An automated stereolithography system and method

Abstract

The application discloses an automatic three-dimensional planting system and method, which comprises a three-dimensional planting module, a picking module, a soil renovation module and a sowing module. The three-dimensional planting module is provided with a plurality of planting trays and is used for cultivating plants in the planting trays. The picking module is used for picking the plants in the planting trays and determining whether the planting trays need to be renovated. If the planting trays do not need to be renovated, the planting trays are continuously cultivated. The soil renovation module is used for renovating the soil in the planting trays after the plants are picked. The control system is used for clearing the saved data information. The sowing module is used for sowing the planting trays after the soil renovation. Meanwhile, the control system is used for writing new data information and controlling the planting trays to be conveyed to the three-dimensional planting module. The system is provided with an integrated control system, which can control the plants to run to different system modules for treatment in different growth cycles. In the cultivation process, the plants are in the three-dimensional planting module. After reaching a certain growth cycle, the plants are conveyed to the picking module for picking and determining whether the picking times are reached. If the picking times are reached, the soil is renovated and the plants are sown.

Description

Technical Field

[0001] This invention relates to the field of plant cultivation technology, and in particular to an automated three-dimensional planting system and method. Background Technology

[0002] In the current process of cultivating crop seedlings, greenhouses are usually used. However, the process is still affected by climate and weather, which causes fluctuations in the growth cycle of plants. Especially in the process of experimental seedling cultivation, it is necessary to reduce the influence of the external environment to reduce experimental variables. Therefore, there is a growing trend towards closed environment cultivation.

[0003] The patent with announcement number CN109068598B provides a fully automatic multi-layer seedling system that moves the seedling tray frame through the transplanting component and supplements the light with artificial light sources, thus solving the problem of indoor cultivation to a certain extent.

[0004] During the cultivation process, there are crops with different growth cycles and uncertain number of maturations, such as two or three harvests a year. It is difficult to manage on cultivation racks with a large variety of crops and a wide distribution. Transplanting equipment also has difficulty identifying different types of crops, so that only one type of crop can often be cultivated on a single cultivation rack. When a lot of data is needed for comparison, the time required is very long. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies by proposing an automated three-dimensional planting system and method.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: an automated three-dimensional planting system, comprising:

[0007] The three-dimensional planting module is equipped with several planting trays for cultivating plants within the planting trays;

[0008] The harvesting module harvests the plants from the planting tray and determines whether renovation is needed through the control system. If not, the plants return to the three-dimensional planting module for continued cultivation.

[0009] The soil renovation module renovates the soil in the planting tray after harvesting, and the control system clears the saved data information.

[0010] The sowing module sows seeds in the refurbished planting trays, while the control system writes new data information and controls the planting trays to be transported into the three-dimensional planting module.

[0011] As a further description of the above technical solution: the planting tray is a steel tray, and a water supply pipe is provided around the inner wall of the planting tray, with a water inlet on one side of the water supply pipe.

[0012] As a further description of the above technical solution: the three-dimensional planting module is provided with several shelves, each shelf is arranged in multiple layers in rows and columns to form several cultivation positions, the planting tray is placed on the cultivation position, and the top of the shelf is provided with a water storage layer, which is connected to the water inlet to replenish water in the planting tray.

[0013] As a further description of the above technical solution: the top of the cultivation station is equipped with a supplemental light to provide supplemental lighting for the plants in the planting tray below.

[0014] It also includes an automated three-dimensional planting method, which is applicable to the system described in any one of the above technical solutions, comprising:

[0015] S1: After the control system reads the identification code on the planting tray, it stores the time information and data information, and places the planting tray into the three-dimensional planting module for cultivation through the handling device;

[0016] S2: After the cultivation period of the planting tray conforms to the data information stored by the control system, the planting tray is transported from the three-dimensional planting module to the harvesting module by the transport device. After harvesting, the control system saves the time information and harvesting number information of this harvest. The control system determines whether the harvesting number information conforms to the stored data information. If it does, it is transported into the soil renovation module. If it does not, it is transported into the three-dimensional planting module, and step S1 is repeated.

[0017] S3: The soil renovation module removes the plants from the planting tray and then renovates the soil. After the renovation is completed, the control system reads the information in the identification code, deletes the saved data information, and controls the planting tray to be transported to the sowing module.

[0018] S4: After receiving the planting tray, the sowing module receives and writes new data information. Based on the data information, it determines whether the planting tray needs to be sown. If so, it controls the sowing module to sow the seeds in the planting tray and transports the planting tray to the three-dimensional planting module, then returns to step S1. If not so, the cultivation ends.

