TWM610614U - Mushroom growth information collection device - Google Patents
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Abstract
本新型揭露一種菇類生長資訊蒐集裝置,其包括巡檢自動車、訊號輸出模組及設置在巡檢自動車上的生長環境狀態感測模組及生長影像擷取模組。巡檢自動車行移於菇類栽培場域中的地面通道,使生長環境狀態感測模組及生長影像擷取模組於巡檢位置以分別感測即時之生長環境感測訊號及即時菇類生長影像。訊號輸出模組將生長環境感測訊號及即時菇類生長影像輸出以供分析或監控等需要之利用。當傳輸予一中央監控單元時,中央監控單元處理後分別產生即時生長環境狀態參數及即時生長影像特徵參數,將即時生長影像特徵參數與相應的基準生長影像特徵參數比對,當比對結果之差異超過一預定範圍時,該中央監控單元啟動一生長環境調控設備,以調節該菇類栽培場域的菇類生長環境狀態,藉以達到有效蒐集菇類生長狀態,供分析或監控菇類生長環境而提升菇類生產品質及經濟效益之目的。 The invention discloses a mushroom growth information collection device, which includes an inspection vehicle, a signal output module, a growth environment state sensing module and a growth image capture module arranged on the inspection vehicle. The automatic inspection vehicle moves to the ground channel in the mushroom cultivation field, and the growth environment state sensor module and the growth image capture module are in the inspection position to respectively sense the real-time growth environment sensing signal and real-time mushrooms Growth image. The signal output module outputs the growth environment sensing signals and real-time mushroom growth images for analysis or monitoring. When transmitted to a central monitoring unit, the central monitoring unit generates real-time growth environment state parameters and real-time growth image characteristic parameters after processing, and compares the real-time growth image characteristic parameters with the corresponding reference growth image characteristic parameters. When the difference exceeds a predetermined range, the central monitoring unit activates a growth environment regulation device to adjust the mushroom growth environment state of the mushroom cultivation field, so as to effectively collect the mushroom growth state for analysis or monitoring of the mushroom growth environment The purpose of improving the quality and economic efficiency of mushroom production.
Description
本新型係有關一種菇類生長資訊蒐集裝置,尤指一種可配合菇類栽培場域而依規劃的巡檢路徑行移於菇類栽培場域的通道,並感測即時生長環境狀態及即時菇類生長影像而輸出以供分析或監控之利用。當其傳輸予中央監控單元,經處理而產生即時生長環境狀態參數及即時生長影像特徵參數以與相應時間序列的基準生長環境狀態參數及基準生長影像特徵參數比對,並依比對結果決定是否啟動生長環境調控設備,以調節該菇類栽培場域的菇類生長環境狀態,達到模組化巡檢設備、精準蒐集生長狀態資訊以供分析或監控菇類栽培之目的的技術。 This new model relates to a mushroom growth information collection device, especially a channel that can move to the mushroom cultivation field according to the planned inspection path in accordance with the mushroom cultivation field, and senses the real-time growth environment status and the real-time mushroom It is similar to the growth image and output for analysis or monitoring. When it is transmitted to the central monitoring unit, it is processed to generate real-time growth environment state parameters and real-time growth image characteristic parameters for comparison 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 result Start the growth environment control equipment to adjust the mushroom growth environment status of the mushroom cultivation field, achieve modular inspection equipment, and accurately collect the growth status information for the purpose of analyzing or monitoring mushroom cultivation technology.
在台灣的食用菇產業從1909年起有了香菇段木人為栽種紀錄,截至目前已經有百年以上的發展歷史,而在國內種植之各式各樣的菇類當中,杏鮑菇在台灣起源於1996年,然而在短短十年內,杏鮑菇就已經取代金針菇成為產值第二高的菇種,於是不難發現杏鮑菇是唯一在近年產量仍保持成長且價格波動小之菇種。目前杏鮑菇與金針菇同樣是環境控制栽培的菇種,在自動化程度卻遠遠不及金針菇,原因包含一般業者是多數是以袋栽太空包進行生產,而非瓶栽式,其次是杏鮑菇相較其他菇種,自動化開發起步較晚,特別在採收流程這塊,而袋栽太空包的輪廓、尺寸相較於瓶栽的輪廓尺寸一致性低,以及台灣菌種商在國內數量佔比較少,主要 以製包業者及栽培業者占大多數,凸顯出菌種少的問題,而這點也間接影響到杏鮑菇最終生成的外觀上,對於採收自動化有一定程度的影響。 The edible mushroom industry in Taiwan has a record of artificial cultivation of shiitake mushrooms since 1909. It has a history of more than a hundred years of development. Among the various mushrooms grown in China, Pleurotus eryngii originated in Taiwan In 1996, however, in just ten years, Pleurotus eryngii had replaced Flammulina velutipes as the second most valuable mushroom species, so it is not difficult to find that Pleurotus eryngii is the only mushroom species that has maintained growth in production in recent years and has little price fluctuations. At present, Pleurotus eryngii and Flammulina velutipes are also cultivated under environmental control, but the degree of automation is far less than that of Flammulina velutipes. The reasons include that the general industry mostly uses bag-grown space bags for production instead of bottle-growing, followed by Pleurotus eryngii. Compared with other mushroom species, automation development started late, especially in the harvesting process. The contour and size of the bag-grown space bag are less consistent than those of the bottle-grown, and the number of Taiwanese strain dealers in the country is relatively low. Relatively few, mainly The packaging industry and cultivation industry account for the majority, highlighting the problem of fewer strains, which indirectly affects the final appearance of Pleurotus eryngii and has a certain degree of impact on harvesting automation.
