioners, humidifiers, LED lights, and exhaust fans. The value of the growth factor falls within the originally recognized suitable range. However, in practice, if it can be done, in addition to the unstable growth of mushrooms, the output effect is actually not ideal from the perspective of long-term mass production, because these growth factors are not unrelated to each other. The impact of mushrooms, in fact, between a variety of growth factors, each other is quite complex and cross-influenced. In addition, these patents mainly only monitor the external environment of the space bag alone; or the internal environment, so that it is impossible to cross-comparatively monitor the growth environment of the inner field and the outer field. The sensing range of the external field growth environment sensing unit cannot fully cover the entire cultivation field, so there will be many sensing dead-angle areas, so that the sensing dead-angle areas cannot provide a better growth environment for mushroom crops, so it cannot be effective To improve the yield and quality of mushroom crops, it can be seen that the above-mentioned known technologies and these patents are indeed not perfect, and there is still a need for improvement.

In view of the fact that there is no related technology, patent, or thesis published or published that can effectively and intelligently monitor the growth environment of mushrooms, the current mushroom farming practice There is an urgent need for more intelligent monitoring and regulation of mushroom growth environmental conditions for its use. The inventor is actively engaged in research and development, and after long-term trials and in-depth communication with mushroom manufacturers, the first Technology and applied for the invention patent application of the Republic of China Application No. 108140707, and the patent has been granted. Recently, mushroom farmers have redesigned to meet the actual needs of the current mushroom cultivation field, and have simple modularization. Cooperate with the planned inspection path of the ground channel of the mushroom cultivation field to effectively sense and capture the real-time mushroom growth environment state and real-time mushroom growth image to obtain the corresponding real-time parameters, which can be compared with the reference growth environment state parameters Comparing with the reference growth image characteristic parameters, and accurately monitoring the environmental conditions according to the comparison results to effectively cultivate mushroom growth, so as to achieve the purpose of modularization, cost reduction, precise monitoring and improved economic efficiency.

The first objective of the present invention is to provide an automated and high-precision mushroom growth monitoring system and method. The technical means to achieve the cost goal includes the self-driving inspection, the growth environment control module and the central control unit. The patrol inspection self-driving device includes a power driving device with walking wheels, a signal processing unit, a growth environment state sensing module, and a growth image capturing module. When the signal processing unit is activated, the inspection self-driving car is controlled to walk along one of the preset inspection paths on the ground passages arranged in the mushroom cultivation field, and the inspection self-driving vehicles are controlled to arrive and distribute on the preset inspection path in sequence Multiple inspection parking positions and multiple inspection locations, and control the growth environment state sensing module and the growth image capture module to move to the inspection position when the inspection self-driving vehicle arrives at the inspection parking position Sensing the real-time mushroom growth environment and real-time mushroom growth images in the mushroom cultivation field respectively. The central control unit receives and processes the real-time mushroom growth environment state and real-time mushroom growth image to generate real-time growth environment state parameters and real-time growth image characteristic parameters in a corresponding real-time cultivation time sequence, and take the real-time growth environment state into account. The real-time growth image feature parameters are compared with the reference growth environment state parameters and the reference growth image feature parameters of the corresponding reference mushroom cultivation time series. When the real-time growth image feature parameters are compared with the reference growth image feature parameters, one of the results is poor. When the value exceeds a predetermined growth threshold range, the central control unit generates a control instruction to activate the growth environment regulating device to adjust the mushroom growth environment state of the mushroom cultivation field to make the corresponding real-time growth environment state An environmental state difference between the parameter and the reference growth environmental state parameter reaches a predetermined environmental state threshold range.

The second objective of the present invention is to provide a mushroom growth monitoring system with a quick inspection function. The technical means to achieve the second objective of the invention is that the plurality of patrol parking position settings include a first parking position and a second parking position. The plurality of inspection position settings include a first inspection position and a second inspection position. When the patrol self-driving car moves to the first parking position, the multi-axis transport mechanism of the patrol self-driving car will move the growth environment state sensing module and the growth image capture module to the first patrol position. The environmental status sensing module senses the real-time mushroom growth environment status at the first inspection location, and the growth image capturing module also senses a plurality of real-time mushrooms at the placement location adjacent to the first inspection location. Class growth image. When the inspection self-driving vehicle moves to the second parking position, the multi-axis transfer mechanism will move the growth environment state sensing module and the growth image capture module to the second inspection position, and the growth environment state is sensed. The sensing module senses the real-time mushroom growth environment state at the second inspection position; the growth image capturing module senses a real-time mushroom growth image at the placement position corresponding to the second inspection position. In this way, the real-time mushroom growth environment status and real-time mushroom growth images can be captured in a large range. When an abnormality is found during the comparison, the real-time mushroom growth environment status can be captured in a small range for the abnormal area. And real-time mushroom growth images, to achieve the purpose of improving inspection efficiency.

The third object of the present invention is to provide a mushroom growth monitoring system and method that can improve the accuracy of sensing information. The technical means to achieve the third objective of the invention is the multi-axis load transfer The mechanism includes a rotating shaft, by which the direction of the image captured by the growth image capturing module is turned to an angle close to parallel and/or perpendicular to a normal of an opening surface of the basket at the placement position, In this way, real-time growth images of the top and/or side view of the mushrooms in the space bag are captured to improve the accuracy of the comparison judgment.

