WO2022023067A1

WO2022023067A1 - Plant factory automation planting system and use method thereof

Info

Publication number: WO2022023067A1
Application number: PCT/EP2021/069862
Authority: WO
Inventors: Sarosh RAMACHANDRA; Zhang Wei
Original assignee: Eko Grönovation Ab; Hubei Best Robot Technology Co., Ltd
Priority date: 2020-07-29
Filing date: 2021-07-15
Publication date: 2022-02-03
Also published as: CN113016421B; CN111837736A; EP4188071A1; CN113016421A

Abstract

The invention relates to the technical field of plant factory and discloses a plant factory automation planting system, wherein the plant factory automation system comprises a frame body, a planting unit, a movable moving unit, a movable trolley, the planting unit comprises a plurality of rows of planting rows movably arranged on the frame body, and the trolley comprises a locking component for realizing locking or unlocking between the trolley and the planting rows, and after the trolley and the planting rows are locked, the trolley is used for driving the planting rows from the planting unit to the mobile unit or from the mobile unit to the planting unit. The invention has the following advantages and effects: The invention completes the automation in the process of transporting, harvesting, transplanting and the like of the planting tower in the plant factory. The invention greatly improves the automation degree and has high production efficiency, reduces the production cost of the plant factory, solves the technical problems of high automation realization difficulty and high automation cost during vertical planting in the plant factory, and has very great significance for large-scale vertical planting and industrialization in the plant factory.

Description

Plant Factory Automation Planting system and Use Method thereof

TECHNICAL FIELD

The invention relates to the technical field of plant factory, in particular to a plant factory automation planting system and use method thereof.

BACKGROUND

Plant factory is an efficient agricultural system that realizes annual continuous production of plants through high-precision environmental control in facilities. The computer, electronic sensing system and agricultural facilities are used to automatically control the environmental conditions such as temperature, humidity, light, CO₂ concentration, nutrient solution and the like for plant growth, so that the plant growth in the facilities is labor-saving production not restricted by or seldom restricted by natural conditions.

At present, the mainstream three-dimensional layout of plant factory is mainly tray type. Plants are planted in a planting tray. The tray is layered in the multi-layer shelf structure for planting. When it is necessary to take out the planting tray for harvesting, transplanting and other treatments, robots are required to carry out a number of complicated operations such as clamping, horizontal taking out and lowering in the automation design. The following technical problems exist in the process of realizing automation: first, the robot equipment for realizing complex actions is expensive, resulting in an increase in the production cost of plant factories;second, in large-scale planting, the complicated actions of robots in automatic design will lead to low pallet movement efficiency and further increase production costs. It is precisely because the plant factory has the technical problems of high automation difficulty and high automation cost. The high production cost makes plants such as vegetables produced by plant factories do not have price advantages. At present, plant factories are only operated in a few areas such as desert cities where land resources are extremely scarce, and it is difficult to carry out large-scale popularization, application and industrialization.

SUMMARY OF THE INVENTION

The invention aims to provide a plant factory automation planting system, which has the effects of high efficiency and high degree of automation.

The above-mentioned technical object of the invention is realized through the following technical scheme: A plant factory automation planting system, wherein the plant factory automation system comprises a frame body, a planting unit, a movable moving unit, a movable trolley, the planting unit comprises a plurality of rows of mobile planting rows, and the trolley comprises a locking component for realizing locking or unlocking between the trolley and the planting rows, and after the trolley and the planting rows are locked, the trolley is used for driving the planting rows from the planting unit to the mobile unit or from the mobile unit to the planting unit.

Through the technical scheme, plants such as vegetables are vertically planted on the planting row, and the space in the vertical direction is fully utilized. When it is necessary to harvest, transplant and transport the plants on the planting row, the mobile unit moves to a row of planting rows aligned with the planting unit. The trolley moves from the mobile unit to the planting unit. After the locking component locks the trolley with a row of planting rows, the trolley drives a row of planting rows from the planting unit into the mobile unit, the planting rows in the mobile unit can be harvested by equipment such as harvesters, plants can be transplanted by equipment such as transplanters, and the mobile unit can move to transport the planting rows. After harvesting, transplanting, transportation and other treatments are completed, the trolley drives the planting row from the mobile unit into the planting unit. After the locking component is unlocked, the planting row remains in the planting unit, and the trolley returns to the mobile unit. By taking the planting row out of the planting unit with a trolley for processing. In the layout of planting units, the gap between multiple planting rows can be reduced, the space in the plant factory can be fully utilized, various treatments such as harvesting, transplanting and transportation can be carried out on the planting rows, automatic operation can be realized, manual operation can be reduced, and the automation degree is high, the actions are simple, and the operation cost is low.

