Unmanned plant factory production method and production system

Abstract

The invention relates to the technical field of unmanned plant factories, and discloses an unmanned plant factory production method and system, and the method comprises the following steps: S1, a seedling raising stage, S2, a transplanting stage, S3, a plant growth stage, S4, a factory management stage, S5, a plant harvesting stage, S6, a product packaging stage, and S7, a nutrient soil recycling process. By means of indoor planting and laying of the top plate made of the light-transmitting material on the top, the whole plant factory mainly adopts a natural light source for illumination, so that energy consumption is reduced, and potential negative effects of an artificial light source on plant growth are reduced; the difference value between the illumination intensity required by the growth of the plants and the actual illumination intensity is independently detected, and light is independently supplemented to the plants, so that the plants can obtain the optimal illumination condition in any growth stage, the energy utilization efficiency is improved, and the growth environment of the plants is optimized.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned plant factories, and in particular to an unmanned plant factory production method and production system. Background Art

[0002] The unmanned plant factory is a highly automated and intelligent plant cultivation system. In the unmanned plant factory, there is almost no need for direct human participation in the cultivation process. It uses advanced environmental control technology to accurately adjust environmental factors such as temperature, humidity, light, and carbon dioxide concentration to create the most suitable growth conditions for plants. For example, LED lights can accurately simulate the solar spectrum to meet the light requirements of different plant growth stages.

[0003] From sowing to harvesting, irrigation, fertilization and other links are all completed by automated equipment and intelligent control systems. Sensors monitor the growth status and environmental data of plants in real time, and then feed this information back to the control system, which then makes corresponding adjustments based on the preset program. This kind of factory can achieve uninterrupted production throughout the year without being restricted by the natural environment, and can make efficient use of space, greatly improving the yield and quality of crops. It has broad application prospects in urban agriculture and other fields. However, in the prior art, existing unmanned plant factories are often located indoors, so the external ambient light cannot directly shine into the room. Therefore, the lighting demand required for plant growth is completely dependent on the operation of lighting equipment, which makes the overall electricity consumption inside the plant factory relatively large. In addition, during the lighting process, due to the light pollution generated by the equipment and surrounding supplementary lighting equipment, the lighting intensity at each plant is difficult to regulate. In view of this, we propose an unmanned plant factory production method and production system. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides an unmanned plant factory production method and production system, which solves the problems of high energy consumption and light pollution in the plant production process that completely adopts indoor factories in the prior art.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: an unmanned plant factory production method, comprising the following steps: S1: Seedling stage Seeds are tested using high-precision image recognition technology and weight sensors. The tested seeds are transported to the seedling environment control area through the seed conveyor line for growth. When they reach the specified stage, they enter the seedling transfer line. S2: Transplantation stage The seedlings are grabbed by a manipulator transfer device and transferred to a multi-layer fixed shelf, and the completion information is fed back to the automatic control system after the transfer; S3: Plant growth stage Before receiving the seedlings, the internal environment is cleaned and disinfected, and after cleaning, the plants are planted using hydroponics, which includes shallow liquid flow and deep liquid flow. During the planting process, the growth status of the plants is monitored in real time; S4: Factory Management Stage Before planting seeds, the seeds are inspected and sterilized. During the management process, high-definition cameras, laser rangefinders, and multi-spectral sensors are used to analyze the growth process and record the growth information. S5: Plant harvesting stage The plant quality is checked by visual inspection, and the plants that meet the standards are grabbed and taken to the harvesting platform for harvesting. After the harvesting is completed, the planting tray, nutrient soil and plants are separated, the planting tray is high-pressure cleaned, and the collected plants are packaged and transported; S6: Product packaging stage Visual recognition is used to conduct final appearance inspection of plant products, and vegetables are sorted and packaged. The packaged plant products are grabbed and transported by mechanical equipment; S7: Nutrient soil recycling and reuse process The discarded plant roots and residual soil after harvest are separated and collected from the planting equipment by an automated cleaning device, and automated mixing equipment is used to mix the various raw materials and nutrient soil according to the preset mixing ratio and time to re-manufacture them.

[0006] Preferably, during the seedling stage, an image recognition algorithm analyzes the appearance of seeds, including shape, color, and size characteristics, and selects seeds that are plump, undamaged, and meet planting requirements. A weight sensor detects the weight of the seeds to further determine the maturity and quality stability of the seeds.

[0007] Preferably, during the transplantation stage, the robot adopts a distance-weighted algorithm according to each different plant, and controls its gripping force for the seedlings and the movement distance of the gripper through the algorithm, and calculates its transfer path according to the gripping position and the transplantation position. At the same time, the obstacle avoidance algorithm prevents it from causing motion interference with the transplanted or to-be-transplanted plants during the movement.

[0008] Preferably, the plants are grown under sunlight during their growth stage, and the roof of the factory is covered with light-transmitting panels. When the sunlight intensity is insufficient, an automated light tuning algorithm is used to turn off the fill light source when the current light intensity meets the set threshold. Conversely, when the current light intensity does not meet the set threshold, the light difference is calculated through an algorithm, and the fill light is applied to the plants during the growth process by adjusting the lighting intensity and lighting angle of the fill light.