依據所知,人工栽培的食用型菌菇中就屬杏鮑菇最受到一般消費大眾的青睞與喜愛。一般來說,杏鮑菇是一種很容易受到外在環境條件而影響其生長狀況的菇類作物,故而杏鮑菇於栽種階段時,確實是需要做溫濕度及光照度等環境條件的適當控制,於此方能有經濟效益的培育出杏鮑菇作物。再者,菇類作物大多是在室內環境下所進行栽培,主要是可以穩定地控制數種栽培菇類作物所需的生長環境狀態,所以方可順利長成菇類所需的菌絲體或是子實體。至於上述生長環境狀態可以是指溫度、濕度、照度、二氧化碳濃度或是培養基質的PH值而言。此外,早期的菇農大多是憑藉多年經驗來進行控制生長環境狀態,此種非量化的人力控制栽培,除了栽培技術難以傳承之外,而且較難以做出完整穩定的再現性栽培控制,致使無法提供菇類作物較佳化的生長環境條件,以致無法得到較佳的收穫產量與品質,因而造成菇類作物栽種上的不便與困擾情事產生。 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 the mycelium or mycelium required for the mushroom can be successfully grown. 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 used many 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 control. Provides optimized growth environment conditions for mushroom crops, so that better harvest yield and quality cannot be obtained, thus causing inconvenience and troubles in the cultivation of mushroom crops.
為解決上述缺失,近年來,相關技術領域業者已然開發出一種自動化控制栽培菇類作物技術,該自動化控制栽培菇類作物技術的代表性專利如中國大陸發明公開第CN103869796號『食用菌生產環境監控方法及監控系統』、中華民國發明公告第I624799號『以物聯網進行菇類智能栽培的管理系統』以及中華民國新型公告第M582293號『菇菌培育偵測裝置』等專利所示。該等專利係依照已知菇類適合的生長因子,如已知適合的溫度範圍、濕度範圍、照度範圍、以及二氧化碳濃度範圍,分別的以生長因子感測器,如溫度感測器、濕度感測器、照度感測器、及二氧化碳感測器,感 測當前實際的生長因子狀態,再分別以各種相對應的生長環境控制設備,如冷暖器、加濕器、LED燈及排風扇,來調整生長因子的數值落於原本認知的適合範圍內。惟,在實務上,若能夠確實做到的話,除了菇類生長效益不穩定之外,以長期量產的角度而言,產出效果其實並不理想,原因是這些生長因子並非彼此毫不相關的影響菇類,其實多種生長因子之間,彼此具有相當複雜且交叉影響的關連性。除此之外,該等專利主要都只是單一地對於太空包的外在環境;或是內部環境做監控而已,以致無法對內場域及外場域的生長環境做交叉比對監控,加上外場域生長環境感測單元的感測範圍無法完全涵蓋整個栽培場域,因而會有許多感測死角區域的出現,以致感測死角區域無法提供菇類作物較佳的生長環境,所以無法有效提升菇類作物的產量與品質,可見,上述習知技術及該等專利確實皆未臻完善,仍然有再改善的必要性。 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, the Chinese Mainland 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 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. Sensor, illuminance sensor, and carbon dioxide sensor, Measure the current actual growth factor status, and then use various corresponding growth environment control equipment, such as air conditioners, humidifiers, LED lights, and exhaust fans, to adjust the growth factor values to fall 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.
因鑑於目前尚無一種簡易模組化而可配合菇類栽培場域的地面通道所規劃巡檢路徑行走,並用以感測擷取即時生長環境狀態及即時菇類生長影像並輸出供分析或監控生長環境條件之利用,並能於監控生長環境條件之利用時,藉由中央監控單元處理即時生長環境狀態及即時菇類生長影像而與基準生長環境狀態參數及基準生長影像特徵參數比對,並能依比對結果做精準監控環境狀態以有效栽培菇類成長之相關技術、專利或是論文的公開或是發表,緣是,本新型創作人等乃積極投入研發,終而有本新型的研發成果產出。 Since there is currently no simple modularization that can match the planned inspection path of the ground channel of the mushroom cultivation field, it is used to sense and capture the real-time growth environment status and real-time mushroom growth images and output for analysis or monitoring The utilization of the growth environment conditions, and when monitoring the utilization of the growth environment conditions, the central monitoring unit processes the real-time growth environment state and real-time mushroom growth images and compares them with the reference growth environment state parameters and the reference growth image characteristic parameters, and According to the results of the comparison, the environmental status can be accurately monitored to effectively cultivate the mushroom growth related technology, patents or the publication or publication of the paper. The reason is that the creators of the new model are actively engaged in research and development, and finally there is the research and development of the new model Results output.
