A high-precision oat germination device and use method thereof

Abstract

The present invention belongs to the field of agricultural technology and food processing, and aims to provide a high-precision germination device and method, which adjusts the cultivation state after selecting seeds, and then puts them into a cultivation container according to their state, and finally ensures that the seed sprouts produced in one cultivation container are equal in length. In this regard, the present invention provides a high-precision germination device, including a cultivation container and an anchor claw vehicle arranged above the cultivation container. When in use, it is necessary to select the seed variety to be cultivated, calculate the actual cultivation conditions obtained after the seeds are placed in different positions in the cultivation container, and put the seeds in different growth states into the corresponding positions in the cultivation container; then cultivate according to the cultivation conditions, so that the seeds in different growth states in the cultivation container are cultivated for the same time, and finally cultivate the sprouts of the same length. The present invention is particularly suitable for oat seed cultivation and oat germination product development.

Description

Technical Field

[0001] The invention relates to the fields of agricultural technology and food processing, and in particular to a high-fineness oat germination device and a method for using the device. Background Art

[0002] As people's health awareness continues to improve, the popularity of oat products is constantly increasing. In this process, consumers have also put forward higher requirements for the quality of oats. After research, it was found that there is a close relationship between the length of oat sprouts and the quality of oat products. Generally speaking, the quality of oat products is best when the oat sprouts are 2-3 mm long. If the oat sprouts are too short, it means that the oats have not fully sprouted and have insufficient nutritional value; if the oat sprouts are too long, it will make it difficult to retain the young sprouts of oat products, the processing characteristics will deteriorate, and the main nutrients such as β-glucan will be reduced too much.

[0003] Therefore, the prior art has also designed devices that are conducive to the growth of oats. For example, the utility model patent "A temperature-controlled incubator for oat germination" with patent number 20222516522.X discloses a temperature-controlled incubator for oat germination, which relates to the field of oat germ powder production, and includes an insulated cabinet, a cultivation room and a control room are provided in the insulated cabinet, a plurality of cultivation boxes for containing oats are layered in the cultivation room, a drainage hole is provided at the bottom of the cultivation box, a spray pipe is provided on the top of each cultivation box, and a water collecting tray is provided at the bottom of each cultivation box; a control room door is provided on the outside of the control room, a controller is provided on the upper part of the control room door, a water tank is provided in the control room, a water pump is provided in the water tank, and the water outlet of the water pump is connected to each spray pipe through a pipe; temperature sensors and heaters are provided in the cultivation room and the water tank, and the temperature sensors and heaters are connected to the controller through wires. The utility model reduces the labor intensity of oat sprouting and cultivating production, improves the oat germination rate, shortens the oat germination time, and can realize oat sprouting and cultivating with continuous high yield and high quality.

[0004] However, the prior art only shortens the germination time of oats, and the control of the length of oat sprouts can only be discovered by timely observation of the variety of oats and the growth process, and it is impossible to ensure that all oats in a batch are at the optimal sprout length. Summary of the invention

[0005] The object of the present invention is to provide a high-precision germination device and method, which selects seeds and adjusts the cultivation state, and then puts them into a cultivation container according to their state, ultimately ensuring that the seed buds produced in one cultivation container are of equal length.

[0006] In this regard, the present invention provides a high-precision germination device, including a cultivation container and an anchor claw trolley arranged above the cultivation container, the bottom of the cultivation container is provided with a hollow conducting column at least in the center position, and the conducting column is provided with a plurality of staggered auxiliary function branches; the top side wall of the cultivation container is provided with a lifting part for cooperating with the anchor claw trolley; the anchor claw trolley includes a moving vehicle connected to a track and a movable claw body connected to the moving vehicle, and a seed bin is also provided on the side of the track, and the seed bin is connected to the seed placement port on the movable claw body.

[0007] Preferably, the cultivation container is arranged in a thermostatic box, and the cultivation container is cylindrical. Such a structure is convenient for ensuring the stability of the state of the seeds in the container; and it is easier to control the temperature and the light of the seeds in the outer circle. An opening and closing door is provided on the side wall at the bottom of the cultivation container. The opening and closing door can be used in different scenarios. For example, during the cultivation process, a small opening can be opened to facilitate drainage. It can also be used as an outlet for seeds when taking out seeds.