[0009] Preferably, the factory management stage continuously records and analyzes various data during the plant growth process, including environmental parameters, growth indicators, fertilizer and water usage, and pest and disease control records. Through data analysis and mining technology, the growth patterns and best management practices of different plant varieties in the production environment of this plant factory are summarized to provide a reference for subsequent planting plans and production management.

[0010] Preferably, the nutrient soil recycling and reuse process first crushes and composts the discarded plant roots to convert them into organic fertilizer, then screens, disinfects and tests the nutrients of the recovered soil to remove impurities, pathogens and insect eggs, and adds appropriate amounts of nutrients and improvers based on the test results. The treated nutrient soil is stored in a nutrient soil storage tank and re-supplied to the planting equipment through an automated conveying system based on the planting plan and needs.

[0011] Preferably, the seedling raising module includes an environment control submodule and a growth monitoring submodule. The environment control submodule is used to simulate the natural sunlight spectrum and control the intensity of the supplementary lighting according to the ambient light intensity, while adjusting the air circulation and the temperature and humidity environment. The growth monitoring submodule is used to use laser scanning and multi-spectral imaging technology to measure the growth height, number of leaves, leaf area, and stem thickness parameters of the seedlings in real time.

[0012] Preferably, the mechanical control module includes a data acquisition unit, a core control unit and a data analysis and decision unit. The data acquisition unit is used to collect data from various monitoring devices, including plant growth data, environmental data, and equipment operation data. The core control unit is used to use an industrial-grade programmable logic controller or a distributed control system as a core control unit to coordinate the operation of various modules and equipment, and receive signals from sensors. According to preset rules and algorithms, control instructions are generated and sent to actuators including motors, valves, and manipulators to achieve automated control of the entire plant factory production process.

[0013] Preferably, the data analysis and decision-making unit is used to analyze the stored data using data analysis software and algorithms, including predicting plant growth trends and possible problems by establishing a plant growth model, and automatically intervening in and controlling the plant growth process according to the plant growth model.

[0014] The present invention provides an unmanned plant factory production method and production system. It has the following beneficial effects: 1. The present invention uses indoor planting and a translucent material top plate on the top, so that the plant factory as a whole mainly uses natural light sources as lighting, thereby reducing energy consumption and reducing the potential negative impact of artificial light sources on plant growth. In addition, for areas with insufficient light, the difference between the light intensity required for growth and the actual light intensity is independently detected, and the light is supplemented independently, thereby ensuring that plants can obtain optimal lighting conditions at any growth stage, which not only improves energy utilization efficiency but also optimizes the growth environment of plants.

[0015] 2. The present invention achieves precise picking and transportation of plants by establishing a mechanical claw clamping control and a path obstacle avoidance algorithm, reducing the errors and labor intensity of manual operations. The design of the mechanical claw takes into account the fragility of plants to ensure that the plants will not be damaged during the picking process; the path obstacle avoidance algorithm allows the mechanical system to move flexibly in a complex plant growth environment, avoiding damage to the plants and the equipment itself.

[0016] 3. The present invention predicts the growth status of plants through the established data analysis and decision-making unit, monitors the growth environment and physiological indicators of plants in real time, analyzes plant growth data through algorithm models, predicts the growth trend of plants and possible problems, and automatically adjusts the environmental parameters of the plant factory according to the prediction results, including temperature, humidity, and light intensity, to meet the needs of plant growth and ensure healthy growth of plants. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a flow chart of the production method of the unmanned plant factory; Figure 2 This is a schematic diagram of the process of recycling and reusing nutrient soil in S7 of the present invention; Figure 3 This is the module diagram of the unmanned plant factory production system; Figure 4 It is a schematic diagram of a seedling raising module of the present invention; Figure 5 A schematic diagram of the mechanical control module of the present invention; Figure 6 This is a schematic diagram of the fully automatic liquid immersion seedling raising machine of the present invention; Figure 7 It is a schematic diagram of the planting trough in the present invention. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the specification of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] Example: Please see attached Figure 1 - Attachment Figure 2 The embodiment of the present invention provides an unmanned plant factory production method, comprising the following steps: S1: Seedling stage Seeds are tested using high-precision image recognition technology and weight sensors. The tested seeds are transported to the seedling environment control area through the seed conveyor line for growth. When they reach the specified stage, they enter the seedling transfer line. S2: Transplantation stage The seedlings are grabbed by a manipulator transfer device and transferred to a multi-layer fixed shelf, and the completion information is fed back to the automatic control system after the transfer; S3: Plant growth stage Before receiving the seedlings, the internal environment is cleaned and disinfected, and after cleaning, the plants are planted using hydroponics, which includes shallow liquid flow and deep liquid flow. During the planting process, the growth status of the plants is monitored in real time; S4: Factory Management Stage Before planting seeds, the seeds are inspected and sterilized. During the management process, high-definition cameras, laser rangefinders, and multi-spectral sensors are used to analyze the growth process and record the growth information. S5: Plant harvesting stage The plant quality is checked by visual inspection, and the plants that meet the standards are grabbed and taken to the harvesting platform for harvesting. After the harvesting is completed, the planting tray, nutrient soil and plants are separated, the planting tray is high-pressure cleaned, and the collected plants are packaged and transported; S6: Product packaging stage Visual recognition is used to conduct final appearance inspection of plant products, and vegetables are sorted and packaged. The packaged plant products are grabbed and transported by mechanical equipment; S7: Nutrient soil recycling and reuse process The discarded plant roots and residual soil after harvest are separated and collected from the planting equipment by an automated cleaning device, and automated mixing equipment is used to mix the various raw materials and nutrient soil according to the preset mixing ratio and time to re-manufacture them.

