A mobile leafy vegetable cultivation system

Abstract

The present invention relates to the technical field of soilless cultivation equipment, and in particular to a mobile leafy vegetable cultivation system, comprising a traction-type cultivation module, including a traction-type track transmission mechanism disposed between a planting end and a harvesting end, a cultivation trough disposed on the traction-type track, and a plurality of planting cups placed in the planting holes of the cultivation trough; a cultivation trough transport module, for placing / removing individual cultivation troughs on the traction-type track transmission mechanism and for transporting cultivation troughs between the planting end and the harvesting end of the traction-type track transmission mechanism; a cultivation trough cleaning module, for cleaning the cultivation troughs after harvesting; a water and fertilizer supply module, for supplying liquid fertilizer to each cultivation trough; and a mobile cultivation control module, for determining the traction speed of the cultivation trough based on leafy vegetable growth data, and determining the water circulation speed based on the utilization of the liquid fertilizer in each cultivation trough. The present invention improves the degree of automation in leafy vegetable cultivation.

Description

Technical Field

[0001] The present invention relates to the technical field of soilless cultivation equipment, and in particular to a mobile leafy vegetable cultivation system. Background Art

[0002] In modern agriculture, efficient cultivation of leafy vegetables is key to meeting market demand. Traditional leafy vegetable cultivation methods often suffer from problems such as low space utilization, inconvenient management, long growth cycles, low yields, and uneven quality.

[0003] Chinese patent application publication number CN116616162A discloses a soilless cultivation trough and its cultivation control system, comprising: a main trough, which is a box-shaped structure with an inlet and an outlet provided on the sidewall of the main trough to form a fluid flow in the main trough; a hole trough assembly suspended in the main body sleeve, with two sets of hole trough assemblies arranged symmetrically on the main trough, and a space reserved between the hole trough assemblies for installing a control assembly; a control assembly placed in the middle of the main trough, with two correspondingly suspended on the main trough openings on both sides, and a sensor and a pump body structure provided in the control assembly; a lighting assembly correspondingly placed on the control assembly, and the lighting assembly is distributed along the edge of the main trough. The control assembly and the lighting assembly are driven by a screw rod to facilitate installation and installation. The height of the lighting assembly can be adjusted, and the deflection of the lighting assembly can provide radiant light to the crop. The height of the hole plate and the fixed plate can be adjusted to provide space for root growth. As can be seen from this, the above cultivation system belongs to the hole cultivation method, which has the following problems: low degree of automation, inconvenience in sowing due to the inability to automatically move, and inability to automatically harvest leafy vegetables. Summary of the Invention

[0004] To this end, the present invention provides a mobile leafy vegetable cultivation system to overcome the problem in the prior art that the fixed cultivation bed has a low degree of automation and cannot automatically harvest leafy vegetables.

[0005] To achieve the above object, the present invention provides a mobile leafy vegetable cultivation system, comprising:

[0006] A traction-type cultivation module, which is used to automatically plant leafy vegetables and transport them from the planting end to the harvesting end within a set growth cycle, includes a traction-type track transmission mechanism arranged between the planting end and the harvesting end, a cultivation trough arranged on the traction track for fixing the leafy vegetables, and a plurality of planting cups placed in the planting holes of the cultivation trough for planting the leafy vegetables;

[0007] A cultivation trough transport module is connected to the traction cultivation module and is used to place / remove a single cultivation trough on the traction track conveyor mechanism and to transport the cultivation trough between the planting end and the harvesting end of the traction track conveyor mechanism;

[0008] A cultivation tank cleaning module, which is connected to the cultivation tank transport module and is used to clean the cultivation tank after harvesting;

[0009] A water and fertilizer supply module, connected to the traction-type cultivation module, for supplying liquid water and fertilizer to each cultivation trough;

[0010] The mobile cultivation control module is respectively connected to the traction cultivation module, the cultivation trough transport module and the water and fertilizer supply module, and is used to determine the cultivation trough traction speed of the traction track transmission mechanism according to the leafy vegetable growth data, and to determine the water circulation speed according to the utilization of water and fertilizer in each cultivation trough.

[0011] Furthermore, the traction-type track transmission mechanism includes:

[0012] Seedbed steel frame, used to support the cultivation trough;

[0013] The traction track is arranged on the seedbed steel frame, and includes a plurality of ratchet-type traction chains arranged in parallel on the upper surface of the seedbed steel frame, a rotating component for driving the traction chain to rotate, and a driving motor for driving the rotating component to move.