[0008] Preferably, the anchor claw vehicle moves in the track above the cultivation container, the seed placement port of the movable claw body is connected to the seed bin through a flexible seed delivery tube, and the movable claw body is connected to the mobile vehicle through a universal joint. The flexible seed delivery tube is long enough and elastic, and the seeds in the seed bin can be continuously delivered to the seed placement port by gas push during the movement of the mobile vehicle.

[0009] The present invention also includes a method for using a high-precision germination device, which includes selecting a seed variety to be cultivated, obtaining seeds to be cultivated, and calculating the expected cultivation conditions required for the bud length to reach the expected length and the bud length growth rate under the expected cultivation conditions based on the seed variety and the growth state of the seed monomer, selecting a corresponding cultivation container and the cultivation conditions applied to the outside of the corresponding container, obtaining the distribution pattern of the seeds in the cultivation container, calculating the actual cultivation conditions obtained after the seeds are placed in different positions in the cultivation container, placing the seeds in a seed bin in sequence, and placing the seeds in different growth states into corresponding positions in the cultivation container through the seed bin according to different actual cultivation conditions; after the seeds are placed, they are cultivated according to the cultivation conditions, so that the seeds in different growth states in the cultivation container have the same bud length after being cultivated for the same period of time; the movable claw body of the anchor claw vehicle clamps the lifting part of the cultivation container to pour out the seeds.

[0010] Preferably, after the seeds are placed, they are first soaked, and then drained. During the draining process, the movable claw pulls the lifting part of the cultivation container and opens the opening and closing port a small opening, which is smaller than the diameter of the seeds, so that the liquid will flow out of the cultivation container, and the relative position of the seeds in the cultivation container will not change. Then continue to adjust the temperature and humidity for germination. During the draining process, the airflow inside the cultivation container is adjusted through the auxiliary function branch pipe, thereby affecting the temperature and humidity distribution in the cultivation container.

[0011] Preferably, the expected cultivation conditions include accelerated conditions, normal conditions and decelerated conditions, and the temperature, humidity and light used under each expected cultivation condition are different. The cultivation time under normal conditions is 1-3 days, 20-25°C, and humidity is 50%-70%; Light: no light is required in the first two days, and when the cultivation reaches the third day, the single-day light time is not less than 8 hours, and the light intensity is 50-100 lux.

[0012] Preferably, seeds of the same variety and in the same growth state are placed in a cultivation container and cultivated under normal conditions, and a calculation model of actual cultivation conditions of seeds based on different positions in the cultivation container is established according to the seed germination growth results after cultivation.

[0013] Preferably, the position in the cultivation container that occupies the most space and has the same actual cultivation conditions is the standard cultivation position, the position where the actual cultivation conditions are better than the standard cultivation position is the superior position, and the position where the actual cultivation conditions are worse than the standard cultivation position is the inferior position; seeds whose growth state is in the standard state are placed in the standard cultivation position, seeds whose growth state is worse than the standard are placed in the superior position, and seeds whose growth state is better than the standard are placed in the inferior position.

[0014] Preferably, the method for calculating the actual cultivation conditions of seeds at different positions in the container is calculated by a particle filter algorithm, which specifically includes the following steps:

[0015] S1: Initialization: randomly sample N seeds from the container and assign the same weight to each seed; the initial position of each seed is sampled from the prior distribution, and the growth rate is determined based on the ODE equation of its variety through environmental factors;

[0016] S2: Prediction: Based on the location of the seeds, predict the growth rate of each seed at the next moment;

[0017] S3: Update: According to the observation equation, calculate the matching degree between each seed prediction value and the observed value, and update the weight of each particle;

[0018] S4: Resampling: According to the weight of the seed, resample N seeds and give each seed the same weight;

[0019] S5: Iteration: Repeat steps S2-S4 until the predicted values ​​exactly match the observed values.