[0020] During the seedling stage, the image recognition algorithm analyzes the appearance of the seeds, including shape, color, and size characteristics, and selects seeds that are plump, undamaged, and meet planting requirements. The weight sensor detects the weight of the seeds to further determine the maturity and quality stability of the seeds.

[0021] During the transplantation phase, the manipulator uses a distance weighted algorithm according to each different plant, and controls its grasping force and gripper movement distance for the seedlings through the algorithm, and calculates its transfer path according to the grasping position and transplantation position. At the same time, the obstacle avoidance algorithm in the process avoids motion interference between it and the transplanted or to-be-transplanted plants during the movement. The following algorithm is established in the process: The distance weighted algorithm is mainly used to determine the relevant operation parameters according to the different conditions of each plant. For different plants, their position, size and other factors will affect the robot's grasping and transplanting operations on seedlings. Through distance weighting, the relationship between the various characteristics of the plant and the robot's operating point is comprehensively considered to control the grasping force and the movement distance of the gripper. First, the visual sensing system is used to draw the edge curve of the current plant position, and the distance between the plant edge curve and the final transplant position is set to , the corresponding weight is (The weight can be pre-set based on experience or experiment, reflecting the importance of the feature parameter to the operation), comprehensive weighted distance The calculation formula is:

[0022] in is the number of characteristic parameters considered; According to the value of the comprehensive weighted distance D calculated here, the corresponding operating parameters such as the grasping force and the movement distance of the gripper can be further determined. For example, the grasping force D can be set to be inversely proportional to . When D is larger, the grasping force is relatively smaller to avoid damage to seedlings that are farther away or higher. At this time, the maximum allowable grasping force is (determined by the hardware performance of the robot), the gripping force adjustment coefficient is (can be determined based on experience or experiment, and is related to the value D calculated by the distance weighted algorithm), then the actual grasping force is:

[0023] here Weighted distance based on distance To determine, use the inverse proportional function form:

[0024] in and is a constant, and its value is determined through experiments or experience, so that the grasping force can be reasonably adjusted; During the transfer process of the robot claw, the current position coordinates of the robot are set to , the position coordinates of a plant around are , the safety distance threshold is , then the condition for judging whether obstacle avoidance is needed is:

[0025] When the above conditions are met, obstacle avoidance measures need to be taken. Common obstacle avoidance measures include changing the direction of movement (using vector addition or subtraction to adjust the movement path); Assume that the original motion direction vector is

[0026] In order to avoid obstacles, the movement direction vector that needs to be adjusted is:

[0027] The adjustment method is: when it is detected that an obstacle needs to be avoided, a vector perpendicular to the original direction and pointing away from the obstacle is added to the original motion direction vector. ,but ;here The specific calculation needs to be determined based on the position of the obstacle and the current position of the manipulator. For example, a vertical direction vector can be calculated based on the coordinate difference between the two, and then adjustments are made based on the obtained vertical direction vector. Assume that the current position coordinates of the robot are (3,4,5), the position coordinates of a nearby plant are (3.5,4.2,5.1), and the safety distance threshold is 2 cm. Calculate the distance between the two:

[0028] Because 0.55 cm is less than 2 cm, obstacle avoidance measures are required. Assume that the original motion direction vector is , the vertical direction vector calculated based on the current position and the plant position

[0029] The adjusted motion direction vector The robot moves in the new direction vector Keep moving to avoid the current plant obstacles.

[0030] The plant growth stage adopts the method of sunlight irradiation and growth, and the top of the factory is covered with a transparent material board. When the sunlight intensity is insufficient, an automatic light tuning algorithm is used to turn off the fill light source when the current light intensity meets the set threshold. On the contrary, when the current light intensity does not meet the set threshold, the algorithm calculates the light difference and adjusts the lighting intensity and lighting angle of the fill light to fill the plants in the growth process. For the fill light illumination method of the three-dimensional plane, we propose the following algorithm: First, a judgment algorithm is needed to determine whether the current sunlight intensity meets the set threshold required for plant growth. This is achieved by comparing the current light intensity measurement value with the set threshold, and setting light intensity sensing devices at specified distances in the plant growth area to obtain the real-time current light intensity. Assume the current light intensity is (Unit: lux), the light intensity threshold is set to The judgment condition is: if , then turn off the fill light source; if , then fill light calculation is performed When the light intensity is insufficient, the light difference needs to be calculated to determine the intensity of the fill light. The difference is calculated based on the difference between the current light intensity and the set threshold. Fill light intensity ; Consider the situation in three-dimensional space: In a plant factory, the positional relationship between plants and light sources is three-dimensional. Assume that the coordinates of the fill light source are: , the center coordinates of the part of the plant that needs supplementary light are ; Calculate the vector direction: First calculate the vector from the light source to the center of the plant , whose components in three-dimensional space are:

[0031] Calculate the spherical angle: To determine the lighting angle, convert the Cartesian coordinates to spherical coordinates. In spherical coordinates, the azimuth (equivalent to the horizontal angle) and the elevation angle (equivalent to vertical angle) can be used to describe direction, azimuth (pass The positive or negative angle determines the quadrant of the angle), elevation ; Angle adjustment calculation: Assume that the current azimuth angle of the fill light source is , the elevation angle is , then the azimuth adjustment amount , elevation adjustment Suppose there is a fill light source with coordinates (1,1,2) (unit: meter), and the center coordinates of the part of the plant that needs fill light are (3,4,3).