本新型第一目的,在於提供一種模組化及高精準之菇類生 長資訊蒐集裝置。達成本目的之技術手段係包括巡檢自動車、訊號輸出模組及設置在巡檢自動車上的生長環境狀態感測模組及生長影像擷取模組。巡檢自動車行移於菇類栽培場域中的地面通道,使生長環境狀態感測模組及生長影像擷取模組於巡檢位置以分別感測即時之生長環境感測訊號及即時菇類生長影像。訊號輸出模組將生長環境感測訊號及即時菇類生長影像輸出以供分析或監控菇類生長環境狀態等利用。其中,當傳輸予中央監控單元時,中央監控單元處理即時生長環境狀態及即時菇類生長影像而分別產生即時生長環境狀態參數及即時生長影像特徵參數,並將即時生長影像特徵參數與相應的基準生長影像特徵參數比對,當比對結果之影像差值超過一預定長成閥值範圍時,該中央監控單元啟動一生長環境調控設備,以調節該菇類栽培場域的菇類生長環境狀態,使相對應的該即時生長環境狀態參數與該基準生長環境狀態參數的一環境狀態差值達一預定環境狀態閥值範圍內。 The first purpose of this model is to provide a modular and high-precision mushroom growing Long information collection device. The technical means to achieve the cost goal includes the automatic inspection vehicle, a signal output module, a growth environment state sensing module and a growth image capture module set on the inspection automatic vehicle. The automatic inspection vehicle moves to the ground channel in the mushroom cultivation field, and the growth environment state sensor module and the growth image capture module are in the inspection position to respectively sense the real-time growth environment sensing signal and real-time mushrooms Growth image. The signal output module outputs the growth environment sensing signals and real-time mushroom growth images for use in analyzing or monitoring the growth environment status of the mushrooms. Among them, when transmitted to the central monitoring unit, the central monitoring unit processes the real-time growth environment state and real-time mushroom growth images to generate real-time growth environment state parameters and real-time growth image characteristic parameters, respectively, and compare the real-time growth image characteristic parameters with corresponding benchmarks The growth image feature parameter comparison, when the image difference of the comparison result exceeds a predetermined growth threshold range, the central monitoring unit activates a growth environment regulation device to adjust the mushroom growth environment status of the mushroom cultivation field , So that an environment state difference between the corresponding real-time growth environment state parameter and the reference growth environment state parameter is within a predetermined environment state threshold range.
本新型第二目的,在於提供一種具快速巡檢功能之菇類生長資訊蒐集裝置。達成本新型第二目的之技術手段,係包括巡檢自動車、訊號輸出模組及設置在巡檢自動車上的生長環境狀態感測模組及生長影像擷取模組。巡檢自動車行移於菇類栽培場域中的地面通道,使生長環境狀態感測模組及生長影像擷取模組於巡檢位置以分別感測即時之生長環境感測訊號及即時菇類生長影像。訊號輸出模組將生長環境感測訊號及即時菇類生長影像傳輸予中央監控單元,以供中央監控單元處理而分別產生即時生長環境狀態參數及即時生長影像特徵參數,將即時生長影像特徵參數與相應的基準生長影像特徵參數比對,當比對結果之影像差 值超過一預定長成閥值範圍時,該中央監控單元啟動一生長環境調控設備,以調節該菇類栽培場域的菇類生長環境狀態,使相對應的該即時生長環境狀態參數與該基準生長環境狀態參數的一環境狀態差值達一預定環境狀態閥值範圍內。其中該複數個停駐位置設定包括一第一停駐位置及一第二停駐位置。該複數個巡檢位置設定包括一第一巡檢位置及一第二巡檢位置。當巡檢自動車移動至該第一停駐位置時,巡檢自動車的多軸載移機構將生長環境狀態感測模組與生長影像擷取模組載移至第一巡檢位置,生長環境狀態感測模組感測第一巡檢位置的即時生長環境狀態,而生長影像擷取模組一併感測鄰近該第一巡檢位置的複數個該置放位置的即時菇類生長影像。當巡檢自動車移動至該第二停駐位置時,該多軸載移機構將生長環境狀態感測模組與生長影像擷取模組載移至該第二巡檢位置,生長環境狀態感測模組感測該第二巡檢位置的即時生長環境狀態;生長影像擷取模組感測相對應於該第二巡檢位置的一該置放位置的即時菇類生長影像。藉此,可先大範圍地擷取即時生長環境狀態及即時菇類生長影像,於比對時發現有異常時,再針對異常區域做小範圍地擷取即時生長環境狀態及即時菇類生長影像,達到提高巡檢效率之目的。 The second objective of the present invention is to provide a mushroom growth information collection device with a quick inspection function. The technical means to achieve the second objective of the new type includes inspection vehicles, signal output modules, and growth environment state sensing modules and growth image capture modules installed on the inspection vehicles. The automatic inspection vehicle moves to the ground channel in the mushroom cultivation field, and the growth environment state sensor module and the growth image capture module are in the inspection position to respectively sense the real-time growth environment sensing signal and real-time mushrooms Growth image. The signal output module transmits the growth environment sensing signal and the real-time mushroom growth image to the central monitoring unit for processing by the central monitoring unit to generate real-time growth environment state parameters and real-time growth image characteristic parameters, respectively, and compare the real-time growth image characteristic parameters with Corresponding benchmark growth image feature parameter comparison, when the comparison result image is poor When the value exceeds a predetermined growth threshold range, the central monitoring unit activates a growth environment regulating device to adjust the mushroom growth environment state of the mushroom cultivation field, so that the corresponding real-time growth environment state parameter is consistent with the reference An environment state difference value of the growth environment state parameter reaches within a predetermined environment state threshold range. The plurality of 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 inspection vehicle moves to the first parking position, the multi-axis transfer mechanism of the inspection vehicle moves the growth environment state sensing module and the growth image capture module to the first inspection position, and the growth environment state The sensing module senses the real-time growth environment status of the first inspection location, and the growth image capturing module also senses a plurality of real-time mushroom growth images of the placement location adjacent to the first inspection location. When the inspection vehicle moves to the second parking position, the multi-axis transfer mechanism moves 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 module senses the real-time growth environment state of 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 growth environment status and real-time mushroom growth images can be captured in a large area. When an abnormality is found during the comparison, the real-time growth environment status and real-time mushroom growth images can be captured in a small area for the abnormal area. , To achieve the purpose of improving the efficiency of inspection.