[0020] Preferably, the ODE equation describing the influence of environmental factors on seed growth rate is:

[0021] dG / dt=f(G,T,L,W)

[0022] Where: t: seed growth time, t>0 and t<170, unit: hour;

[0023] G: seed growth rate,

[0024] T: temperature, unit: Celsius;

[0025] L: Light, this value is zero when t is between 0 and 48;

[0026] W: Moisture content, which is calculated from humidity. The specific formula is:

[0027] ρ_a=ρ_v*(RH / 100%)

[0028] in:

[0029] ρ_a: absolute humidity, unit: g / m3

[0030] ρ_v: saturated water vapor density, unit: g / cubic meter

[0031] RH: Relative humidity, %

[0032] W=ρ_a*V,

[0033] V is the space occupied by the seed;

[0034] f(G,T,L,W) is a nonlinear function and can be expressed as:

[0035] f(G,T,L,W)=k_1*G*(1-exp(-k_2*T))*(1-exp(-k_3*L))*(1-exp(-k_4*W))

[0036] Among them: k_1, k_2, k_3, k_4 are parameters under certain environmental factors.

[0037] Through such a technical solution, the present invention brings the following beneficial effects:

[0038] 1. High-precision control: By accurately calculating the expected and actual cultivation conditions of the seeds, it is ensured that each seed can get the most suitable environment for its growth during the cultivation process, thus achieving high-precision germination control. The seeds are tested before being placed in the cultivation container, and the seeds in different states are placed in different positions in the cultivation container through the anchor claw vehicle, which ultimately ensures that the length of the sprouts of the produced seeds is almost the same, and the length error does not exceed 5%. This ensures that the products made from this batch of seeds are of stable quality and nutritious.

[0039] 2. The cylindrical cultivation container design is conducive to keeping the state of seeds in the container stable, and it is easier to control cultivation conditions such as temperature, humidity and light. It can also improve germination efficiency, not only improving the overall cultivation speed, but also adjusting the position of seeds in the cultivation container so that seeds in different growth states can reach the same bud length in the same time, greatly improving germination efficiency.

[0040] 3. Improve resource utilization: Using the anchor claw trolley and mobile track, seeds can be automatically placed in the cultivation container, reducing the error of manual operation and improving resource utilization. Combined with the opening and closing door design at the bottom of the cultivation container, it is possible to drain or take out seeds as needed during the cultivation process, increasing the flexibility of operation.

[0041] 4. Reduce risks: Through the pre-established calculation model based on the actual cultivation conditions in different locations, the impact of environmental changes on seed growth can be predicted and reduced, thereby reducing the cultivation risk.

[0042] The invention is applicable to the cultivation of most seeds, and is particularly applicable to the cultivation of oat seeds. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0044] Figure 1 It is a schematic diagram of the overall process of a high-precision germination device and method of the present invention.

[0045] Figure 2 This is a schematic diagram of the overall coordination structure of the cultivation container and the anchor claw vehicle of a high-precision germination device and method of the present invention.

[0046] Figure 3 It is a schematic diagram of the structure of a cultivation container of a high-precision germination device and method of the present invention.

[0047] Figure 4 It is a schematic structural diagram of the claw part of the anchor claw vehicle of a high-precision germination device and method of the present invention.

[0048] In the figure: 1: track; 2: cultivation container; 3: constant temperature box; 4: controller; 5: heater; 6: fan; 7: connecting channel; 8: transfer vehicle;

[0049] 11: seed bin; 12: mobile vehicle; 13: movable claw body; 14: universal joint; 15: seed placement port; 16: flexible seed delivery tube; 17: clamping groove;

[0050] 21: conduction column; 22: auxiliary function branch pipe; 23: lifting part; 24: opening and closing door. DETAILED DESCRIPTION

[0051] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0052] It should be noted that the oat sprout length described in the present invention refers to the length of the oat sprout, in millimeters.

[0053] The quality of oatmeal products refers to indicators such as taste, flavor, and nutritional value of oatmeal products.

[0054] When oat sprouts grow within 3 mm, their impact on the quality of oat products is mainly reflected in the following aspects:

[0055] Taste: The growth of oat germination affects the taste of oat products. This is because the endogenous enzymes in oat germination are activated during its growth, which can partially decompose fat and other substances into maltose and make oat products softer and more glutinous.