Further setting of the invention is: The planting row comprises a connecting piece movably arranged on the frame body, and a plurality of planting towers suspended and fixed on the connecting piece.

Further setting of the invention is: The connecting piece is a chain.

Through the above technical scheme, a plurality of planting towers are suspended on the chain, which is convenient for the planting row to change directions during the movement process.

Further setting of the invention is: the frame body is fixed with a plurality of rows of first planting tracks, the mobile unit comprises a second planting track, the end of the second planting track can be butted with the end of the first planting track, and the planting row can move along the first planting track and the second planting track. Through the above technical scheme, after the first planting track is connected with the second planting track, the planting row moves into the second planting track along the first planting track to realize entering from the planting unit to the mobile unit. The planting row moves into the first planting track along the second planting track to realize entering from the mobile unit to the planting unit.

Further setting of the invention is: The frame body is fixed with a plurality of rows of first trolley tracks, the mobile unit comprises a second trolley track, the end of the second trolley track can be butted with the end of the first trolley track, and the trolley can move along the first trolley track and the second trolley track.

Through the above technical scheme, after the first trolley track is butted with the second trolley track, the trolley moves into the second trolley track along the first trolley track to realize entering from the planting unit to the mobile unit. The trolley moves into the first trolley track along the second trolley track to realize entering from the mobile unit to the planting unit.

Further setting of the invention is: The first trolley track is located above the first planting track and the second trolley track is located above the second planting track.

Through the above technical scheme, the trolley is higher than the planting row.

Further setting of the invention is: The upper and lower ends of the planting row are all arranged with a first planting track, the first trolley track is located below the first planting track, and the second trolley track is located below the second planting track.

Through the above technical scheme, the trolley is lower than the planting row.

Further setting of the invention is: The second trolley track comprises a straight segment trolley track and an arc-shaped steering trolley track, and the second planting track comprises a straight segment planting track and an arc-shaped steering planting track.

Further setting of the invention is: The number of the steering trolley tracks is two, the two steering trolley tracks are respectively connected with the two ends of the straight segment trolley tracks, and the two steering trolley tracks are distributed on both sides or the same side of the straight segment trolley tracks; The number of the steering planting tracks is two, the two steering planting tracks are respectively connected with both ends of the straight fragment planting tracks, and the two steering planting tracks are distributed on both sides or the same side of the straight segment planting tracks; The number of the planting units is at least one.

Further setting of the invention is: The mobile unit comprises a mobile frame, the number of the steering trolley tracks is four, and the four steering trolley tracks are distributed on two sides of the straight segment trolley tracks, the straight segment trolley tracks are movably arranged on the mobile frame, and the mobile frame is equipped with a trolley track driving unit for driving the straight segment trolley tracks to move; The two ends of the straight segment trolley track are connected with two of the steering trolley tracks, and after the trolley track driving unit drives the straight segment trolley track to move, the two ends of the straight segment trolley track are connected with the other two steering trolley tracks; The number of the steering planting tracks is four, the four steering planting tracks are respectively distributed on two sides of the straight segment planting tracks, the straight segment planting tracks are movably arranged on the mobile frame, and the mobile frame is equipped with a planting track driving unit for driving the straight segment planting tracks to move; Two ends of the straight segment planting track are respectively connected with two of the steering planting tracks, after the planting track driving unit drives the straight segment planting track to move, both ends of the straight segment planting track are connected with the other two steering planting tracks, and the number of the planting units is at least two and the planting units are distributed on both sides of the mobile unit.

Further setting of the invention is: It further comprises a vacant area, the vacant area comprises a vacant planting track installed on the frame body, a steering vacant planting track connected to one end of the vacant planting track, a vacant trolley track installed on the frame body, and a steering vacant trolley track connected to one end of the vacant trolley track.

Further setting of the invention is: The planting row is provided with a connecting part, the trolley comprises a trolley body, and the locking component comprises a locking driving unit mounted on the trolley body and a locking part forced to move by the locking driving unit to connect or separate the connecting part.

Through the above technical scheme, the locking driving unit drives the locking part to move and then connect with the connecting part of the planting row, thus realizing the locking between the trolley and the planting row. The locking driving unit drives the locking part to move away from the connecting part of the planting row, thus realizing unlocking between the trolley and the planting column.

Further setting of the invention is: The connecting part is a positioning hole, the trolley is provided with a vertical guide hole, the locking part is inserted into the guide hole, the locking driving unit drives the locking part to descend and insert into the positioning hole, and the locking driving unit drives the locking part to ascend and disengage from the positioning hole.