1: Growth environment status sensing module

10: Outer field growth environment sensing unit

11, 21: Temperature sensor

12, 22: Humidity sensor

13: light sensor

14,23: Carbon dioxide sensor

2: In-field growth environment sensing module

2a: In-field signal acquisition module

20: In-field growth environment sensing unit

2a: In-field signal acquisition module

24: PH sensor

240: ring parts

241: Test Strip Ring

242: Rotary drive mechanism

243: Color Sensing Module

25: Signal Processing Module

26: Signal transmission module

27: Power supply module

28: Containment components

280: plate seat

281: Explosion Tube

282: Hollow

30: Self-driving car inspection

31: Multi-axis transfer mechanism

32: Rotation axis

33: Power drive device

34: walking wheel

35: signal processing unit

40: Growth image capture module

5: Growth environment regulation module

50: Growth environment regulation equipment

60: Central control unit

61: signal processing device

62: Benchmark parameter database

612: Deep Learning Algorithm Module

612a: Deep learning model

70: Mushroom cultivation field

71: Ground access

71a: Shelf

72: Space Bag

73: Basket

74: Placement position

P1: Inspection parking position

P2: Inspection location

Fig. 1 is a schematic diagram of a specific implementation structure of mushroom cultivation of the present invention.

Fig. 2 is a schematic diagram of another specific implementation structure of mushroom cultivation of the present invention.

FIG. 3 is a schematic diagram of the appearance implementation of the in-field growth environment sensing unit of the present invention.

4 is a schematic top view of another implementation of the in-field growth environment sensing unit of the present invention.

5 is a schematic partial cross-sectional view of another implementation of the in-field growth environment sensing unit of the present invention.

Fig. 6 is a schematic partial cross-sectional view of the in-field growth environment sensing unit of the present invention.

FIG. 7 is a schematic diagram of the present invention installing an in-field growth environment sensing unit in the space bag.

Fig. 8 is a functional block diagram of the basic circuit architecture of the present invention.

Fig. 9 is a functional block diagram of a specific implementation architecture of the present invention.

FIG. 10 is a functional block diagram of another specific implementation architecture of the present invention.

FIG. 11 is a schematic diagram of the implementation process of the deep learning calculation module of the present invention in the training phase.

FIG. 12 is a schematic diagram of the flow implementation of the deep learning calculation module of the present invention in the operation prediction stage.

FIG. 13 is a schematic diagram of the implementation of the image selection and selection range of the present invention.

In order to allow your reviewer to further understand the overall technical features of the present invention and the technical means to achieve the purpose of the invention, specific examples and drawings are used to illustrate in detail. Rear.

Please refer to FIGS. 1 to 2 and FIGS. 8 to 10 to achieve an embodiment of the first object of the present invention, which includes an inspection self-driving car 30, a growth environment control module 5, and a central control unit 60. The patrol self-driving car 30 is particularly used for walking on a plurality of connected ground passages 71 of a mushroom cultivation field 70, on which a power driving device 33 with at least one walking wheel 34 and a signal processing unit 35 are provided. , The growth environment state sensing module 1 and the growth image capturing module 40. The signal processing unit 35 controls the power driving device 33 according to a walking control program to drive at least one traveling wheel 34 carrying the inspection self-driving car 30 to walk along a preset inspection path, and arrive at the preset inspection path in sequence The plurality of patrol parking positions P1 on the upper side, and the plural patrol parking positions P1 correspond to the plural patrol positions P2. The preset inspection path is arranged on a plurality of connected ground passages 71 of the mushroom cultivation field 70. When the patrol self-driving car 30 arrives at the plurality of patrol parking positions P1 respectively, it will be parked within a predetermined time. A plurality of shelves 71a are juxtaposed in the mushroom cultivation field 70. The plurality of layer frames 71a are spaced apart from each other to partition a ground into a plurality of ground passages 71. Each shelf 71a includes a plurality of placement positions 74 distributed from bottom to top. Each placement position 74 is for placing a basket 73, and each basket 73 is for placing a plurality of space bags 72 containing mushrooms. The plurality of inspection positions P2 correspond to the plurality of placement positions 72. The growth environment state sensing module 1 and the growth image capturing module 40 are installed on the patrol self-driving car 30 via a multi-axis transfer mechanism 31. The multi-axis transfer mechanism 31 sequentially transfers the growth environment state sensing module 1 and the growth image capturing module 40 to each inspection position. The growth environment state sensing module 1 is used to sense the real-time mushroom growth environment state of the space bag 72 corresponding to each inspection position. The growth image capturing module 40 is used for sensing real-time mushroom growth images of the space bag 72 adjacent to the placement position 74 of each inspection position P2. The growth environment control module 5 includes a growth environment control device 50. The growth environment regulating device 50 is set in the mushroom cultivation field 70, and is used to regulate the plurality of inspection positions of the mushroom cultivation field 70 including temperature The growth environment of mushrooms with temperature, humidity and carbon dioxide concentration. The central control unit includes a reference parameter database 62, and the reference parameter database 62 is provided with a plurality of reference growth environment state parameters, a plurality of reference growth image characteristic parameters, and a reference mushroom cultivation time sequence corresponding to each other. The central control unit 60 is used to receive and process the real-time mushroom growth environment state and real-time mushroom growth image to generate real-time growth environment state parameters, real-time growth image characteristic parameters, and real-time cultivation time sequence, respectively. The central control unit 60 will grow real-time mushrooms. Comparison of environmental state parameters, real-time growth image feature parameters and real-time cultivation time series with multiple reference growth environment state parameters, multiple reference growth image feature parameters, and reference mushroom cultivation time series, when the real-time cultivation time series is compared with the reference mushroom cultivation When the time sequence matches, when one of the comparison results between the corresponding real-time growth image characteristic parameters and the reference growth image characteristic parameters exceeds a predetermined growth threshold range, the central control unit 60 generates a control command to start the growth The environmental control device 50 adjusts the mushroom growth environment state at the inspection position of the mushroom cultivation field 70 so that the difference between the corresponding real-time growth environment state parameter and the reference growth environment state parameter reaches a predetermined environment state Within the threshold range.