[0056] Flavor: After oats germinate, oat products have a strong wheat flavor. This is because the phenolic substances in oat malt increase during the growth process, which will produce a variety of flavor substances. The increase in phenolic substances will give oat products a unique grain flavor.

[0057] Nutritional value: After oats germinate, the nutritional value of oat products gradually increases. This is because during the growth process of oat sprouts, the amount of nutrients such as protein and GABA increases, which are beneficial to human health.

[0058] However, it should be noted that when oat sprouts grow more than 3 mm, they will differentiate, with chloroplasts and anthocyanins at the stem tip. Chloroplasts differentiate into leaves, and anthocyanins differentiate into flowers. After oat differentiation, its nutritional value will change as follows:

[0059] When the starch content decreases, amylase will break down starch into small molecules such as maltose and dextrin, resulting in a decrease in starch content.

[0060] The protein content changes. Protease will break down protein into small molecules such as amino acids and peptides, resulting in a decrease in the protein content in oats.

[0061] The fat content changes, lipase breaks down fat into fatty acids and glycerol, causing the fat content in oats to decrease slightly.

[0062] These changes will generally lead to a decrease in the quality of oat products made from oats. It can be seen that for sprouted oats, oats with oat sprouts that are too long or too short are not high-quality oats.

[0063] With the improvement of the quality of life, there is a demand for grading of oats in the existing market, especially the demand for high-quality oats has begun to increase. In the prior art, the quality control of oats mainly relies on the selection of oat varieties and the prediction of their development trends. The ultimate goal is to ensure that the sprout length of the same batch of oats remains consistent. There are two problems with this operation. One is that the current oat or similar seed cultivation will be implemented in a container. When selecting seeds, seeds with similar states will be placed in the same container. However, when the seeds germinate in the container, the position of each seed is different, which ultimately leads to different actual growth states of seeds with similar states in the same batch after cultivation. In addition, there will be a situation where the cultivation process goes smoothly, but the buds are easily damaged when the seeds are taken out of the container. At the same time, the seeds will not be taken out in time after the cultivation is completed, resulting in excessive growth of the buds.

[0064] like Figure 2 , Figure 3 As shown, the present invention proposes a high-precision germination device, including a cultivation container 2 and an anchor claw trolley arranged above the cultivation container 2, wherein the anchor claw trolley is used in conjunction with the cultivation container 2. The anchor claw trolley includes a mobile vehicle 12 connected to a track 1 and a movable claw body 13 connected to the mobile vehicle 12. A seed bin 11 is also provided on the side of the track 1, and the seed bin 11 is connected to a seed dispensing port 15 on the movable claw body 13 through the mobile vehicle 12. The trolley is also called a traveling crane, which is specifically embodied in the mobile vehicle 12 in the figure. This equipment is usually used to mobilize large objects in factories, and is moved by the track 1 installed at the roof position and operated by the movable claw body 13 installed thereon. At this time, it is necessary to obtain the accurate state of each seed and the specific cultivation environment that can be provided by each position in the cultivation container 2. Very accurate positioning is required in the process of releasing seeds.

[0065] The seeds are stored in a seed bin 11 installed on the side of the track 1, and the seed bin 11 is connected to the seed dispensing port 15 on the movable claw body 13 through a flexible seed delivery tube 16. Each seed has been screened before entering the seed bin 11, but it still needs to be detected when entering the seed bin 11. In this embodiment, a Keyence agricultural optical detection device is used to determine whether the seeds are complete and damaged when they finally enter the seed bin 11. The detected seeds are placed in the seed bin 11 in sequence according to the precise position where they need to be placed, and the position of each seed in the seed bin 11 is fixed. The configured seed bin 11 is installed on the side of the track 1 and connected to the movable claw body 13 through a flexible seed delivery tube 16. The anchor claw vehicle includes a mobile vehicle 12 connected to the track 1 and a movable claw body 13 connected to the mobile vehicle 12. The movable claw body 13 is connected to the mobile vehicle 12 through a universal joint 14, and a seed dispensing port 15 connected to the seed bin 11 is opened on the movable claw body 13.