Further setting of the invention is: The trolley comprises a trolley body, a power unit mounted on the trolley body, a gear which rotates after being stressed by the power unit, the first trolley track and the second trolley track are fixed with racks, and the gears are meshed with the rack bars.

Further setting of the invention is: The mobile unit comprises a mobile frame, a mobile frame driving unit, a synchronizing belt, two synchronizing wheels, the mobile frame is movably arranged on the frame body, the two synchronizing wheels are rotatably connected to the frame body, one end of the synchronizing belt is fixed to the mobile frame and the other end is fixed to the mobile frame after bypassing the two synchronizing wheels, and the mobile frame driving unit drives one of the synchronizing wheels to rotate.

Through the above technical scheme, the mobile frame driving unit drives the synchronous wheel to rotate and drives the synchronous belt to move, and the synchronous belt drives the mobile frame to move.

Further setting of the invention is: The mobile unit further comprises one or two of a harvester and a transplanter.

Another object of the present invention is to provide a method for using the above plant factory planting automation system, wherein it comprises the following steps: Step I, the mobile unit moves, the second trolley track is butted with one of the first trolley tracks, the second planting track is butted with one of the first planting tracks, the trolley moves along the second trolley track and the first trolley track, and enters the planting unit from the mobile unit; Step II, the locking component of the trolley locks the planting row, and the trolley drives the planting row to enter from the planting unit into the mobile unit; Step III, the planting row in the mobile unit is processed as required; Step IV, the trolley drives the planting row to enter from the mobile unit to the planting unit, the locking component is unlocked, the planting row is left in the planting unit, and the trolley returns to the mobile unit.

Further setting of the invention is: In step III, the treatment of the planting row within the mobile unit includes one or more of harvesting the plants within the planting row, transplanting and cleaning the planting row, disinfecting or sterilizing the planting row, and moving the mobile unit to transport the planting row.

Through the above technical scheme, in addition to the above several kinds, the processing of the planting rows in the mobile unit can also be selected according to actual requirements during the operation of the plant factory.

Beneficial effects of the invention:

I. Compared with the tray planting method in the prior art, a planting tower is adopted to carry out vertical planting, a plurality of planting towers form a planting row, a plurality of planting rows are arranged side by side to form a planting unit, the planting rows are taken out of the planting unit by a trolley for harvesting, transplanting and other treatments, the gap between the adjacent two planting rows can be reduced when the planting unit is laid out, the space is fully utilized, the space utilization rate is much higher than the tray planting method in the prior art, the yield of the planting unit can be effectively improved, and the production cost is reduced.

II. That trolley moves along the first trolley track and the second trolley track to drive the planting row from the planting unit to the mobile unit or from the mobile unit to the planting unit. There is little mechanical action during operation. The mechanical structure is simple. The equipment cost is low. Compared with the mobile mode in the prior art in which the robot is used for clamping and horizontally moving the planting tray and lifting and moving the planting tray, the moving efficiency is greatly improved by the mode in which the trolley drives the whole planting row to move, so that the automatic operation of the plant factory is realized, and the automatic cost of the plant factory is greatly reduced.

III. Configure that quantity and position of the steering trolley tracks and the steering planting tracks in the mobile unit according to the need, which is convenient for the planting row to enter the mobile unit from a plurality of directions, and then go out from the required directions to enter the planting unit, so as to meet the transportation requirements of the plant factory during operation, can transport the planting row to the required positions, and is very beneficial to the cleaning, disinfection, sterilization and other work of the planting tower.

IV. The planting row is transported through a plurality of mobile units, temporarily stored in the vacant area, and transported and moved in turn through a plurality of mobile units, so that any planting row can be transported to the position to be processed, and the automatic movement of the planting row in the plant factory can be truly realized.

V. Through the layout of a plurality of planting units, mobile units and vacant areas in the plant factory, the planting units do not affect each other during the expansion and production expansion of the plant factory, product category management, regional management, multi-variety plant planting management and harvesting in different production cycles, which is very beneficial to the management of the plant factory.

VI. The invention completes the automation operation in the process of transporting, harvesting, transplanting and the like of the planting tower in the plant factory. The invention greatly improves the automation degree and has high production efficiency, reduces the production cost of the plant factory, solves the technical problems of high automation realization difficulty and high automation cost during vertical planting in the plant factory, and has very great significance for large-scale vertical planting and industrialization in the plant factory.

DESCRIPTION OF DRAWINGS

Figure 1 is the structure diagram of the planting unit according to Embodiment 1.

Figure 2 is the structure diagram of the planting tower of Embodiment 1.

Figure 3 is the structure diagram of the connecting piece of Embodiment 1.

Figure 4 is the diagram of the positional relationship between the planting unit and the mobile unit of Embodiment 1.