Please refer to Figs. 1~2 and Figs. 8~10 to achieve a preferred embodiment of the first object of the present invention. Its basic structure includes the self-driving inspection 30 and the growth environment regulation as the structure of the first object mentioned above. Module 5 and central control unit 60. The growth environment state sensing module 1 includes an external field growth environment sensing unit 10 and an internal field growth environment sensing module 2. The outside field growth environment sensing unit 10 is used to sense the real-time mushroom growth environment state corresponding to each inspection position P2 to generate a corresponding outside field growth environment sensing signal as the real-time mushroom Growth environment status. The in-field growth environment sensing module 2 includes an in-field signal acquisition module 2 a and at least one in-field growth environment sensing unit 20. The at least one internal field growth environment sensing unit 20 is used to sense the mushroom growth environment state inside the space bag 72 corresponding to each inspection position P2 to generate corresponding internal field growth The environmental sensing signal is used as the real-time mushroom growth environment status. The infield signal capturing module 2a is used to capture the infield growth environment sensing signal sensed by at least one infield growth environment sensing unit 20. The external field growth environment sensing signal and the internal field growth environment sensing signal respectively include a temperature sensing signal generated by a temperature sensor 11, 21, and a humidity sensor generated by a humidity sensor 12, 22. The sensing signal, the light sensing signal generated by a light sensor 13, and the carbon dioxide sensing signal generated by a carbon dioxide sensor 14, 23. The in-field growth environment sensing unit 20 further includes a pH sensor 24 to generate a pH sensing signal. The plurality of reference growth image characteristic parameters include a plurality of outside field temperature reference growth image characteristic parameters, plural outside field humidity reference growth image characteristic parameters, and plural outside field illumination reference growth image characteristic parameters set according to the mushroom cultivation time series. , Complex external field carbon dioxide reference growth image feature parameters, complex internal field temperature reference growth image feature parameters, complex internal field humidity reference growth image feature parameters, complex internal field carbon dioxide reference growth image feature parameters, and complex internal field PH Value-based growth image characteristic parameters. Wherein, the in-field signal acquisition module includes four sensing probes respectively connected with the temperature sensor 21, the humidity sensor 22, the carbon dioxide sensor 23, and the pH sensor 24 . The multi-axis transfer mechanism 31 drives the four-sensing probes to penetrate into one of the space bags 72 to sense the mushroom growth environment state in the space bag 72 to generate corresponding internal field growth environment sensing Signal. Wherein, the number of the at least one inner field growth environment sensing unit 20 is plural, and the plurality of inner field growth environment sensing units 20 are respectively arranged in the plurality of space bags 72 to respectively sense the inside of the plurality of space bags 72 The growth environment status of the mushrooms generates a plurality of in-field growth environment sensing signals.

In the embodiments shown in FIGS. 3 to 4 and FIG. 9, each in-field growth environment sensing unit 20 further includes a signal processing module 25, a signal transmission module 26, and a signal processing module for supplying in-field growth. Required for environmental sensing unit 20, signal processing module 25 and signal transmission module 26 The power supply module 27 of the power source and an accommodating assembly 28 for the in-field growth environment sensing unit 20, the signal processing module 25, the signal transmission module 26, and the power supply module 27 to accommodate. The signal processing module 25 processes the temperature sensing signal, humidity sensing signal, light sensing signal, carbon dioxide sensing signal, and pH sensing signal sensed by the in-field growth environment sensing unit 20, and transmits the signal The transmission module 26 transmits and is received by the in-field signal acquisition module 2a.