本新型第三目的,在於提供一種可提升感測資訊精確度的菇類生長資訊蒐集裝置。達成本新型第三目的之技術手段,係該多軸載移機構包括一旋轉軸,以該旋轉軸將該生長影像擷取模組擷取影像的方向轉至與該置放位置的該籃子之一開口面的一法線接近平行及/或垂直之角度,藉以擷取到太空包的菇類之俯視及/或側視即時生長影像,以提升 比對判斷的精準度。 The third objective of the present invention is to provide a mushroom growth information collection device that can improve the accuracy of sensing information. The technical means to achieve the third objective of the new type is that the multi-axis transfer mechanism includes a rotating shaft, and the direction of the image captured by the growth image capturing module is rotated by the rotating shaft to be in line with the basket in the placement position. A normal line of an opening surface is close to the angle of parallel and/or vertical, so as to capture real-time growth images of top and/or side view of mushrooms in the space bag to enhance The accuracy of the comparison judgment.
1:生長環境狀態感測模組 1: Growth environment status sensing module
10:外場域生長環境感測單元 10: Outer field growth environment sensing unit
11,21:溫度感測器 11, 21: Temperature sensor
12,22:濕度感測器 12, 22: Humidity sensor
13:光照感測器 13: light sensor
14,23:二氧化碳感測器 14,23: Carbon dioxide sensor
2:內場域生長環境感測模組 2: In-field growth environment sensing module
20:內場域生長環境感測單元 20: In-field growth environment sensing unit
2a:內場域訊號擷取模組 2a: In-field signal acquisition module
24:PH值感測器 24: PH sensor
240:環圈件 240: ring parts
241:試紙環片 241: Test Strip Ring
242:旋轉驅動機構 242: Rotary drive mechanism
243:顏色感測模組 243: Color Sensing Module
25:訊號輸出模組 25: Signal output module
26:無線訊號收發模組 26: Wireless signal transceiver module
27:供電模組 27: Power supply module
28:容裝組件 28: Containment components
280:盤座 280: plate seat
281:突管 281: Explosion Tube
282:鏤空部 282: Hollow
3:訊號輸出模組 3: Signal output module
30:巡檢自動車 30: Inspection of automatic vehicles
31:多軸載移機構 31: Multi-axis transfer mechanism
32:旋轉軸 32: Rotation axis
33:動力驅行裝置 33: Power drive device
34:行走輪 34: walking wheel
35:訊號處理單元 35: signal processing unit
40:生長影像擷取模組 40: Growth image capture module
5:生長環境條件調控模組 5: Growth environment condition regulation module
50:生長環境調控設備 50: Growth environment regulation equipment
60:中央監控單元 60: Central Monitoring Unit
61:訊號處理裝置 61: signal processing device
62:基準參數資料庫 62: Benchmark parameter database
612:深度學習演算模組 612: Deep Learning Algorithm Module
612a:深度學習模型 612a: Deep learning model
70:菇類栽培場域 70: Mushroom cultivation field
71:地面通道 71: Ground access
71a:層架 71a: Shelf
72:太空包 72: Space Bag
73:籃子 73: Basket
74:置放位置 74: Placement position
P1:停駐位置 P1: parking position
P2:巡檢位置 P2: Inspection location
圖1係本新型菇類栽培的具體實施架構示意圖。 Figure 1 is a schematic diagram of the specific implementation structure of the new mushroom cultivation.
圖2係本新型菇類栽培的另一具體實施架構示意圖。 Figure 2 is a schematic diagram of another specific implementation structure of the new mushroom cultivation.
圖3係本新型內場域生長環境感測單元的外觀實施示意圖。 Fig. 3 is a schematic diagram showing the appearance of the new in-field growth environment sensing unit according to the present invention.
圖4係本新型內場域生長環境感測單元另一實施的俯視示意圖。 4 is a schematic top view of another implementation of the in-field growth environment sensing unit of the present invention.
圖5係本新型內場域生長環境感測單元另一實施的部分剖視示意圖。 FIG. 5 is a schematic partial cross-sectional view of another implementation of the in-field growth environment sensing unit of the present invention.
圖6係本新型內場域生長環境感測單元的部分剖視示意圖。 Fig. 6 is a schematic partial cross-sectional view of the new type of in-field growth environment sensing unit.
圖7係本新型於太空包內裝設內場域生長環境感測單元的示意圖。 Fig. 7 is a schematic diagram of the present invention installing an in-field growth environment sensing unit in the space bag.
圖8係本新型基本電路架構的功能方塊示意圖。 Fig. 8 is a functional block diagram of the basic circuit architecture of the present invention.
圖9係本新型具體實施架構的功能方塊示意圖。 Figure 9 is a functional block diagram of the specific implementation architecture of the present invention.
圖10係本新型另一具體實施架構的功能方塊示意圖。 Fig. 10 is a functional block diagram of another specific implementation architecture of the present invention.
圖11係本新型深度學習演算模組於訓練階段的流程實施示意圖。 FIG. 11 is a schematic diagram of the implementation process of the new deep learning calculation module in the training phase.
圖12係本新型深度學習演算模組於運行預測階段步驟的流程實施示意圖。 FIG. 12 is a schematic diagram of the flow implementation of the steps of the new deep learning calculation module in the operation prediction stage.
為讓 貴審查委員能進一步瞭解本新型整體的技術特徵與達成本新型目的之技術手段,玆以具體實施例並配合圖式加以詳細說明如後。 In order to allow your reviewer to further understand the overall technical features of the new model and the technical means to achieve the purpose of the new model, specific embodiments and drawings are used to describe in detail as follows.