Figure 5 is the enlarged diagram of Figure 4 at A.

Figure 6 is the diagram of the positional relationship between the trolley and the first trolley track of Embodiment 1.

Figure 7 is the structure diagram of the mobile unit according to Embodiment 1.

Figure 8 is the enlarged diagram of Figure 7 at B.

Figure 9 is the structure diagram of the trolley of Embodiment 1.

Figure 10 is the structural diagram of the locking component of Embodiment 1.

Figure 11 is the layout diagram of the second trolley track of Embodiment 3.

Figure 12 is the layout diagram of the second planting track of Embodiment 3.

Figure 13 is the layout diagram of the planting unit and the mobile unit of Embodiment 1.

Figure 14 is the layout diagram of the planting unit and the mobile unit of Embodiment 2.

Figure 15 is the layout diagram of the planting unit and the mobile unit of Embodiment 3.

Figure 16 is the layout diagram of the planting unit and the mobile unit of Embodiment 4.

Figure 17 is the layout diagram of the planting unit, the mobile unit and the vacant area of Embodiment 5.

Figure 18 is the layout diagram of the planting unit, the mobile unit and the vacant area of Embodiment 6. In the figure, 1. frame body; 11. guide rail; 2. planting unit; 21. planting row; 211. planting tower; 2111. planting cavity; 212. connecting piece; 2121. planting load-bearing roller; 213. connecting part; 22. first planting track; 23. first trolley track; 3. mobile unit; 31 mobile frame; 311. trolley track driving unit; 312. planting track driving unit; 32. second planting track; 321. straight segment planting track; 322. steering planting track; 33. second trolley track; 331. straight segment trolley track; 332. steering trolley track; 34. synchronizing belt; 35. synchronizing wheel; 4. trolley; 41. trolley body; 411, trolley load-bearing roller; 42. power unit; 43. gear; 5. locking component;

51. Locking driving unit; 511. motor II; 512. crank; 513. convex part; 52. locking part; 521, strip hole; 6. vacant area; 7. rack.

DETAILED DESCRIPTION

Embodiment 1: A plant factory automation planting system, as shown in Figures 1 to 8, comprises a frame body 1, a planting unit 2, a movable mobile unit 3, and a movable trolley 4. The planting unit 2 includes a plurality of parallel planting rows 21, the planting rows 21 include a connecting piece 212, a plurality of planting towers 211 suspended and fixed on the connecting piece 212, the planting towers 211 are provided with a plurality of planting cavities 2111, the plurality of planting cavities 2111 are spaced apart in the vertical direction, and the plants are planted in the planting cavities 2111. The connecting part 212 is a chain, and a plurality of first planting tracks 22 are mounted on the frame body 1, and each first planting track 22 corresponds to a row of planting rows 21. Connecting pieces 212 within each planting row 21 are located within the corresponding first planting track 22. A plurality of planting load-bearing rollers 2121 are rotatably disposed on the connecting part 212, and the plurality of planting load-bearing rollers 2121 are distributed on both sides of the connecting part 212 and are located inside the first planting track 22, so that the connecting part 212 can move on the frame body 1 along the first planting track 22. The mobile unit 3 includes a mobile frame 31 and a second planting track 32 mounted on the mobile rack 31. When the end of the second implant track 32 is butt with the end of the first implant track 22, the connecting piece 212 can move from the first implant track 22 to the second implant track 32.

As shown in Figures 1 to 8, two guide rails 11 are mounted on the frame body 1, and rotatable mobile rollers are mounted on both sides of the mobile frame 31 of the mobile unit 3, and the mobile rollers are located in the guide rails 11 so that the mobile frame 31 can move on the frame body 1 along the guide rails. The first planting track 22 includes a straight segment planting track 321 and two steering planting tracks 322 respectively connected to both ends of the straight segment planting track 321. The steering planting tracks 322 are arc-shaped, and the two steering planting tracks 322 are located on the same side of the straight segment planting track 321. The straight segment planting track 321 and the steering planting track 322 are both mounted and fixed on the mobile frame 31.

As shown in Figures 1 to 8, a second trolley track 33 is mounted and fixed on the mobile frame 31. The second trolley track 33 is located above the second planting track 32. The second trolley track 33 includes a straight segment trolley track 331, and two steering trolley 4 tracks 332 respectively connected to both ends of the straight segment trolley track 331. The steering trolley track 332 is arc-shaped, and the two steering trolley tracks 332 are located on the same side of the straight segment trolley track 331. The trolley 4 includes a trolley body 41 and a plurality of trolley load-bearing rollers 411 mounted to the trolley body 41, and the trolley load-bearing rollers 411 are rotatably fitted into the second trolley track 33. A first trolley track 23 is mounted and fixed on the frame body 1, and the first trolley track 23 is positioned above the first planting track 22. After the end of the second trolley track 33 is butted with the end of the first trolley track 23, the trolley load- bearing roller 411 on the trolley body 4 can enter the first trolley track 23 along the second trolley track 33.