Please refer to Figures 1~2 and Figures 8~10 to achieve an embodiment of the second object of the present invention. Its basic structure includes the inspection self-driving car 30 and the growth environment control module with the structure of the aforementioned first object. 5 and the central control unit 60. Among them, the plurality of patrol parking positions P1 are set to include a first parking position and a second parking position; the plurality of patrol positions P2 are set to include a first patrol position and a second patrol position position. When the patrol self-driving car 30 moves to the first parking position, the multi-axis transfer mechanism 31 transfers the growth environment state sensing module 1 and the growth image capturing module 40 to the first patrol In the inspection position, the growth environment state sensing module 1 senses the real-time mushroom growth environment state at the first inspection position, and the growth image capturing module 40 also senses multiple numbers adjacent to the first inspection position. A real-time mushroom growth image at the placement position 74. When the inspection self-driving car moves to the second parking position, the multi-axis transfer mechanism 31 loads and moves the growth environment state sensing module 1 and the growth image capturing module 40 to the second inspection Position, the growth environment state sensing module 1 senses the real-time mushroom growth environment state at the second inspection position, and the growth image capturing module 40 senses a corresponding one of the second inspection positions Place the real-time mushroom growth image at position 74. The growth image capturing module 40 senses the real-time mushroom growth image of one of the space bags 72 in the basket corresponding to the placement position 74 of the second inspection position. Among them, when the growth environment state sensing module 1 and the growth image capturing module 40 sense the real-time mushroom growth environment state at the first inspection position and the real-time real-time status of at least one space bag 72 at the plurality of placement positions 74 Real-time growth environment state parameters and real-time growth image characteristic parameters generated by mushroom growth images and multiple reference growth rings When the environmental state parameter and the environmental state difference and the image difference of the comparison results of the plurality of reference growth image characteristic parameters respectively exceed a corresponding predetermined environmental state threshold range and a predetermined growth threshold range, the The inspection self-driving car 30 moves to the second parking position. The multi-axis transfer mechanism 31 moves the growth environment state sensing module 1 and the growth image capture module 40 to the second inspection position. The growth environment state The sensing module 1 senses the real-time mushroom growth environment state at the second inspection position; the growth image capturing module 40 senses the at least one space bag 72 corresponding to the placement position of the second inspection position The real-time image of mushroom growth. The ratio of the real-time growth environment state parameters and real-time growth image characteristic parameters generated by the sensed real-time mushroom growth image of at least one space bag 72 to the corresponding plurality of reference growth environment state parameters and the plurality of reference growth image characteristic parameters When the resultant environmental state difference and image difference exceed a corresponding predetermined environmental state threshold range and a predetermined growth threshold range, the central control unit 60 generates a control command to activate the growth environment control mode The growth environment control device 50 of group 5 adjusts the mushroom growth environment state of the mushroom cultivation field 70 so that the corresponding real-time growth environment state parameters and the reference growth environment state parameters fall within the corresponding predetermined environmental state threshold range. Wherein, the central control unit 60 can be arranged on the patrol self-driving car 30, and the signal processing unit 35 and the signal processing device 61 are integrated into a unit, as shown in FIGS. Arrive at the parking position P1 and use the multi-axis transfer mechanism 31 to transfer the growth environment state sensing module 1 and the growth image capturing module 40 to the corresponding inspection position P2, and process the compared environmental state difference and When the image difference exceeds a corresponding predetermined environmental state threshold range and a predetermined growth threshold range, the central control unit 60 of the self-driving car 30 directly generates a control command to activate the growth environment control mode. The growth environment regulating device 50 of group 5 is used to regulate the mushroom growth environment state of the mushroom cultivation field 70.

Please refer to Figs. 1~2 and Figs. 8~10 to achieve an embodiment of the third object of the invention. The basic structure includes the inspection of the structure as the first object mentioned above. Self-driving car 30, growth environment control module 5 and central control unit 60. Among them, because the basket 73 placed at the placement position 74 of the mushroom cultivation field 70 is mostly inclined, in order to improve the accuracy of image capturing, the multi-axis transfer mechanism 31 of the present invention includes a rotating shaft 32, which rotates The axis 32 turns the direction of the image captured by the growth image capturing module 40 to an angle close to parallel and/or perpendicular to a normal of the opening surface of the basket 73 of the placement position 74, thereby capturing into space The top view and/or side view real-time growth images of the mushrooms of the bag 72 to improve the accuracy of the comparison judgment. The specific implementation is shown in FIG. 2.

Please refer to the application embodiments shown in FIGS. 2 and 10, the in-field growth environment sensing unit 20 is provided in the patrol self-driving car 30, and the in-field growth environment sensing unit 20 further includes four branches and temperature The sensor 21, the humidity sensor 22, the carbon dioxide sensor 23 and the pH sensor 24 are connected to a sensing probe (not shown in the figure) and a multi-axis transfer mechanism 31. When the in-field growth environment sensing unit 20 can arrive at the inspection position in sequence with the movement of the inspection self-driving car 30, the multi-axis transfer mechanism 31 drives the four sensing probes to penetrate into the interior of one of the space bags 72 , For sensing the mushroom growth environment state in the space bag 72 to generate the above-mentioned four in-field growth environment sensing signals.