[0014] Furthermore, the cultivation trough transport module includes:

[0015] A gantry-type movable frame is arranged above the steel frame of the seedbed and parallel to the cultivation trough so as to move between the planting end and the harvesting end of the cultivation trough;

[0016] Moving rails, which are provided at both ends of the gantry-type moving frame in contact with the steel frame of the seedling bed, for guiding the moving path of the gantry-type moving frame;

[0017] The transport motor is arranged on the gantry type moving frame and is used for driving the rotating wheels at both ends of the gantry type moving frame to move so that the gantry type moving frame moves on the moving track.

[0018] Furthermore, the cultivation trough is a rectangular box-shaped hollow structure, the top surface of which is provided with a plurality of through planting holes for placing planting cups, and the bottom of which is provided with a positioning clamping part that cooperates with the ratchet-type traction chain to form a fixed connection with the ratchet-type traction chain.

[0019] Furthermore, the water and fertilizer supply module identifies changes in the level of the water and fertilizer in the cultivation tank after the planting cup is placed and changes in the fertilizer content in the water.

[0020] Furthermore, the water and fertilizer supply module includes:

[0021] A liquid level sensor is provided in each cultivation tank to identify the liquid level of the water fertilizer in the cultivation tank;

[0022] A water and fertilizer supply tank for storing liquid fertilizer;

[0023] a liquid supply pump connected to the water and fertilizer supply tank and each of the cultivation tanks, for pumping liquid water and fertilizer into each of the cultivation tanks;

[0024] The recovery tank is connected to each of the cultivation tanks and is used to store the water circulating back in the cultivation tank.

[0025] Furthermore, it also includes:

[0026] a visual recognition module connected to the cultivation trough transport module, configured to determine position information of the cultivation trough and a first cleanliness level of the appearance of the cultivation trough based on the acquired image information of the cultivation trough;

[0027] a clean data recognition module connected to the visual recognition module and configured to determine a second cleanliness level of the cultivation trough based on the weight data of the cultivation trough;

[0028] A mobile control module is connected to the cultivation trough transport module and the cultivation trough cleaning module respectively, and is used to determine whether the cleanliness of the cultivation trough meets the transportation standard based on the first cleanliness and the second cleanliness, and to determine the transportation position of the cultivation trough based on the judgment result of the transportation standard.

[0029] Furthermore, it also includes:

[0030] a growth detection module connected to the cultivation trough transport module, for acquiring images of the leafy vegetables on the planting cups to determine growth data of the leafy vegetables, the growth data including growth height, growth rate, and health status of the leafy vegetables;

[0031] The mobile cultivation control module is further configured to adjust a circulation speed of the liquid water fertilizer based on the growth data.

[0032] Furthermore, the mobile cultivation control module is used to determine a growth compliance rate according to the growth rate of the leafy vegetables in each cultivation trough and the corresponding preset speed, and to determine the traction speed of the cultivation trough based on the growth compliance rate.

[0033] Furthermore, the mobile cultivation control module is further configured to adjust cleaning parameters of the cultivation and cleaning module according to the first cleanliness and the second cleanliness.

[0034] Compared with the prior art, the beneficial effect of the present invention is that the present invention uses a traction-type mobile transport for the seedbed of leafy vegetables, and can automatically harvest leafy vegetables at the harvesting end according to the growth cycle of the leafy vegetables, thereby avoiding manual transportation and improving the degree of automation of cultivation. In addition, by adopting a cultivation trough transport module to transport the cultivation trough between the planting end and the harvesting end, the cultivation trough can be utilized to the greatest extent, thereby improving the production efficiency of the cultivation system and further improving the degree of automation of the cultivation system.

[0035] Furthermore, the mobile leafy vegetable cultivation system of the present invention optimizes the cultivation environment and improves the quality of leafy vegetables through mobile leafy vegetable cultivation, thereby achieving uninterrupted production of crops in a year-round cycle.