As shown in Figures 9 and 10, the trolley 4 further includes a power unit 42 and a gear 43 mounted on the trolley body 41, and the power unit 42 includes a motor for driving the gear to rotate. The first trolley rail 23 and the second trolley rail 33 are mounted and fixed with a rack 7, and the gear 43 is engaged with the rack 7. The power unit 42 drives the gear 43 to rotate to drive the trolley 4 to move along the first trolley track 23 and the second trolley track 33. A connecting part 213 is configured on the connecting piece 212 in the planting row 21, and the trolley 4 further includes a locking component 5, which includes a locking driving unit 51 mounted on the trolley body 41 and a locking part 52 which is moved by the locking driving unit 51 to connect or separate the connecting part 213. The connecting part 213 is a positioning hole, the trolley body 41 is provided with a vertical guide hole, and the lower end of the locking part 52 passes through the guide hole. A horizontal strip hole 521 is formed on the locking part 52, the locking driving unit 51 includes a motor II 511 and a crank 512 fixed to the output shaft of the motor II 511, and the crank 512 is provided with a convex part 513 embedded in the strip hole 521. After the motor II in the locking driving unit 51 rotates to drive the locking part decline, the lower end of the locking part is inserted into the positioning hole in the planting row 21 to lock the trolley 4 and the planting row 21. When the motor II 511 in the locking driving unit 51 is reversed to drive the locking part 52 to rise, the lower end of the locking part 52 is separated from the positioning hole in the planting row 21 to unlock the trolley 4 and the planting row 21.

As shown in Figure 7, the mobile unit 3 further comprises two synchronizing wheels 35, a synchronizing belt 34 and a mobile frame driving unit. The two synchronizing wheels 35 are distributed on both sides of the mobile frame 31. One end of the synchronizing belt 34 is fixed to the mobile frame 31, and the other end is sequentially bypassed by the synchronizing wheels 35 and fixed to the mobile frame 31. The synchronizing belt 34 is engaged with the synchronizing wheels 35. The mobile frame driving unit comprises a motor III, and the output shaft of the motor III is connected with one of the synchronizing wheels 35 for driving the synchronizing wheels 35 to rotate.

The method for using the plant factory automation planting system comprises the follow steps:

Step I, as shown in Figure 13, the mobile frame driving unit drives the mobile frame 31 to move, the second trolley track 33 is butted with one of the first trolley tracks 23 in the planting unit 2, and the second planting track 32 is butted with one of the first planting tracks 22 in the planting unit 2; The power unit drives the trolley 4 to move along the second trolley track 33 into the first trolley track 23.

Step II: After the locking part on the trolley 4 is aligned with the positioning hole on the planting row 21, the locking driving unit drives the locking part to descend, and the lower end of the locking part is inserted into the positioning hole of the planting row 21 to realize the locking between the trolley 4 and the planting row 21. The power unit drives the trolley 4 to move from the first trolley track 23 to the second trolley track 33, and the trolley 4 drives the planting row 21 to move from the first planting track 22 to the second planting track 32, thereby enabling the planting row 21 to enter the mobile unit 3 from the planting unit 2.

Step III, the planting row 21 in the mobile unit 3 is processed according to needs, including harvesting plants in the planting row 21, transplanting and cleaning the planting row 21, disinfecting or sterilizing the planting row 21, moving the mobile unit 3 to transport the planting row 21, etc.;

Step IV, the power unit drives the trolley 4 to move from the second trolley track 33 to the first trolley track 23, drives the planting row 21 to move from the second planting track 32 to the first planting track 22, and realizes that the planting row 21 enters the planting unit 2 from the mobile unit 3. After the locking driving unit drives the locking row to rise, the lower end of the locking row is separated from the positioning hole of the planting row 21, and the power unit drives the trolley 4 to move from the first trolley track 23 to the second trolley track 33, so that the trolley 4 returns to the mobile unit 3 and the planting row 21 remains in the planting unit 2.