Please refer to FIGS. 3-9. In order to achieve the second embodiment of the second object of the present invention, this embodiment includes the overall technical features of the above-mentioned first embodiment, and the in-field growth environment sensing unit 20 The number of in-field growth environment sensing units 20 is a plural number, and the plurality of in-field growth environment sensing units 20 are sequentially arranged in the plurality of space bags 72 to sense the mushroom growth environment state in the plurality of space bags 72 to generate the plurality of in-field growth environments Sensing signals; each in-field growth environment sensing unit 20 further includes a signal processing module 25, a signal transmission module 26, and one for supplying the in-field growth environment sensing unit 20 and signal processing module 25 And a power supply module 27 for the power supply required by the signal transmission module 26 and an accommodating assembly 28 for the in-field growth environment sensing unit 20, the signal processing module 25, the signal transmission module 26, and the power supply module 27 to accommodate , Where the signal is The management module 25 sequentially detects the temperature sensing signal generated by the temperature sensor 21, the humidity sensing signal generated by the humidity sensor 22, the carbon dioxide sensing signal generated by the carbon dioxide sensor 23, and the pH value. The PH value sensing signal control generated by the device 24 is transmitted through the signal transmission module 26, or processed separately as internal field growth environment state parameters including temperature, humidity, carbon dioxide, and pH, and transmitted through the signal Module 26 transmits it. The signal processing device 61 of the central control unit 60 then captures the signal transmitted by the signal transmission module 26 through an in-field signal acquisition module 2a (such as a wired or wireless transmission type signal transmission module, which is preferably wireless) Or the transmitted signals or parameters of the growth environment status of each internal field. When the central control unit 60 receives the in-field growth environment state signal, it is processed as an in-field growth environment state parameter.

In an application embodiment shown in FIGS. 3 to 4, the accommodating component 28 can be pre-installed at the bottom of the space bag 72 before the culture medium is filled with the space bag 72. The accommodating assembly 28 includes a disk base 280 with a accommodating space for the signal processing module 25 and the signal transmission module 26 to accommodate. The edge of the disk base 280 protrudes upwards with four projecting tubes 281 communicating with the accommodating space , The four-projection tube 281 can be provided with a temperature sensor 21, a humidity sensor 22, a carbon dioxide sensor 23, and a pH sensor 24, respectively, and each of the four-projection tube 281 is provided with a temperature sensor 21 , The hollow part 282 exposed in the respective sensing regions of the humidity sensor 22, the carbon dioxide sensor 23, and the pH sensor 24.

In another application embodiment shown in FIGS. 5 to 6, the accommodating component 28 can be pre-installed at the bottom of the space bag 72 before the culture medium is filled with the space bag 72. The accommodating assembly 28 includes a disk base 280, the disk base 280 has an accommodating space for the signal processing module 25, the signal transmission module 26, and the power supply module 27. The disk base 280 has three protruding edges. A bulge tube 281 communicating with the accommodating space, the three bulge tubes 281 can be respectively accommodated by the temperature sensor 21, the humidity sensor 22, and the carbon dioxide sensor 23; the pH sensor 24 includes a rotatable A ring member 240 movably arranged in the disc seat 280, a test paper ring sheet 241 arranged in the ring member 240 and having a plurality of PH test papers, a rotation driving mechanism 242 with a meshing part, and a color sensing module 243; The ring member 240 is equidistantly arranged on the outer circumference with a plurality of teeth that can be engaged with the meshing part to rotate, and the disc seat 280 is directly facing the disc surface of the cultivation substrate, so that one of the PH test papers is exposed and can be contacted with the cultivation substrate The hollow portion 282; the color sensing module 243 is located below the hollow portion 282; the signal processing module 25 is built with a sampling period set according to the time sequence, and when one of the sampling periods is reached, the signal processing module Group 25 activates the color sensing module 243 to sense the color state of the opposite PH test paper to generate a color sensing signal, which is converted and processed by the signal processing module 25 to output the corresponding PH value and trigger the rotation drive mechanism 242 drives the ring member 240 to rotate to a predetermined angle, so that the next PH test paper is facing the hollow part 282.

Please refer to the embodiments shown in Figures 1 and 2, each rack 71a is provided with a storage position 74 for a plurality of baskets 73 to be placed, and each basket 73 contains a plurality of space bags 72, each of which is placed The rack 71a is provided with identification information and corresponding identification information and position coordinate information relative to the mushroom cultivation field 70 for confirming that the sensed mushroom growth environment state is in the mushroom cultivation field 70 Because each rack 71a and placement position 74 have been pre-set for coding recognition, the external field growth environment parameters (such as temperature and humidity or carbon dioxide value) and the internal field growth environment state parameters (Such as temperature, humidity or carbon dioxide value) does not match, you can identify which rack 71a in the cultivation field 70 is placed at the position 74 according to the code when the growth environment state is abnormal, when the outside field growth environment state parameter Normal and abnormal internal field growth environment parameters means that the sensing range of the external field growth environment sensing unit 10 does not cover the abnormal area. Therefore, the present invention can use the internal field growth environment sensing unit 20 To make up for this lack of accurate sensing, the environment regulating device 50 can be activated to regulate the growth environment of the mushrooms in the cultivation field 70.

In addition, the image recognition of mushroom growth images performed in the time series, the main What if it is to identify and confirm the growth status of mushrooms at each cultivation stage? When certain conditions such as short growth size or appearance variation or defects occur, in addition to adjusting the mushroom growth environment state of the cultivation field 70 by activating the environmental regulation device 50, it can also store mushroom growth images and growth images. The growth environment state parameters of the stage and the outer field and the growth environment state parameters of the inner field are used as the basis for correcting the reference growth image characteristic parameter group.