請配合參看圖1~2及圖8~10所示,達成本新型第一目的之一種實施例,係包括一巡檢自動車30、一生長環境狀態感測模組1、一生長影像擷取模組40及一訊號輸出模組3。該巡檢自動車30係用於依據一
預設巡檢路徑而行移於一菇類栽培場域70中的複數個地面通道71及行經每一地面通道71至少一側的至少一層架71a。該至少一層架71a包括有複數個置放位置74,每一置放位置74供放置一個籃子73,每一籃子73置放複數個培栽有菇類的太空包72。該生長環境狀態感測模組1設置在巡檢自動車30,該生長環境狀態感測模組1可隨巡檢自動車30依序移動至相對應於複數個置放位置的複數個巡檢位置P2,用以感測複數個置放位置74的太空包72之即時生長環境狀態而產生至少一生長環境感測訊號。該生長影像擷取模組40設置在巡檢自動車30,該生長影像擷取模組40可隨巡檢自動車30依序移動至相對應於複數個置放位置74的複數個巡檢位置P2,用以依序對複數個置放位置74的太空包72做即時之影像擷取而成像為即時菇類生長影像。該訊號輸出模組3分別與生長環境狀態感測模組1及生長影像擷取模組40電性連接,用以將即時感測之生長環境感測訊號及即時擷取之即時菇類生長影像蒐集傳輸出去,以供利用。
Please refer to Figures 1~2 and Figures 8~10 to achieve an embodiment of the first objective of the new type, which includes an
具體的,該巡檢自動車30特別是用於自動地行移於菇類栽培場域70的相連通的複數個地面通道71,本實施例中是配合目前一般菇農所經營的菇廠,而設計成巡檢自動車30行走於菇類栽培場域70內相連通的複數個地面通道71(未來可以天車方式設置巡檢自動車30),亦即本實施例的巡檢自動車30上設置包括有具有至少一行走輪34的動力驅行裝置33、訊號處理單元35。該訊號處理單元35依據一行走控制程式控制動力驅行裝置33驅使至少一行走輪34載著該巡檢自動車30沿著一預設巡檢路徑行走,並依序抵達分佈在預設巡檢路徑上的複數個停駐位置P1,該複數個停駐位置P1相對應於複數個巡檢位置P2。該預設巡檢路徑係佈設在該菇類栽培場域70的相連通的複數個地面通道71上。當巡檢自動車30分別抵達複數個停駐位置P1時於一預定時間內
做停駐。該複數個層架71a相互間隔而將一地面區隔成複數個地面通道71。每一層架71a包括有複數個由下而上分佈的置放位置74,每一置放位置74供放置一個籃子73,每一籃子73置放複數個培栽有菇類的太空包72。該複數個巡檢位置P2相對應於複數個置放位置72。
Specifically, the
於圖1、2所示的實施例中,該生長環境狀態感測模組1與生長影像擷取模組40經由一多軸載移機構31而設置於巡檢自動車30上。該多軸載移機構31依序將生長環境狀態感測模組1與生長影像擷取模組40載移至每一巡檢位置P2。該生長環境狀態感測模組1用以感測相對應於每一巡檢位置P2的太空包72之即時生長環境狀態而產生相應之至少一種生長環境感測訊號。該生長影像擷取模組40用以擷取鄰近每一巡檢位置P2的置放位置74的太空包72之即時菇類生長影像。
In the embodiments shown in FIGS. 1 and 2, the growth environment state sensing module 1 and the growth
更具體的,圖1、2及圖8~10所示之訊號輸出模組3係將生長環境狀態感測模組1及生長影像擷取模組40所感測、擷取的生長環境感測訊號及即時菇類生長影像傳輸至一中央監控單元60。該中央監控單元60包括一基準參數資料庫62,該基準參數資料庫62設置有分別相對應的複數個基準生長環境狀態參數、複數個基準生長影像特徵參數及基準菇類栽培時間序列,該中央監控單元60接收與處理即時感測之生長環境感測訊號及即時菇類生長影像而分別產生即時生長環境狀態參數、即時生長影像特徵參數及即時栽培時間序列,並將即時生長環境狀態參數、即時生長影像特徵參數及即時栽培時間序列與複數個基準生長環境狀態參數、複數個基準生長影像特徵參數及基準菇類栽培時間序列比對,當即時栽培時間序列與基準菇類栽培時間序列相符合條件下,相對應的即時生長影像特徵參數與基準生長影像特徵參數比對結果之一影像差值超過一預定長成閥值範圍時,該中央監控單元60產生控制指令以啟
動一生長環境條件調控模組5的一生長環境調控設備50,以調節菇類栽培場域70之巡檢位置的菇類生長環境狀態,使相對應的該即時生長環境狀態參數與該基準生長環境狀態參數的一環境狀態差值達一預定環境狀態閥值範圍內。
More specifically, the
該生長環境條件調控模組5係包括一生長環境調控設備50,該生長環境調控設備50設於菇類栽培場域70,用以調控菇類栽培場域70的複數個巡檢位置包括有溫度、濕度及二氧化碳濃度的菇類生長環境狀態。
The growth environment
請配合參看圖1~2及圖8~10所示,達成本新型第一目的之一種較佳實施例,其基本架構係包括有如前述第一目的的架構之巡檢自動車30、生長環境條件調控模組5及中央監控單元60。其中,該生長環境狀態感測模組1包括一外場域生長環境感測單元10及一內場域生長環境感測模組2。該外場域生長環境感測單元10用以感測相對應於每一巡檢位置P2的即時生長環境狀態而產生相對應的外場域生長環境感測訊號以作為即時生長環境感測訊號。該內場域生長環境感測模組2包括一內場域訊號擷取模組2a及至少一內場域生長環境感測單元20。該至少一內場域生長環境感測單元20用以感測相對應於每一巡檢位置P2的太空包72內部的菇類生長環境狀態而產生相對應的內場域生長環境感測訊號以作為即時生長環境感測訊號。該內場域訊號擷取模組2a用以擷取至少一內場域生長環境感測單元20所感測到的內場域生長環境感測訊號。該外場域生長環境感測訊號及內場域生長環境感測訊號係分別包含一溫度感測器11,21所產生的溫度感測訊號、一濕度感測器12,22所產生的濕度感測訊號、一光照感測器13所產生的光照感測訊號及一二氧化碳感測器14,23所產生的二氧化碳感測訊號。該內場域生長環境感
測單元20更包括一PH值感測器24以產生的PH值感測訊號。
Please refer to Figs. 1~2 and Figs. 8~10, which is a preferred embodiment for achieving the first objective of the new type. Its basic structure includes a
具體的,該複數個基準生長影像特徵參數包含按照菇類栽培時間序列所設定的複數外場域溫度基準生長影像特徵參數、複數外場域濕度基準生長影像特徵參數、複數外場域光照基準生長影像特徵參數、複數外場域二氧化碳基準生長影像特徵參數、複數內場域溫度基準生長影像特徵參數、複數內場域濕度基準生長影像特徵參數、複數內場域二氧化碳基準生長影像特徵參數以及複數內場域PH值基準生長影像特徵參數。 Specifically, the plurality of reference growth image feature parameters include a plurality of outside field temperature reference growth image feature parameters, a plurality of outside field humidity reference growth image feature parameters, and a plurality of outside field light reference growth image feature parameters set according to the mushroom cultivation time sequence. Image feature parameters, 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 benchmark growth image characteristic parameters.