Embodiment 2: The plant factory automation planting system differs from Embodiment 1: as shown in Figure 2, there are at least two planting units 2 and they are distributed on both sides of the mobile unit 3, two steering planting tracks 322 in the second planting track 32 are distributed on both sides of the straight segment planting track 321, and two steering trolley 4 tracks 332 in the second trolley track 33 are distributed on both sides of the straight segment trolley track 331. The frame body 1 has split-type design, and comprises a frame body I, a frame body II, wherein the first trolley track 23 and the first planting track 22 of the planting unit 2 are mounted on the frame body I, and the mobile frame 31 is mounted on the frame body II. A first planting track 22 is mounted on the upper end and the lower end of the planting row 21 on the frame body, and a connecting piece 212 is provided on the upper end and the lower end of the planting row 21. The first trolley track 23 is located below the first planting track 22, the second trolley track 33 is located below the second planting track 32, and the trolley 4 is lower than the planting row 21. The mobile unit 3 also includes a harvester mounted on the mobile frame 31.

When the plant factory automation planting system is operating, if it is necessary to transport the planting row 21 of the first planting unit 2 into the second planting unit 2, and the mobile frame driving unit drives the mobile frame 31 to move until the second trolley track 33 is butted with one of the first trolley tracks 23 of the first planting unit 2 and the second planting track 32 is butted with one of the first planting tracks 22 in the first planting unit 2. The trolley 4 is moved from the second trolley track 33 to the first trolley track 23. After the locking component 5 of the trolley 4 locks the planting row 21, the power unit drives the trolley 4 to move from the first trolley track 23 to the second trolley track 33, driving the planting row 21 to enter from the first planting unit 2 into the mobile unit 3. The mobile frame driving unit drives the frame rack 31 to move until the second trolley track 33 is butted with one of the first trolley tracks 23 of the second planting unit 2 and the second planting track 32 is engaged with one of the first planting tracks 22 of the second planting unit 2. The power unit drives the trolley 4 to move from the second trolley track 33 into the first trolley track 23 of the second planting unit 2, drives the planting row 21 to move from the second planting track 32 into the first planting track 22 of the second unit, and realizes the transportation of the planting row 21 from the first planting unit 2 to the second planting unit 2.

Embodiment 3: A plant factory automation planting system, as shown in Figures 11, 12 and 15, the mobile frame 31 is fixed with a guide track I, the two sides of the straight segment trolley track 331 are equipped with a track weighing roller I, and the track weighing roller I is embedded in the guide track I, so that the straight segment trolley track 331 can move on the mobile frame 31 along the guide track I. The mobile frame 31 is fixed with a guide track II, the two sides of the straight segment planting track 321 are mounted with track weighing rollers II, and the track bearing rollers II are embedded in the guide track II, so that the straight segment planting track 321 can move on the mobile frame 31 along the guide track II.

The mobile frame 31 is provided with a trolley track driving unit 311 for driving the straight segment trolley track 331 to move and a planting track driving unit 312 for driving the straight segment planting track 321 to move. The trolley track driving unit 311 is a cylinder I, and a piston rod of the cylinder I is connected to the straight segment trolley track 331. The planting track driving unit 312 is a cylinder II, and the piston rod of the cylinder II is connected with the straight segment planting track 321. The second trolley track 33 includes four steering trolley tracks 332 mounted and fixed on the mobile frame 31, the four steering trolley tracks 332 are distributed in pairs on both sides of the straight segment trolley track 331, and the four steering planting tracks 322 are distributed in pairs on both sides of the straight segment planting track 321. The number of planting units 2 is at least two and is distributed on both sides of the mobile unit 3.

When the plant factory automation planting system is operating, if it is necessary to transport the planting row 21 of the first planting unit 2 into the second planting unit 2, after the mobile frame 31 is moved, the second trolley track 33 is butted with one of the first trolley tracks 23 of the first planting unit 2, and the trolley 4 first enters the first planting unit 2 from the moving unit 3. After the planting row 21 is locked, the planting row 21 is driven from the first planting unit 2 into the mobile unit 3. After the mobile unit 3 is moved, the second trolley track 33 is butted with the first trolley track 23 of the second planting unit 2, the trolley 4 moves from the second trolley track 33 into the first trolley track 23 of the second planting unit 2, and the planting row 21 enters into the second planting unit 2 from the moving unit 3. The mobile unit 3 does not include a harvester, but includes a transplanter mounted on the mobile frame 31 for transplanting plant seedlings to the planting tower 211 of the planting row 21.

Embodiment 4: The plant factory automation planting system is different from that in Embodiment 3: as shown in Figure 16, the number of planting units 2 is at least four. The mobile unit 3 includes a transplanter and a harvester mounted on the mobile frame 31. The cylinder I on the mobile frame 31 is replaced with the electric push rod I and the cylinder II is replaced with the electric push rod II.