Please refer to Figures 11 to 12, a preferred embodiment of the mushroom growth monitoring system of the present invention further includes a deep learning calculation module 612; when the real-time growth image feature parameters are compared with the reference growth image feature parameters, the image difference When the value is greater than the corresponding predetermined growth threshold, it indicates that the mushroom has grown well, and the deep learning calculation module 612 records the corresponding real-time mushroom growth environment status in the reference parameter database as the reference growth environment status parameter And replace the previous corresponding reference growth environment state parameter. The signal processing device 61 has a built-in deep learning calculation module 612, which includes the following steps when executed: (a) The training phase step is to establish at least one deep learning model 612a, and input the deep learning model 612a according to the mushroom type A large number of reference image contour samples, external field growth environment state parameters, internal field growth environment state parameters, growth environment state judgment parameters, and image identification parameters captured by the cultivation time series to obtain each reference growth image feature parameter group and For each benchmark image, the deep learning model 612a tests the growth environment state and the correct rate of image recognition, and then judges whether the growth environment state and the correct rate of image recognition are sufficient. When the judgment result is yes, the recognition result is output and stored; If the result is no, make the deep learning model 612a perform self-correction learning for each reference growth image feature parameter group and each reference image; and (b) run the prediction stage steps, which are sequentially input to the deep learning model 612a and retrieved Mushroom growth images, external field growth environment state parameters, and internal field growth environment state parameters, and the corresponding image features are calculated by the deep learning model 612a to predict and identify the mushroom growth environment state and mushroom growth environment in the time series. Identification result information of the growth state of the class.

In addition, as shown in FIG. 13, when the growth image capturing module 40 arrives at one of the cultivation shelves 71a along with the movement of the patrol self-driving car 30, it enlarges the cultivation area according to the preset image selection range (As shown in a is the selection range of an entire shelf) image capture; when an abnormality is found after image recognition, a small range (as shown in b is the selection range of a basket) image capture; if you want to go further To clarify which space bag is abnormal, the single space bag can be captured one by one in the range of a single bag (as shown in c is the selected range of a space bag).

Therefore, based on the detailed description of the above specific embodiments, the present invention does have the following features:

1. The present invention can indeed perform mobile cross-comparison monitoring of the growth environment of the inner field and the outer field at the same time, so as to obtain more accurate sensing data, and then serve as the basis for automatically regulating the growth environment of mushroom cultivation. Provides optimized growth conditions for mushrooms, thereby improving the yield and quality of mushroom crops.

2. The present invention is indeed a mushroom growth monitoring system with automation and high precision.

3. The present invention is indeed a mushroom growth monitoring system with a quick inspection function.

4. The present invention is indeed a mushroom growth monitoring system that can improve the accuracy of sensing information.

The above are only feasible embodiments of the present invention and are 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 shall be It is included in the scope of the patent of the present invention. The structural features of the present invention are specifically defined in the claim, which are not found in similar articles, and are practical and progressive. They have already met the requirements of an invention patent. The application is filed in accordance with the law. I would like to request that the Bureau approve the patent in accordance with the law to protect this The legitimate rights and interests of the applicant.

2: In-field growth environment sensing module

20: In-field growth environment sensing unit

30: Self-driving car inspection

31: Multi-axis transfer mechanism

32: Rotation axis

33: Power drive device

34: walking wheel

40: Growth image capture module

5: Growth environment regulation module

50: Growth environment regulation equipment

70: Mushroom cultivation field

71: Ground access

71a: Shelf

72: Space Bag

73: Basket

74: Placement position

P1: Inspection parking position

P2: Inspection location

Claims (10)