[0019] As a further description of the above technical solution: the data information includes plant information, growth cycle, maturity information, sowing date, number of harvests, and location information.

[0020] As a further description of the above technical solution: In step S2, the following is also included:

[0021] S21: When the control system is controlling the cultivation in the three-dimensional planting module, it reads the plant growth cycle information in the identification code. After the cultivation time reaches the growth cycle, the control system sends a signal to the transport device to move it into the harvesting module.

[0022] S22: After the planting tray arrives at the harvesting module, the control system reads the identification code for verification. If the verification is correct, the harvesting is carried out. After the harvesting is completed, the control system reads the identification code again, writes the harvesting time information, and adds the harvesting count information.

[0023] S23: The control system checks whether the number of harvests matches the maturity information of the plant in the data information. If it matches, the plant is transported to the soil renovation module after harvesting. If it does not match, the plant is returned to the three-dimensional planting module. The planting tray is returned to the cultivation station by reading the position information in the data information.

[0024] As a further description of the above technical solution: the identification code is either a barcode or a QR code.

[0025] As a further description of the above technical solution: the handling device is a forklift pick-and-place machine, which uses the picking forks below to pick up and transport the planting tray.

[0026] As a further description of the above technical solution: the handling device is set between two adjacent shelves to pick up and place the planting trays at the cultivation stations on both sides.

[0027] The above technical solution has the following advantages or beneficial effects:

[0028] 1. It is equipped with an integrated control system that can control the plants to run to different system modules for processing at different growth cycles. During the cultivation process, it is in the three-dimensional planting module. After reaching a certain growth cycle, it is transported to the harvesting module for harvesting. It also determines whether the number of harvests has been reached. If it has, the soil is turned over and sown. If not, the cultivation can continue.

[0029] 2. By reading and updating the information on the identification code through the control system, when harvesting is carried out after cultivation, the type of plant can be determined based on the written data, and whether further cultivation is needed.

[0030] 3. The three-dimensional planting module uses multi-layer shelves to place planting trays, which are more stable during the transportation of the trays through insertion, picking, and handling. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the automated three-dimensional planting system proposed in this invention;

[0032] Figure 2 The process of the automated three-dimensional planting method proposed in this invention Figure 1 ;

[0033] Figure 3 The process of the automated three-dimensional planting method proposed in this invention Figure 2 ;

[0034] Figure 4 This is a perspective view of the automated three-dimensional planting system proposed in this invention;

[0035] Figure 5 The three-dimensional representation of the conveying device in this invention Figure 1 ;

[0036] Figure 6 The three-dimensional representation of the conveying device in this invention Figure 2 ;

[0037] Figure 7 This is a perspective view of the planting tray in this invention.

[0038] Legend:

[0039] 1. Vertical planting module; 2. Harvesting module; 3. Soil renovation module; 4. Sowing module; 5. Control system; 6. Planting tray. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] Reference Figure 1 , Figures 4-7 The present invention provides an embodiment of an automated three-dimensional planting system, comprising: a three-dimensional planting module 1, which has several planting trays 6 for cultivating plants in the planting trays 6; a harvesting module 2, which harvests the plants in the planting trays 6 and determines whether the plants need to be refurbished through a control system 5. If not, the plants are returned to the three-dimensional planting module 1 for continued cultivation; a soil refurbishing module 3, which refurbishes the soil in the planting trays 6 after harvesting, and the control system 5 clears the saved data information; and a sowing module 4, which sows the seeds in the refurbished planting trays 6, while the control system 5 writes new data information and controls the planting trays 6 to be transported to the three-dimensional planting module 1.

[0042] In this embodiment, an integrated control system 5 is provided, which can control the plants to run to different system modules for processing at different growth cycles. During the cultivation process, the plants are in the three-dimensional planting module 1. After reaching a certain growth cycle, they are transported to the harvesting module 2 for harvesting. It is determined whether the number of harvests has been reached. If it has, the plants are transported to the soil renovation module 3 to remove the original plant residues and then transported to the sowing module 4. If the number of harvests has not been reached, the plants are transported back to the three-dimensional planting module 1 for continued cultivation.

[0043] The plant variety is identified by updating the data when the control system 5 reads the identification code. The identification code is either a barcode or a QR code. The control system 5 can read the identification code through an external scanner.