Embodiment 5: The plant factory automation planting system is different from that in Embodiment 3: as shown in Figure 17, the number of planting units 2 is at least four, and the planting row 21 of at least one planting unit 2 is perpendicular to the planting row 21 of the other planting unit 2. The plant factory automation planting system further comprises a vacant area 6, the vacant area 6 comprises a vacant planting track installed on the frame body 1, a steering vacant planting track connected to one end of the vacant planting track, a vacant trolley track installed on the frame body 1, and a steering vacant trolley track connected to one end of the vacant trolley track. The number of the mobile units 3 is at least two and the moving directions are perpendicular to each other.

When the plant factory automation system is operating, the trolley 4 brings the planting row 21 in the first planting unit 2 into the first mobile unit 3, then drives the planting row 21 from the first mobile unit 3 into the vacant area 6, then drives the planting row 21 into the second mobile unit 3, and then drives the planting row 21 from the second mobile unit 3 into the second planting unit 2.

Embodiment 6: The plant factory automation planting system is different from that in Embodiment 5:, as shown in Figure 18, it includes at least two vacant areas, the layout of vacant areas, planting units and mobile units is shown in the figure, and the trolley 4 is an AGV trolley 4.

Embodiment 7: The plant factory automation planting system is different from that in Embodiment 1 : The locking component 5 includes a locking driving unit 51 mounted on the trolley body 41 and a locking part 52 that is forced to move by the locking driving unit 51 to connect or separate the connecting part 213. The connecting part 213 is a positioning hole, the trolley body 41 is provided with a vertical guide hole, and the lower end of the locking part 52 passes through the guide hole. The locking driving unit 51 is a cylinder III, the cylinder III is fixed to the trolley body 41, and the piston rod of the cylinder III is fixed to the locking part 52.

Embodiment 8: The plant factory automation planting system is different from that in Embodiment 7: the locking driving unit 51 is an electric push rod III, and the electric push rod III is connected to the locking part 52 to drive the locking part 52 to rise and decline.

Embodiment 9: The plant factory automation planting system is different from that in Embodiment 1 : the trolley 4 is an AGV trolley.

Claims

1. A plant factory automation planting system, wherein it comprises a frame body (1), a planting unit (2), a movable moving unit (3), a movable trolley (4), the planting unit (2) comprises a plurality of planting rows (21) movably arranged on the frame body (1), and the trolley (4) comprises a locking component (5) for realizing locking or unlocking between the trolley (4) and the planting rows (21), and after the trolley (4) and the planting rows (21) are locked, the trolley is used for driving the planting rows (21) from the planting unit (2) to the mobile unit (3) or from the mobile unit (3) to the planting unit (2).

2. The plant factory automation planting system according to Claim 1, wherein the planting row (21) comprises a connecting piece (212) movably arranged on the frame body (1), and a plurality of planting towers (211) suspended and fixed to the connecting piece (212).

3. The plant factory automation planting system according to Claim 2, wherein the connecting piece (212) is a chain.

4. The plant factory automation planting system according to Claim 1, wherein the frame body (1) is fixed with a plurality of rows of first planting tracks (22), the mobile unit (3) comprises a second planting track (32), the end of the second planting track (32) can be butted with the end of the first planting track (22), and the planting row (21) can move along the first planting track (22) and the second planting track (32).

5. The plant factory automation planting system according to Claim 4, wherein the frame body (1) is fixed with a plurality of rows of first trolley tracks (23), the mobile unit (3) comprises a second trolley track (33), the end of the second trolley track (33) can be butted with the end of the first trolley track (23), and the trolley (4) can move along the first trolley track (23) and the second trolley track (33).

6. The plant factory automation planting system according to Claim 5, wherein the first trolley track (23) is located above the first planting track (22) and the second trolley track (33) is located above the second planting track (32).

7. The plant factory automation planting system according to Claim 5, wherein a first planting track (22) is arranged at both upper and lower ends of the planting row (21), the first trolley track (23) is located below the first planting track (22), and the second trolley track (33) is located below the second planting track (32).

8. The plant factory automation planting system according to Claim 5, wherein the second trolley track (33) comprises a straight segment trolley track (331) and an arc-shaped steering trolley track (332), and the second planting track (32) comprises a straight segment planting track (321) and an arc-shaped steering planting track (322).

9. The plant factory automation planting system according to Claim 8, wherein the number of the steering trolley tracks (332) is two, the two steering trolley tracks (332) are respectively connected with the two ends of the straight segment trolley tracks (331), and the two steering trolley tracks (332) are distributed on both sides or the same side of the straight segment trolley tracks (331); The number of the steering planting tracks (322) is two, the two steering planting tracks (322) are respectively connected with both ends of the straight fragment planting tracks (321), and the two steering planting tracks (322) are distributed on both sides or the same side of the straight segment planting tracks (321); The number of the planting units (2) is at least one.