請配合參看圖1~2及圖8~10所示,達成本新型第二目的之一種實施例,其基本架構係包括有如前述第一目的的架構之巡檢自動車30、生長環境條件調控模組5及中央監控單元60。其中,該複數個停駐位置P1係設定包括一第一停駐位置及一第二停駐位置;該複數個巡檢位置P2係設定包括一第一巡檢位置及一第二巡檢位置。當巡檢自動車30移動至第一停駐位置時,該多軸載移機構31將生長環境狀態感測模組1與生長影像擷取模組40載移至第一巡檢位置,該生長環境狀態感測模組1感測第一巡檢位置的即時生長環境感測訊號,該生長影像擷取模組40一併擷取鄰近第一巡檢位置的複數個置放位置74的即時菇類生長影像。當巡檢自動車30移動至第二停駐位置時,該多軸載移機構31將生長環境狀態感測模組1與生長影像擷取模組40載移至第二巡檢位置,該生長環境狀態感測模組1感測第二巡檢位置的即時生長環境狀態,該生長影像擷取模組40感測相對應於第二巡檢位置的一個置放位置74的即時菇類生長影像。該生長影像擷取模組40感測相對應於第二巡檢位置的置放位置74的籃子中的其一太空包72之即時菇類生長影像。其中,當生長環境狀態感測模組1與生長影像擷取模組40於第一巡檢位置所感測的即時生長環境狀態及複數個置放位置74的至少一太空包72
之即時菇類生長影像所產生的即時生長環境狀態參數及即時生長影像特徵參數與複數個基準生長環境狀態參數及複數個基準生長影像特徵參數比對結果之環境狀態差值及影像差值分別超過相對應的相對應的一預定環境狀態閥值範圍及一預定長成閥值範圍時,該巡檢自動車30移動至第二停駐位置,該多軸載移機構31將生長環境狀態感測模組1與生長影像擷取模組40載移至第二巡檢位置,該生長環境狀態感測模組1感測第二巡檢位置的即時生長環境狀態;該生長影像擷取模組40感測相對應於第二巡檢位置的該置放位置的至少一太空包72之即時菇類生長影像。當所感測之至少一太空包72之即時菇類生長影像所產生的即時生長環境狀態參數及即時生長影像特徵參數與相對應之複數個基準生長環境狀態參數及複數個基準生長影像特徵參數比對結果之環境狀態差值及影像差值分別超過相對應的相對應的預定環境狀態閥值範圍及預定長成閥值範圍時,該中央監控單元60產生控制指令以啟動生長環境條件調控模組5之生長環境調控設備50,以調節菇類栽培場域的菇類生長環境狀態,使相對應的即時生長環境狀態參數與基準生長環境狀態參數達相應的預定環境狀態閥值範圍內。其中,圖9、10所示之中央監控單元60係設置在巡檢自動車30上,訊號處理單元35與訊號處理裝置61整合一為一單元,藉此可在巡檢自動車30抵達停駐位置並以多軸載移機構載移生長環境狀態感測模組1與生長影像擷取模組40至相對應的巡檢位置,且處理比對之環境狀態差值及影像差值分別超過相對應的相對應的一預定環境狀態閥值範圍及一預定長成閥值範圍時,直接自巡檢自動車30的中央監控單元60產生控制指令以啟動生長環境條件調控模組5之生長環境調控設備50,以調節菇類栽培場域的菇類生長環境狀態。
Please refer to Figures 1~2 and Figures 8~10 to achieve an embodiment of the second objective of the new type. The basic structure includes the
請配合參看圖1~2及圖8~10所示,達成本新型第三目的之一種實施例,其基本架構係包括有如前述第一目的的架構之巡檢
自動車30、生長環境條件調控模組5及中央監控單元60。其中,由於菇類栽培場域70的置放位置74所放置的籃子73大都呈斜置,本新型為提升影像擷取準確性,其多軸載移機構31包括一旋轉軸32,以該旋轉軸32將該生長影像擷取模組40擷取影像的方向轉至與該置放位置74的該籃子73之一開口面的一法線接近平行及/或垂直之角度,藉以擷取到太空包72的菇類之俯視及/或側視即時生長影像,以提升比對判斷的精準度,具體實施如圖2所示。
Please refer to Figs. 1~2 and Figs. 8~10 to achieve an embodiment of the third objective of the new type. Its basic structure includes the inspection of the structure of the aforementioned first objective.