A mushroom growth monitoring system, which includes: A patrol self-driving car, which is especially used to walk on a plurality of connected ground passages in a mushroom cultivation field, including: A power driving device with at least one running wheel and a signal processing unit, the signal processing unit controls the power driving device according to a running control program to drive the at least one running wheel to carry the patrol self-driving car along a preset The inspection path travels and arrives at a plurality of inspection parking positions distributed on the preset inspection path in sequence, and the plurality of inspection parking positions corresponds to the plurality of inspection positions; the preset inspection path It is arranged on the connected ground passages of the mushroom cultivation field; when the patrol self-driving car arrives at the plural patrol parking positions respectively, it stops within a predetermined time; the mushroom cultivation The field is juxtaposed with a plurality of shelves; the plurality of shelves are separated from each other and divided into the plurality of ground passages; each shelf includes a plurality of placement positions distributed from bottom to top, and each placement position is for placement A basket, each basket containing a plurality of space bags planted with mushrooms; the plurality of inspection positions correspond to the plurality of placement positions; and A growth environment state sensing module and a growth image capture module are arranged on the patrol self-driving car via a multi-axis transfer mechanism; the multi-axis transfer mechanism sequentially the growth environment state sensing module The growth image capturing module is loaded and moved to each of the plurality of inspection positions; the growth environment state sensing module is used for sensing the real-time mushroom growth of the space bag corresponding to each inspection position Environmental status; the growth image capturing module is used to sense the real-time mushroom growth image of the space bag at the placement location adjacent to each inspection location; A growth environment control module, which includes a growth environment control device; the growth environment control device is set in the mushroom cultivation field, and is used to control the plurality of inspection positions of the mushroom cultivation field including temperature and humidity The growth environment of mushrooms with carbon dioxide concentration; A reference parameter database, which is preset with a plurality of reference growth environment state parameters, a plurality of reference growth image characteristic parameters, and a reference mushroom cultivation time sequence corresponding to each other in advance; and A central control unit for receiving and processing the real-time mushroom growth environment state and the real-time mushroom growth image to generate real-time growth environment state parameters, real-time growth image characteristic parameters, and real-time cultivation time series, respectively, and send the real-time The growth environment state parameters, real-time growth image characteristic parameters, and real-time cultivation time series are compared with the plurality of reference growth environment state parameters, the plurality of reference growth image characteristic parameters and the reference mushroom cultivation time series, when the real-time cultivation time series Under the condition of conforming to the reference mushroom cultivation time series, when one of the comparison results between the corresponding real-time growth image characteristic parameter and the reference growth image characteristic parameter exceeds a predetermined growth threshold range, the central control The unit generates a control instruction to activate the growth environment control device to adjust the mushroom growth environment state of the mushroom cultivation field, so that the corresponding real-time growth environment state parameter is an environmental state difference between the reference growth environment state parameter Reach within a predetermined environmental state threshold range. The mushroom growth monitoring system according to claim 1, wherein the growth environment state sensing module includes an external field growth environment sensing unit and an internal field growth environment sensing module; the external field growth The environment sensing unit is used to sense the real-time mushroom growth environment state corresponding to each inspection position to generate a corresponding external field growth environment sensing signal as the real-time mushroom growth environment state; The field growth environment sensing module includes an internal field signal acquisition module and at least one internal field growth environment sensing unit; the at least one internal field growth environment sensing unit is used for sensing corresponding to each The mushroom growth environment state inside the space bag at the inspection position generates a corresponding in-field growth environment sensing signal as the real-time mushroom growth environment state; the in-field signal capture module is used to capture Take the internal field growth environment sensing signal sensed by the at least one internal field growth environment sensing unit; the external field growth environment sensing signal And the in-field growth environment sensing signal includes a temperature sensing signal generated by a temperature sensor, a humidity sensing signal generated by a humidity sensor, and a light sensing signal generated by a light sensor. Signal and a carbon dioxide sensing signal generated by a carbon dioxide sensor; the in-field growth environment sensing signal further includes a pH sensing signal generated by a pH sensor; the plurality of reference growth image characteristic parameters include According to the mushroom cultivation time series, the multiple outside field temperature reference growth image feature parameters, the multiple outside field humidity benchmark growth image feature parameters, the multiple outside field illumination benchmark growth image feature parameters, and the multiple outside field carbon dioxide benchmark growth images are set according to the mushroom cultivation time series. Feature parameters, complex intra-field temperature reference growth image feature parameters, complex intra-field humidity reference growth image feature parameters, complex intra-field carbon dioxide reference growth image feature parameters, and complex intra-field pH reference growth image feature parameters. The mushroom growth monitoring system according to claim 1, wherein the plurality of inspection parking positions includes a first parking position and a second parking position; the plurality of inspection positions includes a first inspection Position and a second inspection position; when the inspection self-driving car moves to the first parking position, the multi-axis transfer mechanism transfers the growth environment state sensing module and the growth image capture module To the first inspection position, the growth environment state sensing module senses the real-time mushroom growth environment state at the first inspection position; the growth image capturing module also senses the neighboring first inspection position Multiple real-time mushroom growth images of the placement position; when the inspection self-driving car moves to the second parking position, the multi-axis transfer mechanism is the growth environment state sensing module and the growth image The capture module is loaded and moved to the second inspection position, and the growth environment state sensing module senses the real-time mushroom growth environment state at the second inspection position; the growth image capture module senses corresponding A real-time mushroom growth image of the placement position at the second inspection position. The mushroom growth monitoring system according to claim 3, wherein the growth image capturing module senses real-time mushrooms in one of the space bags in the basket corresponding to the placement position of the second inspection position Class growth image. The mushroom growth monitoring system according to claim 3, wherein, when the growth environment state sensing module and the growth image capture module are at the first inspection position, the real-time mushroom growth environment state and The real-time growth environment state parameters and real-time growth image characteristic parameters, and the plurality of reference growth environment state parameters and the plurality of reference growth image characteristic parameters generated by a plurality of