[0032] Calculating vectors ; Calculate the azimuth (Assumption and are all positive numbers, and the angle is in the first quadrant); Calculating elevation angle Assume that the current azimuth of the fill light source is , the elevation angle is , then the azimuth adjustment amount , elevation adjustment , by adjusting the angle of the fill light, its azimuth angle increases , the elevation angle increases , which can better supplement the light for the plants. In addition, according to the feedback from multiple light intensity sensing devices and the comprehensive calculation of the above algorithm, the plants in the plant factory can always be kept in the appropriate light range; At the same time, during the plant growth stage, a fish-vegetable symbiotic system is established in the process of hydroponically cultivating the received seedlings. During the process, since the fish excrement contains nutrients that are beneficial to plant growth, including ammonia, nitrite and nitrate, these excrement will accumulate in the water, and the microorganisms in the water will decompose and transform the fish excrement. First, heterotrophic bacteria decompose organic matter (such as fish feces and uneaten feed) into ammonia, which is toxic to fish. Then, nitrifying bacteria come into play, converting ammonia into nitrite, and further into nitrate. Nitrate is an important nutrient that can be absorbed and utilized by plants. It can be transported to the roots of plants through the circulation system. After the plants absorb these nutrients, the water quality is purified. The purified water can be circulated back to the fish tank for the survival of the fish. Specifically, it includes the following devices: Breeding area (fish tank or pond) This is the basic part of the aquaponics system, used to farm fish. The size of the farming area can be determined according to the scale of farming and site conditions. For small-scale family farming, the volume of the fish tank may range from tens of liters to hundreds of liters; while in commercial-scale aquaponics farms, the volume of the fish pond may reach tens of cubic meters or even larger. The farming area needs to be equipped with suitable filtration equipment to remove solid impurities in the water, such as fish feces and leftover bait. At the same time, oxygenation equipment needs to be installed to ensure that there is enough oxygen in the water for the fish to breathe.

[0033] Planting area The planting area is used to grow vegetables and other plants. There are various types of planting beds, the most common of which are floating beds and substrate beds. Floating beds are where plants are planted on a bed that floats on the water surface, and the roots of the plants directly hang down into the water to absorb nutrients; substrate beds are where the planting troughs are filled with substrates such as ceramsite, volcanic rock, and vermiculite, and the roots of the plants grow in these substrates, absorbing nutrients from the circulating water through the substrates. The size and layout of the planting area should be designed according to the scale of the breeding area and the types of plants to ensure that the plants can get enough nutrition.

[0034] Circulatory system The circulation system is a key part connecting the breeding area and the planting area, and mainly includes water pumps, pipes and valves. The water pump is used to pump water containing fish excrement from the breeding area to the planting area to provide nutrients for the plants. The material of the pipe is usually corrosion-resistant materials such as PVC, and its diameter and length are determined according to the flow and layout of the system. The valve is used to control the flow and direction of water to ensure that the circulation system can operate stably and efficiently.

[0035] The factory management stage continuously records and analyzes various data during the plant growth process, including environmental parameters, growth indicators, fertilizer and water usage, and pest and disease control records. Through data analysis and mining technology, the growth patterns and best management practices of different plant varieties in the production environment of this plant factory are summarized to provide a reference for subsequent planting plans and production management.

[0036] The nutrient soil recycling and reuse process first crushes and composts the abandoned plant roots to convert them into organic fertilizers, then screens, disinfects and tests the nutrients of the recycled soil to remove impurities, pathogens and insect eggs, and adds appropriate amounts of nutrients and improvers according to the test results. The treated nutrient soil is stored in a nutrient soil storage tank and resupplied to the planting equipment through an automated conveying system according to the planting plan and needs. The specific recycling steps are as follows; S701: Treatment of waste plant roots Collection and transportation: After plant harvest or plant growth cycle, use specially designed collection equipment, such as a small shovel with flexible collection teeth or a special suction device, to carefully collect the discarded plant roots from the planting equipment or planting area. During the collection process, the damage to the soil structure around the roots should be minimized to ensure the integrity of the root system. The collected roots are placed in closed transport containers, such as plastic barrels or metal boxes with airtight seals to prevent odor and the spread of pathogens, and transported to a special treatment area.

[0037] Crushing treatment: The discarded plant roots transported to the treatment area are poured into a powerful crusher. The crusher blades are made of special wear-resistant alloy material, which can efficiently cut the roots into small fragments. During the crushing process, the rotation speed and feed rate of the crusher are precisely controlled to ensure that the roots are crushed to a suitable particle size, generally 1-5 cm in size. The crushed root fragments are initially screened through a vibrating screen, and the oversized particles are sent back to the crusher for secondary crushing to ensure that all fragments meet the requirements of subsequent composting treatment.