The
請配合參看圖2、10所示的應用實施例中,該內場域生長環境感測單元20設於巡檢自動車30,該內場域訊號擷取模組2a更包含四支分別與溫度感測器21、濕度感測器22、二氧化碳感測器23及PH值感測器24連接的感測探針(圖式例未示)及一多軸載移機構31。該內場域生長環境感測單元20可隨著巡檢自動車30移動而依序抵達巡檢位置時,該多軸載移機構31驅動四感測探針刺進其中一個太空包72的內部,用以感測太空包72內的菇類生長環境狀態而產生上述四種內場域生長環境感測訊號。
Please refer to the application embodiments shown in Figs. 2 and 10, the in-field growth
請配合參看圖3~9所示,為達成本新型第二目的之第二實施例,本實施例除了包括上述第一實施例的整體技術特徵之外,該內場域生長環境感測單元20的數量為複數,該複數內場域生長環境感測單元20依序設於複數太空包72內,用以感測複數太空包72內的菇類生長環境狀態而產生複數該內場域生長環境感測訊號;每一內場域生長環境感測單元20更包含一訊號處理模組25、一無線訊號收發模組26、一用以供應內場域生長環境感測單元20、訊號處理模組25及無線訊號收發模組26所需電源的供電模組27及一供內場域生長環境感測單元20、訊號處理模組25、無線訊號收發模組26、供電模組27容置的容裝組件28,該訊號處理模組25依序將溫度感測器21所產生的溫度感測訊號、
濕度感測器22所產生的濕度感測訊號、二氧化碳感測器23所產生的二氧化碳感測訊號及PH值感測器24所產生的PH值感測訊號控制經由無線訊號收發模組26傳輸出去,或是分別處理為包括有溫度值、濕度值、二氧化碳值及PH值的內場域生長環境狀態參數並透過無線訊號收發模組26傳輸出去。該內場域訊號擷取模組2a(如有線或無線傳輸型式的訊號輸出模組,以無線者為佳)則可擷取無線訊號收發模組26所發射出的各內場域生長環境狀態訊號或參數,再透過訊號輸出模組3輸出至中央監控單元60。
Please refer to FIGS. 3-9. In order to achieve the second embodiment of the second objective of the new type, this embodiment includes the overall technical features of the above-mentioned first embodiment, and the in-field growth
圖3、4所示的一種應用實施例中,該容裝組件28可於培養基質填置太空包72以前而預先置入至太空包72底部。該容裝組件28包含一具有容置空間以供訊號處理模組25及無線訊號收發模組26容置的盤座280,該盤座280邊緣向上突伸有四與容置空間相通的突管281,該四突管281可分別供溫度感測器21、濕度感測器22、二氧化碳感測器23及PH值感測器24容裝,且四突管281各自設有一供溫度感測器21、濕度感測器22、二氧化碳感測器23及PH值感測器24各自的感測區域顯露的鏤空部282。
In an application embodiment shown in FIGS. 3 and 4, the
圖5~6所示的的另一種應用實施例中,該容裝組件28可於培養基質填置太空包72以前而預先置入至太空包72底部。該容裝組件28包含一盤座280,該盤座280具有一供訊號處理模組25、訊號傳輸模組26及供電模組27容置的容置空間,該盤座280邊緣向上突伸有三與容置空間相通的突管281,該三突管281可分別供溫度感測器21、濕度感測器22及二氧化碳感測器23容置;該PH值感測器24包含一可轉動地設置於盤座280內的環圈件240、一環設於環圈件240內且具有複數格PH試紙的試紙環片241、一具有嚙合部的旋轉驅動機構242及一顏色感測模組243;該環圈件240外周等距佈設有複數可供與嚙合部嚙合旋
轉的齒部,該盤座280正對栽培基質的盤面穿設一使其中一格PH試紙顯露而可接觸到栽培基質的鏤空部282;該顏色感測模組243設於鏤空部282的下方;該訊號處理模組25內建有依照時間序列所設定的採樣周期,當達到其中一個採樣周期時,該訊號處理模組25則啟動顏色感測模組243感測所正對的PH試紙的顏色狀態而產生一顏色感測訊號,經訊號處理模組25轉換處理後輸出相應的PH值,並將觸發旋轉驅動機構242驅動環圈件240旋轉至一預設角度,使下一格PH試紙正對鏤空部282。
In another application embodiment shown in FIGS. 5 to 6, the
再請配合參看圖1、2所示的實施例中,每一置放架71a設有一可供複數籃子73放置的置放位置74,每一籃子73內盛裝複數太空包72,每一置放架71a皆設有身份辨識資訊及對應於身份辨識資訊與相對於菇類栽培場域70的位置點座標資訊,以供確認所感測到的菇類生長環境狀態所處在菇類栽培場域70的位置資訊,由於每一置放架71a及置放位置74皆已預先做編碼識別的設定,所以當外場域生長環境狀態參數(如溫濕度或二氧化碳數值)及內場域生長環境狀態參數(如溫濕度或二氧化碳數值)不符合時,即可依據編碼而識別出栽培場域70中的哪個置放架71a的置放位置74生長環境狀態出現異常狀況,當外場域生長環境狀態參數正常而內場域生長環境狀態參數異常則表示,外場域生長環境感測單元10的感測範圍並未涵蓋至異常區域的緣故,因此,本新型可透過內場域生長環境感測單元20的精確感測而彌補此一缺失,於是即可啟動環境調控設備50,以調節栽培場域70的菇類生長環境狀態。
Please refer to the embodiments shown in Figures 1 and 2, each
此外,於時間序列所進行即時菇類生長影像的影像辨識,主要是在於辨識確認每一栽培階段的菇類生長狀態如何?若干出現生長尺寸短少或是出現外觀變異或缺陷等情況時,則除了可以透過啟動環境調控設備50來調節栽培場域70的菇類生長環境狀態之外,並可透過儲存即時菇類生長影像、生長階段及外場域生長環境狀態參數及內場
域生長環境狀態參數,以作為修正基準生長影像特徵參數組的依據。
In addition, the image recognition of real-time mushroom growth images performed in the time series is mainly to identify and confirm the growth status of the mushrooms in 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 status of the