[0044] The planting tray 6 is a steel tray. The inner wall of the planting tray 6 is surrounded by a water supply pipe, and a water inlet is provided on one side of the water supply pipe. In this embodiment, the planting tray 6 is 2m*5m*0.5m in size, and the soil thickness inside is 200mm. The three-dimensional planting module 1 is provided with several shelves. Each shelf is arranged in multiple layers in rows and columns to form several cultivation positions. The planting tray 6 is placed on the cultivation positions to form a large soil area, which can support a large land area and can grow large crops. The water supply pipe is fixed to the upper part of the inner wall of the planting tray 6 by a U-shaped frame, which can realize the regular replenishment of water and fertilizer.

[0045] The top of the shelf is equipped with a water storage layer, which is connected to the water inlet to replenish water to the planting tray 6; the top of the cultivation station is equipped with a supplemental light to provide supplemental light to the plants in the planting tray 6 below. An electric valve is installed at the water storage layer and the water inlet, and the opening time is controlled by the control system 5 to realize the periodic replenishment of water to the contents of the planting tray 6.

[0046] Reference Figure 2 The present invention also includes an embodiment of an automated three-dimensional planting method, which is applicable to the system of any of the above technical solutions, comprising:

[0047] S1: After the control system 5 reads the identification code on the planting tray 6, it stores the time information and data information, and places the planting tray 6 into the three-dimensional planting module 1 for cultivation through the handling device;

[0048] S2: After the cultivation period of the planting tray 6 meets the data information stored in the control system 5, the planting tray 6 is transported from the three-dimensional planting module 1 to the harvesting module 2 by the transport device. After harvesting, the control system 5 saves the time information and harvesting number information of this harvest. The control system 5 judges whether the harvesting number information meets the stored data information. If it does, it is transported into the soil renovation module 3. If it does not, it is transported into the three-dimensional planting module 1, and step S1 is repeated.

[0049] S3: After removing the plants from the planting tray 6, the soil renovation module 3 renovates the soil. After renovation, the control system 5 reads the information in the identification code, deletes the saved data information, and controls the planting tray 6 to be transported to the sowing module 4.

[0050] S4: After receiving the planting tray 6, the sowing module 4 receives and writes new data information. Based on the data information, it determines whether the planting tray 6 needs to be sown. If so, it controls the sowing module 4 to sow the seeds in the planting tray 6 and transports the planting tray 6 to the three-dimensional planting module 1, then returns to step S1. If not sown, the cultivation ends.

[0051] In this embodiment, the control system 5 reads the identification code through an external scanner, reads the data information within the identification code, and stores the time information and data information of this reading. The cultivation time is determined according to the plant type and growth cycle in the data information, and cultivation is carried out in the three-dimensional planting module 1. The control system can set a certain time to transport the planting tray 6 to the harvesting module 2 to harvest the cultivated plants. The system reads the identification code again during harvesting. Plants that need to be cultivated further are transported back to the three-dimensional planting module 1. Plants that cannot be cultivated further after harvesting are transported to the soil renovation module 3 to remove the remaining plant roots and stems in the planting tray 6, and to drill, divide, and spiral renovate the soil. After completion, the plants are transported to the sowing module 4 for sowing. The control system 5 reads the identification code again, clears the saved information, and writes new data information after sowing.

[0052] The data information includes plant information, growth cycle, maturity information, sowing date, number of harvests, and location information. The control system 5 reads and updates the plant's growth cycle and sowing date, sets the cultivation time in the three-dimensional planting module 1, and, to facilitate the assessment of growth status, can set the plant to be transported to the harvesting module 2 after a certain time to observe and record its growth status. The plant is then transported back to the three-dimensional planting module 1 for continued cultivation. After the plant matures, the recorded number of harvests is compared with the maturity information in the data information to determine whether re-sowing is necessary. The location of the cultivation station on the planting tray 6 is determined based on the location information, and the planting tray 6 is then returned to its original position.

[0053] Reference Figure 3 In step S2, the following is also included:

[0054] S21: When the control system 5 is controlling the cultivation in the three-dimensional planting module 1, it reads the plant's growth cycle information from the identification code. After the cultivation time reaches the growth cycle, the control system 5 sends a signal to the transport device to move it into the harvesting module 2.

[0055] S22: After the planting tray 6 arrives at the harvesting module 2, the control system 5 reads the identification code for verification. If the verification is correct, the harvesting is carried out. After the harvesting is completed, the control system 5 reads the identification code again, writes the harvesting time information and adds the harvesting number information.

[0056] S23: The control system 5 checks whether the number of harvests matches the maturity information of the plant in the data information. If it matches, the plant is transported to the soil renovation module 3 after harvesting. If it does not match, the plant tray 6 is placed back in the cultivation station by reading the position information in the data information in the vertical planting module 1.