[0066] like Figure 1As shown, the seeds are placed in the corresponding position of the cultivation container 2 through the seed placement port 15 on the movable claw body 13, so that the seeds are accurately placed in the cultivation container 2. The seeds are pushed to the position of the seed placement port 15 by gas, and then naturally fall to the designated position. The driving mode of the mobile vehicle 12 in the prior art is divided into two modes: centralized driving and separate driving. Centralized driving refers to using an electric motor to drive the long transmission shaft to drive the active wheels on both sides, while separate driving refers to using an electric motor to drive the active wheels on both sides. In the present invention, only the separate driving mode can be used to control the mobile vehicle 12. Because it is necessary to start and brake frequently during the process of placing seeds, the two wheels driven separately can adjust the speed accordingly, and cooperate with the brake to achieve accurate positioning and placement.

[0067] and Figure 3 It is a schematic diagram of the structure of the cultivation container 2 recorded in the present invention.

[0068] As can be seen from the figure, the cultivation container 2 is placed in the constant temperature box 3. Although the cultivation container 2 itself has rollers, it is more convenient to load it into the constant temperature box 3 accurately and quickly by maneuvering it through the transfer vehicle 8. The cultivation container 2 cannot be moved when working in the constant temperature box 3. The heater 5 and the fan 6 are connected to the constant temperature box 3 through the connecting channel 7, and under the control of the controller 4, the temperature and wind force required for cultivating seeds are accurately provided. One controller 4 can manage multiple groups of cultivation containers 2 at the same time.

[0069] A hollow conducting column 21 is provided at least at the center of the bottom of the cultivation container 2, and a plurality of staggered auxiliary function branches 22 are provided on the conducting column 21; after the seeds are placed, they are cultivated according to the cultivation conditions, so that the seeds in different growth states in the cultivation container 2 have the same sprout length after the same cultivation time; the movable claw body 13 of the anchor claw vehicle clamps the lifting part 23 of the cultivation container 2 to pour out the seeds.

[0070] like Figure 4 The figure shows a schematic diagram of the structure of the movable claw body 13 used in the present invention. The movable claw body 13 is connected to the mobile vehicle 12 through a universal joint 14. It should be noted that although three claws are shown in the figure, 2-5 claws are actually feasible. Because the claw and the lifting part 23 are not used in a clamping manner when used in conjunction, but the clamping hook groove on the claw cooperates with the lifting part 23 to lift part of the cultivation container 2. However, since the lifting part 23 is arranged above the cultivation container 2 and away from the opening and closing side, there are certain requirements for the hooking angle. A large number of claws makes it easier to select a suitable one for hooking, but it will increase the cost and the weight of the movable claw body 13. The seeding port 15 in the middle of the claw is used for seeding. The claw is designed to have such a structure because it has other uses in other occasions, such as accurately positioning the seeding port 15 between the claw adjustment and the cultivation container 2 when seeding.

[0071] After the seeds are placed, they are first soaked, then drained, and then the temperature and humidity are adjusted for germination. During the draining process, the airflow inside the cultivation container 2 is adjusted through the auxiliary function branch pipe 22, thereby affecting the temperature and humidity distribution in the cultivation container 2. The seed development state at different positions in the cultivation container 2 is calculated by the state transfer equation. Excessive water can be clamped by the movable claw body 13 to hold the lifting part 23 of the cultivation container 2, and the opening and closing door 24 is opened to a gap smaller than the seed diameter. In this way, the water can be discharged from the opening and closing door 24 at the bottom of the container.