real-time mushroom growth images of at least one space bag at the placement position When the difference between the comparison results exceeds the corresponding predetermined growth threshold range, the patrol self-driving car moves to the second parking position, and the multi-axis transfer mechanism moves the growth environment state sensing module and the growth The image capture module is moved to the second inspection position, the growth environment state sensing module senses the real-time mushroom growth environment state at the second inspection position; the growth image capture module senses the phase The real-time mushroom growth image of the at least one space bag corresponding to the placement position of the second inspection position; the real-time growth environment state parameter generated when the real-time mushroom growth image of the at least one space bag is sensed And when the difference between the real-time growth image characteristic parameters and the corresponding plurality of reference growth environment state parameters and the comparison results of the plurality of reference growth image characteristic parameters exceeds the corresponding predetermined growth threshold range, the central control unit Generate a control instruction to activate the growth environment regulation device to adjust the mushroom growth environment state of the mushroom cultivation field, so that the corresponding real-time growth environment state parameter and the reference growth environment state parameter reach the corresponding predetermined environment state Within the threshold range. The mushroom growth monitoring system according to claim 1, which further includes a deep learning calculation module; when the image difference between the real-time growth image characteristic parameter and the reference growth image characteristic parameter is greater than the corresponding predetermined length When the threshold is reached, it means that the mushroom has grown well. The deep learning calculation module records the corresponding real-time mushroom growth environment status in the reference parameter database as the reference growth environment status parameter and replaces the previous corresponding The benchmark growth environment state parameter. The mushroom growth monitoring system according to claim 2, wherein the in-field signal acquisition module Contains four sensing probes respectively connected with the temperature sensor, the humidity sensor, the carbon dioxide sensor and the pH sensor and a displacement mechanism; the displacement mechanism drives the four sensing probes It penetrates into the inside of one of the space bags to sense the growth environment state of the mushrooms in the space bag to generate the corresponding in-field growth environment sensing signal. The mushroom growth monitoring system according to claim 2, wherein the number of the at least one in-field growth environment sensing unit is plural, and the plurality of in-field growth environment sensing units are respectively arranged in the plurality of space bags , For respectively sensing the mushroom growth environment state in the plurality of space bags to generate a plurality of the in-field growth environment sensing signals; each of the in-field growth environment sensing units further includes a signal processing module and a A signal transmission module, a power supply module for supplying the in-field growth environment sensing unit, the signal processing module and the power required for the signal transmission module, and a power supply module for the in-field growth environment sensing unit, The signal processing module, the signal transmission module, the accommodating component contained in the power supply module, the signal processing module, the temperature sensing signal and the humidity sensing sensed by the in-field growth environment sensing unit The signal, light sensing signal, carbon dioxide sensing signal, and PH value sensing signal are processed, and transmitted through the signal transmission module, and then captured by the signal capture module. The mushroom growth monitoring system according to claim 1, wherein the multi-axis transfer mechanism includes a rotating shaft, and the direction of the image captured by the growth image capturing module is rotated to the position where the image is captured by the rotating shaft. A normal to an opening surface of the basket is close to the angle of parallel and/or perpendicular. A method for monitoring the growth of mushrooms, which includes: An inspection self-driving car, a growth environment control module and a central control unit are provided; the inspection self-driving car is especially used to walk on a plurality of connected ground channels in a mushroom cultivation field. At least one power driving device for traveling wheels, a signal processing unit, a growth environment state sensing module, and a growth image capturing module; the growth environment state sensing module and the growth image capturing module pass through a The multi-axis loading and moving mechanism is installed in the inspection self-driving car Above; the growth environment control module is set in the mushroom cultivation field, and includes a growth environment control device and a reference parameter database; the reference parameter database is provided with a plurality of corresponding reference growth environment state parameters, plural Two benchmark growth image feature parameters and benchmark mushroom cultivation time series; The signal processing unit is executed according to a walking control program to control the power driving device to drive the at least one traveling wheel carrying the inspection self-driving car to walk along a preset inspection path, and arrive at the preset inspection path in sequence A plurality of inspection parking positions and a plurality of inspection positions on the inspection path; the preset inspection path is set on the connected ground passages of the mushroom cultivation field; the mushroom cultivation field The domains are juxtaposed with a plurality of shelves; the plurality of shelves are separated from each other to form the plurality of ground passages; each shelf includes a plurality of placement positions distributed from the bottom to the top, and each placement position is for placing one Baskets, each basket is placed with a plurality of space bags planted with mushrooms; the plurality of inspection positions corresponds to the plurality of placement positions; and When the patrol self-driving vehicle arrives at the plurality of patrol parking positions, it stops within a predetermined time; the signal processing unit generates a control command to control the growth environment state sensor module to sense the corresponding to each Real-time mushroom growth environment status at the inspection location and controlling the growth image capturing module to sense the real-time mushroom growth image at the placement location adjacent to each inspection location; Using the growth environment control module to control the plurality of inspection locations of the mushroom cultivation field including the mushroom growth environment conditions with temperature, humidity and carbon dioxide concentration; and The central control unit receives and processes the real-time mushroom growth environment state and the real-time mushroom growth image to respectively generate real-time growth environment state parameters, real-time growth image characteristic parameters, and real-time cultivation time series, and combine the real-time growth environment state Parameters, real-time growth image characteristic parameters and real-time cultivation time series are compared with the plurality of reference growth environment state parameters, the plurality of reference growth image characteristic parameters and the reference mushroom cultivation time series, when the real-time cultivation time series is compared with When the reference mushroom cultivation time series meet the conditions, the corresponding When one of the comparison results between the real-time growth image characteristic parameter and the reference growth image characteristic parameter exceeds a predetermined growth threshold range, the central control unit generates a control command to activate the growth environment control device to adjust the mushroom The growth environment state of mushrooms in the similar cultivation field makes an environment state difference between the corresponding real-time growth environment state parameter and the reference growth environment state parameter reach a predetermined environment state threshold range.

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