[0036] Furthermore, the mobile leafy vegetable cultivation system of the present invention can be precisely controlled through the Internet of Things, which can reduce manpower and external interference, achieve maximum utilization of space and time, and improve crop cultivation production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a structural block diagram of a mobile leafy vegetable cultivation system according to an embodiment of the present invention;

[0038] Figure 2 This is a schematic diagram of the main structure of a mobile leafy vegetable cultivation system according to an embodiment of the present invention;

[0039] Figure 3 This is an enlarged structural diagram of part B of the mobile leafy vegetable cultivation system according to an embodiment of the present invention;

[0040] Figure 4 A schematic diagram of a moving track of a mobile leafy vegetable cultivation system according to an embodiment of the present invention;

[0041] Figure 5 This is a left-side structural schematic diagram of a mobile leafy vegetable cultivation system according to an embodiment of the present invention;

[0042] Figure 6 This is a three-dimensional schematic diagram of a mobile leafy vegetable cultivation system according to an embodiment of the present invention;

[0043] Figure 7 This is a transport logic diagram of a mobile leafy vegetable cultivation system according to an embodiment of the present invention;

[0044] In the figure: 1, seedbed steel frame; 2, traction chain; 3, rotating assembly; 4, driving motor; 5, gantry mobile frame; 6, mobile track; 7, transport motor. DETAILED DESCRIPTION

[0045] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are merely used to explain the present invention and are not intended to limit the present invention.

[0046] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0047] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside", and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0048] Furthermore, it should be noted that, in the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0049] See also Figure 1-Figure 7 As shown, an embodiment of the present invention provides a mobile leafy vegetable cultivation system, comprising:

[0050] A traction-type cultivation module, which is used to automatically plant leafy vegetables and transport them from the planting end to the harvesting end within a set growth cycle, includes a traction-type track transmission mechanism arranged between the planting end and the harvesting end, a cultivation trough arranged on the traction track for fixing the leafy vegetables, and a plurality of planting cups placed in the planting holes of the cultivation trough for planting the leafy vegetables;

[0051] A cultivation trough transport module is connected to the traction cultivation module and is used to place / remove a single cultivation trough on the traction track conveyor mechanism and to transport the cultivation trough between the planting end and the harvesting end of the traction track conveyor mechanism;

[0052] A cultivation tank cleaning module, which is connected to the cultivation tank transport module and is used to clean the cultivation tank after harvesting;

[0053] A water and fertilizer supply module, connected to the traction-type cultivation module, for supplying liquid water and fertilizer to each cultivation trough;

[0054] The mobile cultivation control module is respectively connected to the traction cultivation module, the cultivation trough transport module and the water and fertilizer supply module, and is used to determine the cultivation trough traction speed of the traction track transmission mechanism according to the leafy vegetable growth data, and to determine the water circulation speed according to the utilization of water and fertilizer in each cultivation trough.

[0055] The present invention uses a traction-type mobile transport for the seedbed of leafy vegetables, and can automatically harvest the leafy vegetables at the harvesting end according to the growth cycle of the leafy vegetables, thereby avoiding manual transport and improving the degree of automation of cultivation. In addition, by adopting a cultivation trough transport module to transport the cultivation trough between the planting end and the harvesting end, the cultivation trough can be utilized to the greatest extent, thereby improving the production efficiency of the cultivation system and further improving the degree of automation of the cultivation system.

[0056] Specifically, the traction type track transmission mechanism includes:

[0057] Seedbed steel frame 1, which is used to support the cultivation trough;

[0058] The traction track is arranged on the seedbed steel frame, and includes a plurality of ratchet-type traction chains 2 arranged in parallel on the upper surface of the seedbed steel frame, a rotating component 3 for driving the traction chain to rotate, and a driving motor 4 for driving the rotating component to move.

[0059] It can be understood that in the cultivation room, the number of the traction-type track transmission mechanisms can be several, which can be arranged on the same plane or arranged in parallel along the height direction. No specific restrictions are made on the number and form. Those skilled in the art can make adaptive layouts according to the actual cultivation scenarios. As long as the corresponding functions can be achieved, they will not be elaborated here.

[0060] Specifically, the cultivation trough transport module includes:

[0061] A gantry-type movable frame 5 is arranged above the steel frame of the seedbed and parallel to the cultivation trough to move between the planting end and the harvesting end of the cultivation trough;

[0062] Moving rails 6, which are provided at both ends of the gantry-type moving frame in contact with the steel frame of the seedling bed, for guiding the moving path of the gantry-type moving frame;

[0063] The transport motor 7 is provided on the gantry-type moving frame and is used to drive the rotary wheels at both ends of the gantry-type moving frame to move so that the gantry-type moving frame 5 moves on the moving track 6 .

[0064] Specifically, the cultivation trough is a rectangular box-shaped hollow structure 7, the top surface of which is provided with a plurality of through planting holes for placing planting cups, and the bottom is provided with a positioning clamping part that cooperates with the ratchet-type traction chain to form a fixed connection with the ratchet-type traction chain.