10. The plant factory automation planting system according to Claim 8, wherein the mobile unit (3) comprises a mobile frame (31), the number of the steering trolley tracks (332) is four, and the four steering trolley tracks (332) are distributed on two sides of the straight segment trolley tracks (331), the straight segment trolley tracks (331) are movably arranged on the mobile frame (31), and the mobile frame (31) is equipped with a trolley track driving unit (311) for driving the straight segment trolley tracks (331) to move; The two ends of the straight segment trolley track (331) are connected with two of the steering trolley tracks (332), and after the trolley track driving unit (311) drives the straight segment trolley track (331) to move, the two ends of the straight segment trolley track (331) are connected with the other two steering trolley tracks (332); The number of the steering planting tracks (322) is four, the four steering planting tracks (322) are respectively distributed on two sides of the straight segment planting tracks (321), the straight segment planting tracks (321) are movably arranged on the mobile frame (31), and the mobile frame (31) is equipped with a planting track driving unit (312) for driving the straight segment planting tracks (321) to move; Two ends of the straight segment planting track (321) are respectively connected with two of the steering planting tracks (322), after the planting track driving unit (312) drives the straight segment planting track (321) to move, both ends of the straight segment planting track (321) are connected with the other two steering planting tracks (322), and the number of the planting units (2) is at least two and the planting units (2) are distributed on both sides of the mobile unit (3).

11. The plant factory automation planting system according to claim 1 or 10, Characterized in that it also comprises a vacant area (6), wherein the vacant area (6) comprises a vacant planting track installed on the frame body (1), a steering vacant planting track connected to one end of the vacant planting track, a vacant trolley track installed on the frame body (1), and a steering vacant trolley track connected to one end of the vacant trolley track.

12. The plant factory automation planting system according to Claim 1, wherein the planting row (21) is provided with a connecting part (213), the trolley (4) comprises a trolley body (41), and the locking component (5) comprises a locking driving unit (51) mounted on the trolley body (21) and a locking part forced to move by the locking driving unit (51) to connect or separate the connecting part (213).

13. The plant factory automation planting system according to Claim 12, wherein the connecting part (213) is a positioning hole, the trolley (4) is provided with a vertical guide hole, the locking part (52) is inserted into the guide hole, the locking driving unit (51) drives the locking part (52) to descend and insert into the positioning hole, and the locking driving unit (51) drives the locking part (52) to ascend and disengage from the positioning hole.

14. The plant factory automation planting system according to Claim 5, wherein the trolley (4) comprises a trolley body, a power unit mounted on the trolley body, a gear which rotates after being stressed by the power unit, the first trolley track (23) and the second trolley track (33) are fixed with racks, and the gears are meshed with the rack bars.

15. The plant factory automation planting system according to Claim 1, wherein the mobile unit (3) comprises a mobile frame (31), a mobile frame driving unit, a synchronizing belt (34), two synchronizing wheels (35), the mobile frame (31) is movably arranged on the frame body (1), the two synchronizing wheels (35) are rotatably connected to the frame body (1), one end of the synchronizing belt (34) is fixed to the mobile frame (31) and the other end is fixed to the mobile frame (31) after bypassing the two synchronizing wheels (35), and the mobile frame driving unit drives one of the synchronizing wheels (35) to rotate.

16. The plant factory automation planting system according to Claim 1, wherein the mobile unit (3) further comprises one or both of a harvester and a transplanter.

17. A method for using a plant factory automation planting system, wherein it comprises the following steps: Step I: The mobile unit (3) moves, the second trolley track (33) is butted with one of the first trolley tracks (23) and the second planting track (32) is butted with one of the first planting tracks (22), the trolley (4) moves along the second trolley track (33) and the first trolley track (23) and enters the planting unit (2) from the mobile unit (3);

Step II: The locking component (5) of the trolley (4) locks the planting row (21), and the trolley (4) drives the planting row (21) from the planting unit (2) into the mobile unit (3);

Step III: The planting row (21) in the mobile unit (3) is processed as required;

Step IV: The trolley (4) drives the planting row (21) to enter from the mobile unit (3) into the planting unit (2), the locking component (5) unlocks, the planting row (21) remains in the planting unit (2), and the trolley (4) returns to the mobile unit (3).

18. The method for using the plant factory automation planting system according to Claim 17, wherein in step III, the treatment of the planting row (21) in the mobile unit (3) comprises one or more of the following: harvesting the plants in the planting row (21), transplanting and cleaning the planting row (21), disinfecting or sterilizing the planting row (21), and moving the mobile unit (3) to transport the planting row (21).