[0072] There are also technical solutions for predicting bud length through temperature relationship in the prior art. These solutions basically follow the accumulated temperature model (Thermal Time Model) proposed by Garcia-Huidobro et al. in 1982. This is a model used to describe the germination response of seeds under different temperature conditions. Specifically, the accumulated temperature model regards the germination response of plant seeds to temperature as a continuous process, in which temperature is the key factor affecting the germination rate. The model believes that as the temperature rises, the germination rate of seeds will also increase accordingly until it reaches an optimal temperature range, at which time the germination rate reaches a maximum value. However, if the temperature continues to rise and exceeds this optimal range, the germination rate will begin to decline. In order to describe this process more accurately, the accumulated temperature model usually divides the germination response of plant seeds to temperature into two intersecting straight lines below the optimal temperature and above the optimal temperature. The description of this piecewise linear relationship enables the model to better fit the actual observation data and predict the seed germination under different climatic conditions and habitats. However, this model can only be calculated based on temperature, and cannot make more accurate predictions for content with humidity and light. Therefore, the method for calculating the actual cultivation conditions of seeds at different positions in the container in the present invention is obtained by calculating through a particle filter algorithm, which specifically includes the following steps:

[0073] S1: Initialization: randomly sample N seeds from the container and assign the same weight to each seed; the initial position of each seed is sampled from the prior distribution, and the growth rate is determined based on the ODE equation of its variety through environmental factors;

[0074] S2: Prediction: Based on the location of the seeds, predict the growth rate of each seed at the next moment;

[0075] S3: Update: According to the observation equation, calculate the matching degree between each seed prediction value and the observed value, and update the weight of each particle;

[0076] S4: Resampling: According to the weight of the seed, resample N seeds and give each seed the same weight;

[0077] S5: Iteration: Repeat steps S2-S4 until the predicted values ​​exactly match the observed values.

[0078] Ordinary Differential Equation (ODE) refers to a differential equation that describes the relationship between a dependent variable and its derivative and an independent variable. Ordinary differential equations are widely used to simulate various physical and natural phenomena. In the present invention, the ODE equation that describes the influence of environmental factors on seed growth rate is:

[0079] State transfer equation:

[0080] x_k=f(x_{k-1},u_k,w_k)

[0081] Observation equation:

[0082] y_k=h(x_k,v_k)

[0083] predict:

[0084] x_k^{(i)}=f(x_{k-1}^{(i)},u_k,w_k^{(i)})

[0085] renew:

[0086] w_k^{(i)}=w_{k-1}^{(i)}\cdot p(y_k|x_k^{(i)})

[0087] Resampling:

[0088] x_k^{(i)}\s im p(x_k|y_1:k)

[0089] in:

[0090] x_k: the state of the system at time k

[0091] u_k: control input of the system at time k

[0092] w_k: process noise of the system at time k

[0093] y_k: the observed value of the system at time k

[0094] v_k: The observation noise of the system at time k

[0095] f: state transfer function

[0096] h: observation function

[0097] p(x_k|y_1:k): the posterior probability distribution of the system at time k

[0098] p(y_k|x_k): probability density function of the observation value y_k in the system state x_k.

[0099] Because the relationship between germination growth and temperature and humidity may be more complicated, and may be affected by other factors, such as soil type, light, nutrients, etc. Although there is no need to consider soil type or add additional nutrients in the scenario of the present invention, an overly complex calculation model is obviously not conducive to monitoring a large number of seeds. The use of state reaction equations can obviously simplify this process.

[0100] The expected cultivation conditions include accelerated conditions, normal conditions, and decelerated conditions. The temperature, humidity, and light used under each expected cultivation condition are different. The cultivation time under normal conditions is 1-3 days, 20-25°C, and humidity is 50%-70%. The side walls of the container are transparent, so the seed development conditions on the periphery are mainly adjusted by the natural environment. However, there are seeds that are pressed or blocked in the middle part of the container, and the temperature and humidity need to be adjusted by the conductive column 21 and the multiple staggered auxiliary function branches 22 provided thereon. The auxiliary function branches 22 are layered and staggered to adapt to the needs of seed growth in different layers.

[0101] Regarding the illumination of seeds, the seeds placed in the cultivation container 2 do not need illumination for the first two days. When the seeds are cultivated to the third day, the illumination time per day is not less than 8 hours, and the illumination is 50-100 lux. Before this process, the seeds of the same variety and the same growth state need to be placed in the cultivation container 2 and cultivated under normal conditions. According to the results of the seed germination after cultivation, a calculation model of the actual cultivation conditions of the seeds in the cultivation container 2 based on different positions is established.