[0038] Composting: Transfer the crushed plant root fragments to the compost fermentation tank or compost fermentation box. First, lay a thick layer of processed mature compost or sawdust as base material on the bottom to provide good ventilation and drainage conditions. Then spread the root fragments evenly on the base material. The thickness of each layer is controlled at about 20-30 cm. Then, add microbial fermentation agents in a certain proportion (usually 20:1-30:1). These agents contain a variety of beneficial microorganisms, such as lactic acid bacteria, yeast, actinomycetes, etc., which can accelerate the decomposition and fermentation process of the roots. After adding the agents, use a compost turning machine or manual stirring tools to fully mix the root fragments and the agents.

[0039] During the composting process, the environmental conditions inside the compost are monitored in real time by temperature sensors and humidity sensors installed in the fermentation tank or fermentation box. The compost temperature should be maintained between 50-65°C to facilitate the active growth of microorganisms and the decomposition of organic matter. When the temperature is too high, the temperature is lowered through an automatic ventilation system or compost turning operation to prevent the microorganisms from being inactivated by high temperature. The humidity should be controlled at around 50%-60%. When it is too dry, water is added through a spray system. When it is too wet, ventilation is increased to promote water evaporation. The compost is turned every 3-5 days to fully mix the inner and outer layers of the compost to ensure uniform fermentation. After 2-3 weeks of composting, the abandoned plant roots are successfully converted into nutrient-rich organic fertilizer.

[0040] S702: Recycled soil treatment filter: The used nutrient soil is dug or sucked out of the planting equipment and transported to the soil screening machine. The screening machine is equipped with sieves of different apertures. First, a sieve with a larger aperture (such as 5-10 mm) is used to remove large debris in the soil, such as stones, broken branches and leaves, etc., and then further screened through a sieve with a smaller aperture (such as 1-3 mm) to separate the fine sand and small particles of impurities in the soil, making the soil texture more uniform and fine. The impurities generated during the screening process are collected in a special waste container for subsequent environmental protection treatment.

[0041] disinfect: The recycled soil after screening is transported to the disinfection treatment equipment. Common disinfection methods include steam disinfection and chemical disinfection. During steam disinfection, the soil is placed in a sealed steam disinfection cabinet, and high-temperature and high-pressure steam is introduced to raise the soil temperature to 80-100℃ and maintain it for 30-60 minutes. This can effectively kill harmful organisms such as pathogens, insect eggs, weed seeds, etc. in the soil. Chemical disinfection uses environmentally friendly disinfectants such as chlorine dioxide and peracetic acid. The solution is prepared according to the specified concentration, and then the solution is evenly sprayed on the soil. Use mixing equipment to fully mix the soil and the solution to ensure the disinfection effect. The disinfected soil needs to be left to stand for a period of time to allow the disinfectant to fully evaporate and decompose to avoid adverse effects on subsequent plant growth.

[0042] Nutrient testing: Take a certain amount of recycled soil samples that have been screened and disinfected and send them to a professional soil testing laboratory. The testing items include soil acidity (pH value), organic matter content, nitrogen, phosphorus, potassium and other major nutrient elements and trace element content, etc. Use advanced testing instruments such as pH meters, spectrophotometers, atomic absorption spectrometers, etc. for precise analysis. According to the test results, draw a detailed soil nutrient map to clarify the abundance and deficiency of various nutrients in the soil, and provide a scientific basis for the subsequent addition of nutrients and amendments.

[0043] S703: Nutrition soil preparation and storage Add nutrients and improvers: According to the results of soil nutrient test, calculate the type and quantity of nutrients and amendments that need to be added. If there is insufficient nitrogen in the soil, add appropriate amount of nitrogen fertilizers such as urea and ammonium nitrate; when phosphorus is deficient, add phosphate fertilizers such as superphosphate and diammonium phosphate; if potassium is low, add potassium fertilizers such as potassium chloride and potassium sulfate. At the same time, according to the texture and structure of the soil, add suitable amendments such as humic acid and peat soil to increase the soil's water and fertilizer retention capacity, add perlite and vermiculite to improve the soil's air permeability and drainage. During the addition process, use a special soil mixer to fully mix the nutrients, amendments and recycled soil to ensure that every part of the soil can get uniform nutrient supplementation and improvement.

[0044] storage: The prepared nutrient soil is transported to the nutrient soil storage tank through a conveyor belt or pipeline. The storage tank is designed to be sealed, moisture-proof and rodent-proof. The tank body is made of corrosion-resistant metal or high-strength plastic. Humidity sensors and temperature sensors are installed inside the storage tank to monitor the storage environment of the nutrient soil in real time, and control the humidity of the nutrient soil between 40% - 50%, and the temperature at 15 - 25°C to prevent nutrient loss and excessive microbial growth. The storage tank is also equipped with a ventilation system for regular ventilation to ensure fresh air in the tank and maintain the good quality of the nutrient soil.