[0057] In this embodiment, since different plant varieties have different maturation times, it is necessary to determine whether the required number of maturation years has been reached based on the recorded number of harvests of the current plant. After reaching the maturation information recorded in the data information, the plant in the planting tray 6 is transported to the soil renovation module 3 for plant residue removal and soil renovation.

[0058] Reference Figures 5-6 The transport device is a forklift picker and placer. The forks below are used to pick up and transport the planting trays 6. It has good load-bearing capacity and is relatively stable during the picking and placing process. The transport device is set between two adjacent shelves to pick up and place the planting trays 6 at the cultivation stations on both sides.

[0059] The handling device and control system 5 can be electrically or wirelessly connected. The control system 5 is an MCU microprocessor chip, and its data can be read and stored locally via a computer or stored in the cloud via a mobile terminal.

[0060] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automated three-dimensional planting system, characterized in that, include: The three-dimensional planting module (1) is equipped with several planting trays for cultivating plants in the planting trays; The picking module (2) picks the plants in the planting tray and determines whether renovation is needed through the control system (5). If not, it returns to the three-dimensional planting module (1) to continue cultivation. The soil renovation module (3) renovates the soil in the planting tray after harvesting, and the control system clears the saved data information. The sowing module (4) sows seeds in the refurbished planting tray, while the control system (5) writes new data information and controls the planting tray to be transported to the three-dimensional planting module (1). The planting tray is a steel tray, and a water supply pipe is arranged around the inner wall of the planting tray. A water inlet is provided on one side of the water supply pipe. The three-dimensional planting module (1) is provided with several shelves, each shelf is arranged in rows and columns in multiple layers to form several cultivation positions, the planting tray is placed on the cultivation position, the top of the shelf is provided with a water storage layer, which is connected to the water inlet to replenish water in the planting tray; The top of the cultivation station is equipped with supplemental lighting to provide additional light to the plants in the planting tray below.

2. An automated three-dimensional planting method, characterized in that, The method is applicable to the system described in claim 1 above, and includes: S1: After the control system (5) reads the identification code on the planting tray, it stores the time information and data information, and places the planting tray in the three-dimensional planting module (1) for cultivation through the transport device; S2: After the cultivation period of the planting tray conforms to the data information stored in the control system (5), the planting tray is transported from the three-dimensional planting module (1) to the harvesting module (2) by the transport device. After harvesting, the control system (5) saves the time information and harvesting number information of this harvest. The control system (5) determines whether the harvesting number information conforms to the stored data information. If it does, it is transported into the soil renovation module (3). If it does not, it is transported into the three-dimensional planting module (1) and step S1 is repeated. S3: The soil renovation module (3) removes the plants in the planting tray and then renovates the soil. After the renovation is completed, the control system (5) reads the information in the identification code, deletes the saved data information, and controls the planting tray to be transported to the sowing module (4). S4: After receiving the planting tray, the sowing module (4) receives the new data information and determines whether the planting tray needs to be sown according to the data information. If so, the sowing module (4) is controlled to sow the seeds in the planting tray and the planting tray is transported to the three-dimensional planting module (1) and the process returns to step S1. If not so, the cultivation ends.

3. The automated three-dimensional planting method according to claim 2, characterized in that: The data includes plant information, growth cycle, maturity information, sowing date, number of harvests, and location information.

4. The automated three-dimensional planting method according to claim 3, characterized in that: Step S2 further includes: S21: When the control system (5) is controlling the cultivation in the three-dimensional planting module (1), it reads the plant growth cycle information in the identification code. After the cultivation time reaches the growth cycle, the control system (5) sends a signal to the transport device to move it into the harvesting module (2). S22: After the planting tray arrives at the harvesting module (2), the control system (5) reads the identification code for verification. After verification, the harvesting is carried out. After the harvesting is completed, the control system (5) reads the identification code again, writes the harvesting time information and adds the harvesting number information. S23: The control system (5) checks whether the number of harvests matches the maturity information of the plant in the data information. If it matches, the plant is transported to the soil renovation module (3) after harvesting. If it does not match, the plant is returned to the three-dimensional planting module (1) and the planting tray is returned to the cultivation station by reading the position information in the data information.

5. The automated three-dimensional planting method according to claim 2, characterized in that: The identification code is either a barcode or a QR code.

6. The automated three-dimensional planting method according to claim 2, characterized in that: The transport device is a forklift, which uses the forks below to pick up and transport the planting tray.

7. The automated three-dimensional planting method according to claim 2, characterized in that: The handling device is installed between two adjacent shelves to pick up and place the planting trays at the cultivation stations on both sides.

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