[0102] The position with the most space and the same actual cultivation conditions in the cultivation container 2 is the standard cultivation position, the position with the actual cultivation conditions better than the standard cultivation position is the superior position, and the position with the actual cultivation conditions worse than the standard cultivation position is the inferior position; the seeds with the standard growth state are placed in the standard cultivation position, the seeds with the growth state worse than the standard are placed in the superior position, and the seeds with the growth state better than the standard are placed in the inferior position. This placement process is realized by the movable claw body 13 driven by the anchor claw vehicle.

[0103] After the cultivation in the cultivation container 2 is completed, the anchor claw vehicle grabs the lifting part 23 provided on the top side wall of the cultivation container 2 for cooperating with the anchor claw vehicle; the lifting part 23 can be a wear-resistant gasket installed on the side wall of the container; or it can be a gripping hole opened on the side wall of the container and matched with the movable claw body 13. After the movable claw body 13 clamps the lifting part 23, the cultivation container 2 is easily tilted to a certain angle, which is convenient for quickly taking out the seeds in the cultivation container 2, and the buds on the seeds are not easily damaged in the process.

[0104] Through such a technical solution, the germination degree of the seeds finally obtained is very balanced. The specific performance is the consistency of the bud length. Usually, the seeds with a bud length of 2.7 mm are obtained, and the upper and lower limit errors in a cultivation container 2 are kept within 0.3 mm. This ensures the consistency of the quality of the seeds finally obtained.

[0105] Although there are technical solutions for analyzing, controlling and adjusting the germination status of seeds in the prior art, most of them are to set the seeds in batches, with "a batch" of seeds as the unit. After cultivation, the more outstanding seeds are screened out. This results in some seeds that could have achieved high quality, but due to the poor relative position during the cultivation process, they cannot achieve the expected growth expectations, resulting in a certain amount of waste.

[0106] The present invention, on the other hand, is a management method that is accurate to the "grain". This method was not favored in the past due to its high cost. However, with the further improvement of consumer requirements for the quality of finished products and the popularization of large models, the technical solution proposed by the present invention has not significantly increased the cultivation cost, but the yield rate has been significantly improved. The number of seeds that could be identified as high quality in a batch originally did not exceed 40%, while the high-quality seeds cultivated using the technical solution of the present invention can be as high as 80%. Among the several groups of seeds tested by the applicant, the ratio of high-quality seeds cultivated was above 83%, and one group even reached 90%. This effect was unimaginable before.

[0107] Although the present invention is disclosed as above with preferred embodiments, it is not intended to limit the scope of the present invention. Any person of ordinary skill in the art can make some improvements without departing from the scope of the present invention, that is, all equivalent improvements made in accordance with the present invention should be covered by the scope of the present invention. In the description of this specification, the description of reference terms "an embodiment / method", "some embodiments / methods", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment / method or example are included in at least one embodiment / method or example of the present application. In this specification, the schematic representation of the above terms does not necessarily target the same embodiment / method or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments / methods or examples in a suitable manner. In addition, without contradicting each other, a person of ordinary skill in the art can combine and combine the different embodiments / methods or examples described in this specification and the features of different embodiments / methods or examples.

[0108] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0109] Those skilled in the art should understand that the above embodiments are only for the purpose of clearly illustrating the present disclosure, and are not intended to limit the scope of the present disclosure. For those skilled in the art, other changes or modifications may be made based on the above disclosure, and these changes or modifications are still within the scope of the present disclosure.