[0045] S704: Nutrient soil resupply Planting plan and demand analysis: According to the planting plan of the plant factory, the demand and quality requirements for nutrient soil for different plant varieties and different growth stages are determined. The planting management software is used in combination with plant growth models and historical planting data to accurately calculate the volume of nutrient soil, nutrient content and other parameters required for each planting cycle. At the same time, considering the characteristics and layout of different planting equipment, a nutrient soil distribution plan is formulated to ensure that the nutrient soil can be supplied to each planting area in a timely and accurate manner.

[0046] Automatic conveying system operation: When nutrient soil is needed, the automatic conveying system is started. The system is controlled by the central control system. According to the preset distribution plan, an appropriate amount of nutrient soil is first extracted from the nutrient soil storage tank. The conveying pipeline is made of smooth and corrosion-resistant materials, such as stainless steel or high-strength plastic. A screw conveyor or air flow conveying device is installed inside the pipeline, which can stably and efficiently convey the nutrient soil to the planting equipment. During the conveying process, the flow sensor and pressure sensor are used to monitor the conveying flow and pressure of the nutrient soil in real time to ensure the stability and accuracy of the conveying process. The nutrient soil is accurately conveyed to the soil filling area of ​​the planting equipment to provide sufficient nutrient soil support for a new round of plant planting.

[0047] In the implementation of this technical solution, the following Figure 6-Figure 7 The rotating equipment used in the process is a robot fixed in front of the planting equipment. The robot grabs the seedling tray on the conveyor belt of the planter and transfers it to the rotating planting equipment. After the growth is completed, the robot grabs the mature seedling tray and transfers it to the conveyor belt. The conveyor belt transfers it to the harvesting belt for harvesting and packaging. The operation procedures of the equipment at different stages are as follows: Seedling and sowing stage: The manipulator extends its arm along the preset path. Driven by high-performance servo motors, the joints of the arm move flexibly and precisely. According to the weight (sensed in real time by the pressure sensor on the manipulator) and shape of the seedling tray, the gripping force is automatically adjusted. The seedling tray is gently and firmly grasped using a gripper with soft cushioning material and adaptive shape function. During the gripping process, the pressure of the gripper is evenly distributed on the edge of the seedling tray to avoid any damage to the seedling tray, while ensuring that the seedling tray will not slip or shift during the lifting and transfer process.

[0048] The robot slowly and steadily lifts the grabbed seedling tray, and the lifting speed is controlled at 0.1-0.2 meters per second. Then, according to the predetermined transfer trajectory, the seedling tray is transferred to the designated entrance position of the rotary planting equipment by combining precise linear motion and circular motion. During the transfer process, the movement speed and acceleration of the robot arm are determined through multiple simulation optimizations and actual tests to strictly avoid uneven seed distribution or matrix scattering due to shaking of the seedling tray. When the seedling tray arrives at the entrance of the rotary planting equipment, the robot accurately places the seedling tray on the carrying tray of the rotary planting equipment according to the feedback information from the entrance sensor, and the placement error does not exceed ±1 cm.

[0049] Harvest stage: The robot accurately grasps the mature seedling tray based on the visual recognition results and the preset grasping strategy. During the grasping process, the opening and closing angle and strength of the clamp are automatically adjusted according to the shape and weight of the plants in the seedling tray, ensuring that the seedling tray is firmly grasped without damaging the plants and fruits. After the grasping is completed, the robot transfers the mature seedling tray to the conveyor belt at a steady speed. The movement trajectory of the robot arm during the transfer process has been optimized to avoid collision with surrounding equipment, while minimizing the shaking of the seedling tray to ensure that the fruit will not fall.

[0050] The conveyor belt transfers the mature seedling trays received from the robot to the harvesting belt at a uniform speed. The speed of the conveyor belt is controlled at 1-2 meters per minute. During the transmission process, multiple sensors are set to detect the position and status of the seedling trays to ensure that the seedling trays reach the harvesting belt accurately. When the seedling trays reach the harvesting belt, the automatic positioning device of the harvesting belt will accurately position the seedling trays in the center of the harvesting area, and the positioning error does not exceed ±0.5 cm.

[0051] The harvesting device on the harvesting belt starts harvesting. For fruit plants, the harvesting device uses an intelligent robotic arm combined with a flexible cutting tool. The robotic arm automatically adjusts the cutting angle and force according to the position and shape of the fruit to ensure that the fruit is picked intact. For example, for delicate fruits such as strawberries, the cutting tool uses a sharp blade with a protective coating to avoid squeezing and damage to the fruit during the cutting process. For leafy plants, the harvesting device uses a high-speed rotating cutting tool. The speed of the cutting tool is automatically adjusted according to the thickness and toughness of the plant stem to ensure neat and efficient cutting. The harvested plant products are transported to the subsequent packaging area through the conveying channel of the harvesting belt.

[0052] Please refer to the attached Figure 3-5 Figure 1 shows an unmanned plant factory production system, comprising the following modules: Seed processing module: The seed processing module is used to load the image analysis algorithm and control the operation of the weighing sensor equipment, perform preliminary screening on the seeds entering the factory, and control the operation of the physical disinfection equipment to disinfect the seeds and operation and maintenance personnel entering the factory; Since the interior of the greenhouse is a sealed space, there is a disinfection and sterilization room system at the door. There is a ventilation system around the top of the greenhouse and an insect-proof net system is installed to prevent various pests from entering. Ozone is used as the main disinfection and sterilization method in the disinfection and sterilization room here, which can kill most viruses, insects, and bacteria, and the overall process is environmentally friendly and leaves no residue.