請配合參看圖11~12所示,本新型菇類生長資訊蒐集裝置一種較佳實施例,更包括一深度學習演算模組612;當該即時生長影像特徵參數與該基準生長影像特徵參數比對之影像差值大於相對應的該預定長成閥值時,表示該菇類成長良好,該深度學習演算模組612記錄相對應的該即時菇類生長環境狀態於該基準參數資料庫中以做為該基準生長環境狀態參數及取代先前相應的該基準生長環境狀態參數。上述訊號處理裝置61內建有一深度學習演算模組612,於執行時則包含下列步驟:(a)訓練階段步驟,係建立有至少一深度學習模型612a,並於深度學習模型612a輸入按照菇類栽培時間序列所拍攝的巨量的基準影像輪廓樣本、外場域生長環境狀態參數、內場域生長環境狀態參數、生長環境狀態判斷參數及影像辨識參數,以得到各基準生長影像特徵參數組及各基準影像,並由深度學習模型612a測試生長環境狀態與影像辨識的正確率,再判斷生長環境狀態與影像辨識正確率是否足夠,當判斷結果為是,則將辨識結果輸出及儲存;當判斷結果為否,則使深度學習模型612a針對各基準生長影像特徵參數組及各基準影像進行自我修正學習;及(b)運行預測階段步驟,係於該深度學習模型612a依序輸入即時擷取之即時菇類生長影像、外場域生長環境狀態參數及內場域生長環境狀態參數,並由深度學習模型612a計算出相應的影像特徵,以預測辨識出該時間序列下之菇類生長環境狀態以及菇類生長狀態的辨識結果資訊。
Please refer to Figures 11 to 12, a preferred embodiment of the new mushroom growth information collection device further includes a deep
因此,藉由上述具體實施例的詳細說明,本新型確實具備下列所述的特點:1.本新型確實可以同時對內場域及外場域生長環境做移動式的交叉比對監控,以得到更為精確的感測數據,進而作為自動調控菇類栽培之生長環境的依據,以提供菇類較佳化的生長條件,進而提升菇 類作物的產量與品質。2.本新型內場域生長環境感測單元確實具備模組化功能,進而可以消毒重覆再使用,以降低成本支出。3.本新型確實具備生長環境狀態調控追蹤功能,進而可以大幅提升感測資訊精確度。 Therefore, based on the detailed description of the above specific embodiments, the present invention does have the following characteristics: 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 to obtain More accurate sensing data can be used as a basis for automatically regulating the growth environment of mushroom cultivation, so as to provide optimal growth conditions for mushrooms, thereby improving mushrooms The yield and quality of similar crops. 2. The new in-field growth environment sensing unit does have modular functions, which can be disinfected and reused to reduce costs. 3. The new model does have the function of regulating and tracking the growth environment state, which can greatly improve the accuracy of the sensing information.
以上所述,僅為本新型之可行實施例,並非用以限定本新型之專利範圍,凡舉依據下列請求項所述之內容、特徵以及其精神而為之其他變化的等效實施,皆應包含於本新型之專利範圍內。本新型所具體界定於請求項之結構特徵,未見於同類物品,且具實用性與進步性,已符合發明專利要件,爰依法具文提出申請,謹請 鈞局依法核予專利,以維護本申請人合法之權益。 The above are only feasible embodiments of the present model, and are not intended to limit the patent scope of the present model. Any equivalent implementation of other changes based on the content, features and spirit of the following claims shall be Included in the scope of the patent of the present model. The structural features of this new model are specifically defined in the claim, which are not found in similar articles, and are practical and progressive. They have met the requirements for invention patents. The application is filed in accordance with the law. The legitimate rights and interests of the applicant.
2:內場域生長環境感測模組 2: In-field growth environment sensing module
2a:內場域訊號擷取模組 2a: In-field signal acquisition module
10:外場域生長環境感測單元 10: Outer field growth environment sensing unit
20:內場域生長環境感測單元 20: In-field growth environment sensing unit
3:訊號輸出模組 3: Signal output module
30:巡檢自動車 30: Inspection of automatic vehicles
31:多軸載移機構 31: Multi-axis transfer mechanism
32:旋轉軸 32: Rotation axis
33:動力驅行裝置 33: Power drive device
34:行走輪 34: walking wheel
35:訊號處理單元 35: signal processing unit
40:生長影像擷取模組 40: Growth image capture module
5:生長環境條件調控模組 5: Growth environment condition regulation module
50:生長環境調控設備 50: Growth environment regulation equipment
70:菇類栽培場域 70: Mushroom cultivation field
71:地面通道 71: Ground access
71a:層架 71a: Shelf
72:太空包 72: Space Bag
73:籃子 73: Basket
74:置放位置 74: Placement position
P1:停駐位置 P1: parking position
P2:巡檢位置 P2: Inspection location
Claims (9)
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