Claims

1. A method for using a high-precision oat germination device, based on the high-precision germination device, the high-precision germination device comprises a cultivation container and an anchor claw trolley arranged above the cultivation container, the bottom of the cultivation container is provided with a hollow conducting column at least in the center, and the conducting column is provided with a plurality of staggered auxiliary function branches; the top side wall of the cultivation container is provided with a lifting part for cooperating with the anchor claw trolley; the anchor claw trolley comprises a moving vehicle connected to a track and a movable claw body connected to the moving vehicle, and a seed bin is also provided on the side of the track, and the seed bin is connected to the seed dispensing port on the movable claw body; the seed variety to be cultivated is selected, the seeds to be cultivated are obtained, and the expected cultivation conditions required for the bud length to reach the expected length and the bud length growth rate under the expected cultivation conditions are calculated according to the variety of the seeds and the growth state of the seed monomer, characterized in that: A corresponding cultivation container and cultivation conditions applied to the outside of the corresponding container are selected, the distribution pattern of the seeds in the cultivation container is obtained, the actual cultivation conditions obtained after the seeds are placed in different positions in the cultivation container are calculated, the seeds are placed in the seed bin in sequence, and the seeds in different growth states are placed in the corresponding positions in the cultivation container through the seed bin according to different actual cultivation conditions; after the seeds are placed, they are first soaked, and then drained after soaking, and then the temperature is adjusted for germination, and during the drainage process, the airflow inside the cultivation container is adjusted through the auxiliary function branch pipe, thereby affecting the humidity distribution in the cultivation container, and the seeds of the same variety and the same growth state are placed in the cultivation container for cultivation under normal conditions, and the actual cultivation conditions of the seeds based on different positions in the cultivation container are established according to the seed germination results after cultivation. The calculation model of the parts is as follows: the position with the most space and the same actual cultivation conditions in the cultivation container is the standard cultivation position, the position with the actual cultivation conditions better than the standard cultivation position is the dominant position, and the position with the actual cultivation conditions worse than the standard cultivation position is the inferior position; the seeds with the standard growth state are placed in the standard cultivation position, the seeds with the growth state worse than the standard are placed in the dominant position, and the seeds with the growth state better than the standard are placed in the inferior position; after the seeds are placed, they are cultivated according to the cultivation conditions, so that the seeds with different growth states in the cultivation container have the same bud length after being cultivated for the same time; the movable claw body of the anchor claw vehicle clamps the lifting part of the cultivation container to pour out the seeds, wherein the calculation method of the actual cultivation conditions of the seeds at different positions in the container is calculated by a particle filter algorithm, and specifically includes the following steps: S1: Initialization: randomly sample N seeds from the container and assign the same weight to each seed; the initial position of each seed is sampled from the prior distribution, and the growth rate is determined based on the ODE equation of its variety through environmental factors; S2: Prediction: Based on the location of the seeds, predict the growth rate of each seed at the next moment; S3: Update: According to the observation equation, calculate the matching degree between each seed prediction value and the observed value, and update the weight of each particle; S4: Resampling: According to the weight of the seed, resample N seeds and give each seed the same weight; S5: Iteration: Repeat steps S2-S4 until the predicted value matches the observed value exactly; The ODE equation describing the influence of environmental factors on seed growth rate is: dG / dt=f(G,T,L,W) Where: t: seed growth time, t>0 and t<170, unit: hour; G: seed growth rate, T: temperature, unit: Celsius; L: Light, this value is zero when t is between 0 and 48; W: Moisture content, which is calculated from humidity. The specific formula is: ρ_a=ρ_v*(RH / 100%) in: ρ_a: absolute humidity, unit: g / m3 ρ_v: saturated water vapor density, unit: g / cubic meter RH: Relative humidity, % W=ρ_a*V, V is the space occupied by the seed; f(G,T,L,W) is a nonlinear function expressed as: f(G,T,L,W)=k_1*G*(1-exp(-k_2*T))*(1-exp(-k_3*L))*(1-exp(-k_4*W)) Among them: k_1, k_2, k_3, k_4 are parameters under certain environmental factors.

2. The method for using the high-precision oat germination device according to claim 1, characterized in that: The cultivation container is arranged in a constant temperature box, and the cultivation container is cylindrical, and an opening and closing door is provided on the side wall at the bottom of the cultivation container.

3. The method for using the high-precision oat germination device according to claim 1, characterized in that: The anchor claw vehicle moves in the track above the cultivation container, the seed distributing port of the movable claw body is connected to the seed bin through a flexible seed delivery pipe, and the movable claw body is connected to the mobile vehicle through a universal joint.

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