[0053] Seedling cultivation module: used to monitor various states of the plant planting process and ensure a suitable growth environment for the plants through intelligent regulation; Mechanical control module: used to control the normal operation of mechanical equipment inside the plant factory, including conveyor belts, AGV transport vehicles and mechanical claws, store and edit their motion logic, and analyze and predict the growth status of plants through internal algorithms; Growth module: used to monitor the status of plants before, during and after their growth and determine whether they meet the planting and harvesting standards, and record and transmit the parameters of the plant growth process to the control terminal; Packaging and harvesting module: Check whether the plants meet the harvesting standards through visual inspection, and harvest and pack the plants that are determined to be harvestable; Nutrient soil recovery module: The nutrient soil recovery module is used to recycle the residual soil in the planting area, and store it through composting and soil remediation for reuse in subsequent planting processes.

[0054] The seedling raising module includes an environment control submodule and a growth monitoring submodule. The environment control submodule is used to simulate the natural sunlight spectrum and control the intensity of the supplementary lighting according to the ambient light intensity, while adjusting the air circulation and the temperature and humidity environment. The growth monitoring submodule is used to use laser scanning and multi-spectral imaging technology to measure the growth height, leaf number, leaf area, and stem thickness parameters of the seedlings in real time.

[0055] The mechanical control module includes a data acquisition unit, a core control unit and a data analysis and decision unit. The data acquisition unit is used to collect data from various monitoring devices, including plant growth data, environmental data, and equipment operation data. The core control unit is used to use an industrial-grade programmable logic controller or a distributed control system as a core control unit to coordinate the operation of various modules and equipment, and receive signals from sensors. According to preset rules and algorithms, control instructions are generated and sent to actuators including motors, valves, and manipulators to achieve automated control of the entire plant factory production process.

[0056] The data analysis and decision-making unit is used to analyze the stored data using data analysis software and algorithms, including predicting the growth trend and possible problems of plants by establishing a plant growth model, and automatically intervening and controlling the growth process of plants according to the plant growth model. The plant prediction algorithm established in the process is as follows: Suppose we consider Factors that affect plant growth are denoted by , the growth index of plants is , the general form of the model is:

[0057] in, is the intercept term; are the regression coefficients corresponding to each factor, which indicate the degree of influence of each factor on the plant growth index; is a random error term that follows a normal distribution with a mean of 0.

[0058] Estimate the regression coefficients by the least squares method , so that the residual sum of squares:

[0059] Minimum, among which is the sample size, is the actual observed growth index value, is the growth indicator value predicted by the model; Suppose we want to build a model for the height of a certain vegetable plant ( , unit: cm) and light duration ( , unit: hours / day), temperature ( , unit: degrees Celsius), fertilizer amount ( , unit: g / week).

[0060] Collect relevant data over a period of time, for example, there are 10 sets of data ( Light duration temperature Fertilizer application amount Plant height 8 20 10 15 10 22 12 18 12 25 15 22 9 21 11 16 11 23 13 20 7 18 8 12 13 26 16 25 10 24 14 21 9 20 10 17 12 23 15 23 Use algorithms to perform calculations in software (such as the Scikit-learn library in Python) to obtain estimated regression coefficients , ; The established plant growth model is:

[0061] For example, when the light duration is long Hours / day, temperature Celsius, fertilizer amount g / week, the predicted plant height is:

[0062] 34.6 cm By building a big data calculation model based on the above algorithm and substituting multiple sets of different plant growth environment parameters, plant growth under different conditions can be predicted. For example, in addition to light duration, temperature and fertilizer application, factors such as soil moisture and carbon dioxide concentration can also be considered. Through big data analysis, the plant growth model can be further optimized to improve the accuracy of prediction. In addition, the model can also be used to monitor abnormal conditions during plant growth, adjust the growth environment in a timely manner, and ensure the healthy growth of plants.

[0063] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An unmanned plant factory production method, characterized in that: The following steps are involved: S1: Seedling stage Seeds are tested using high-precision image recognition technology and weight sensors. The tested seeds are transported to the seedling environment control area through the seed conveyor line for growth. When they reach the specified stage, they enter the seedling transfer line. S2: Transplantation stage The seedlings are grabbed by a manipulator transfer device and transferred to a multi-layer fixed shelf, and the completion information is fed back to the automatic control system after the transfer; S3: Plant growth stage Before receiving the seedlings, the internal environment is cleaned and disinfected, and after cleaning, the plants are planted using hydroponics, which includes shallow liquid flow and deep liquid flow. During the planting process, the growth status of the plants is monitored in real time; S4: Factory Management Stage Before planting seeds, the seeds are inspected and sterilized. During the management process, high-definition cameras, laser rangefinders, and multi-spectral sensors are used to analyze the growth process and record the growth information. S5: Plant harvesting stage The plant quality is checked by visual inspection, and the plants that meet the standards are grabbed and taken to the harvesting platform for harvesting. After the harvesting is completed, the planting tray, nutrient soil and plants are separated, the planting tray is high-pressure cleaned, and the collected plants are packaged and transported; S6: Product packaging stage Visual recognition is used to conduct final appearance inspection of plant products, and vegetables are sorted and packaged. The packaged plant products are grabbed and transported by mechanical equipment; S7: Nutrient soil recycling and reuse process The discarded plant roots and residual soil after harvest are separated and collected from the planting equipment by an automated cleaning device, and automated mixing equipment is used to mix the various raw materials and nutrient soil according to the preset mixing ratio and time to re-manufacture them.

2. The unmanned plant factory production method according to claim 1, characterized in that: During the seedling stage, the image recognition algorithm analyzes the appearance of the seeds, including shape, color, and size characteristics, and selects seeds that are plump, undamaged, and meet planting requirements. The weight sensor detects the weight of the seeds to further determine the maturity and quality stability of the seeds.

3. The unmanned plant factory production method according to claim 1, characterized in that: During the transplantation stage, the robot adopts a distance-weighted algorithm according to each different plant, and controls its grasping force for the seedlings and the movement distance of the gripper through the algorithm, and calculates its transfer path according to the grasping position and the transplantation position. At the same time, the obstacle avoidance algorithm in the process prevents it from causing motion interference with the transplanted or to-be-transplanted plants during the movement.

4. The unmanned plant factory production method according to claim 1, characterized in that: The plants are grown under sunlight during the growth stage, and translucent panels are used to cover the top of the factory. When the sunlight intensity is insufficient, an automated light tuning algorithm is used to turn off the fill light source when the current light intensity meets the set threshold. Conversely, when the current light intensity does not meet the set threshold, the light difference is calculated through the algorithm, and the fill light is applied to the plants during the growth process by adjusting the lighting intensity and lighting angle of the fill light.

5. The unmanned plant factory production method according to claim 1, characterized in that: The factory management stage continuously records and analyzes various data during the plant growth process, including environmental parameters, growth indicators, fertilizer and water usage, and pest and disease control records. Through data analysis and mining technology, the growth patterns and best management practices of different plant varieties in the production environment of this plant factory are summarized to provide a reference for subsequent planting plans and production management.

6. The unmanned plant factory production method according to claim 1, characterized in that: The nutrient soil recycling and reuse process first crushes and composts the discarded plant roots to convert them into organic fertilizer, then screens, disinfects and tests the nutrients of the recycled soil to remove impurities, pathogens and insect eggs, and adds appropriate amounts of nutrients and improvers based on the test results. The treated nutrient soil is stored in a nutrient soil storage tank and re-supplied to the planting equipment through an automated conveying system based on the planting plan and needs.

7. The unmanned plant factory production system according to claim 1, characterized in that: Includes the following modules: Seed processing module: The seed processing module is used to load the image analysis algorithm and control the operation of the weighing sensor equipment, perform preliminary screening on the seeds entering the factory, and control the operation of the physical disinfection equipment to disinfect the seeds entering the factory; Seedling cultivation module: used to monitor various states of the plant planting process and ensure a suitable growth environment for the plants through intelligent regulation; Mechanical control module: used to control the normal operation of mechanical equipment inside the plant factory, including conveyor belts, AGV transport vehicles and mechanical claws, store and edit their motion logic, and analyze and predict the growth status of plants through internal algorithms; Growth module: used to monitor the status of plants before, during and after their growth and determine whether they meet the planting and harvesting standards, and record and transmit the parameters of the plant growth process to the control terminal; Packaging and harvesting module: Check whether the plants meet the harvesting standards through visual inspection, and harvest and pack the plants that are determined to be harvestable; Nutrient soil recovery module: The nutrient soil recovery module is used to recycle the residual soil in the planting area, and store it through composting and soil remediation for reuse in subsequent planting processes.

8. The unmanned plant factory production system according to claim 7, characterized in that: The seedling raising module includes an environment control submodule and a growth monitoring submodule. The environment control submodule is used to simulate the natural sunlight spectrum and control the intensity of the supplementary lighting according to the ambient light intensity, while adjusting the air circulation and the temperature and humidity environment. The growth monitoring submodule is used to use laser scanning and multi-spectral imaging technology to measure the growth height, leaf number, leaf area, and stem thickness parameters of the seedlings in real time.

9. The unmanned plant factory production system according to claim 7, characterized in that: The mechanical control module includes a data acquisition unit, a core control unit and a data analysis and decision unit. The data acquisition unit is used to collect data from various monitoring devices, including plant growth data, environmental data, and equipment operation data. The core control unit is used to use an industrial-grade programmable logic controller or a distributed control system as a core control unit to coordinate the operation of various modules and equipment, and receive signals from sensors. According to preset rules and algorithms, control instructions are generated and sent to actuators including motors, valves, and manipulators to achieve automated control of the entire plant factory production process.

10. The unmanned plant factory production system according to claim 7, characterized in that: The data analysis and decision-making unit is used to analyze the stored data using data analysis software and algorithms, including predicting the growth trends and possible problems of plants by establishing a plant growth model, and automatically intervening and controlling the growth process of the plants according to the plant growth model.

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