[0065] It is understandable that the present invention does not limit the specific implementation structure of the pawl and the positioning clamping portion, as long as it can enable the pawl and the positioning clamping portion to cooperate to form a detachable fixed connection, and no specific limitation is made here.

[0066] Specifically, the water and fertilizer supply module identifies changes in the level of the water and fertilizer in the cultivation tank after the planting cup is placed and changes in the fertilizer content in the water.

[0067] In implementation, the water and fertilizer supply module may include a liquid level meter and an element content detector. The liquid level meter is used to detect the liquid level of the water fertilizer in the cultivation trough, and the element content detector is used to detect the fertilizer content in the water. Through continuous detection, the changes in the liquid level of the water fertilizer and the changes in the fertilizer content in the water can be obtained.

[0068] Specifically, the water and fertilizer supply module includes:

[0069] The liquid level sensor is arranged in each cultivation trough to identify the liquid level of the water fertilizer in the cultivation trough; preferably, it can be a liquid level meter.

[0070] A water and fertilizer supply tank for storing liquid fertilizer;

[0071] a liquid supply pump connected to the water and fertilizer supply tank and each of the cultivation tanks, for pumping liquid water and fertilizer into each of the cultivation tanks;

[0072] The recovery tank is connected to each of the cultivation tanks and is used to store the water circulating back in the cultivation tank.

[0073] It can be understood that the liquid supply pump is used to pump the liquid fertilizer in the water and fertilizer supply tank into the cultivation tank, so that the bottom of the planting cup is in contact with the liquid fertilizer, and the leafy vegetables absorb the water and nutrients in the liquid fertilizer. When the nutrient elements are too low, new liquid fertilizer is continuously extracted through the liquid supply pump for replenishment, replacing the old liquid with too low nutrient elements and recycling it to the recovery tank for storage.

[0074] In another embodiment, the mobile leafy vegetable cultivation system further comprises:

[0075] a visual recognition module connected to the cultivation trough transport module, configured to determine position information of the cultivation trough and a first cleanliness level of the appearance of the cultivation trough based on the acquired image information of the cultivation trough;

[0076] a clean data recognition module connected to the visual recognition module and configured to determine a second cleanliness level of the cultivation trough based on the weight data of the cultivation trough;

[0077] A mobile control module is connected to the cultivation trough transport module and the cultivation trough cleaning module respectively, and is used to determine whether the cleanliness of the cultivation trough meets the transportation standard based on the first cleanliness and the second cleanliness, and to determine the transportation position of the cultivation trough based on the judgment result of the transportation standard.

[0078] Specifically, the position information of the cultivation trough is used to locate the current position of the cultivation trough. It can determine the three-dimensional size and specific position data of the cultivation trough through image acquisition, so that the cultivation trough transportation module can obtain the accurate position of each cultivation trough.

[0079] It can be understood that the first cleanliness is determined based on the image features in the image of the inner wall of the cultivation trough collected by the visual recognition module. It can be understood that the area of ​​the residue in the image of the inner wall of the cultivation trough can be obtained by training the image data, and the first cleanliness of the cultivation trough is determined by the ratio of the area of ​​the residue on the inner wall of the cultivation trough after cleaning to the area of ​​the inner wall in the image, that is, the first cleanliness is the ratio of the area of ​​the residue to the area of ​​the inner wall in the image, and the first cleanliness is less than or equal to 1.

[0080] Specifically, a weight detector may be provided in the cleaning data identification module, and the second cleanliness level is the ratio of the initial weight of each cultivation trough to the actual weight after cleaning, and the second cleanliness level is less than or equal to 1.

[0081] In implementation, the mobile control module determines and calculates a cleanliness characteristic value based on the first cleanliness and the second cleanliness, compares the cleanliness characteristic value with a preset threshold, and determines whether the cleanliness of the cultivation trough meets the transportation standard based on the comparison result;

[0082] Specifically, the cleaning characteristic value is the product of the first cleanliness and the second cleanliness. The preset threshold is set according to actual needs. Usually, the preset threshold is set to 0.8 to 0.9. Preferably, the preset threshold is set to 0.85.

[0083] If the cleaning characteristic value is less than the preset threshold, it is determined that the cleaning of the cultivation tank does not meet the transportation standard and needs to be cleaned again. At this time, the cultivation tank cleaning module can use a larger cleaning parameter to clean the cultivation tank again;

[0084] If the cleaning characteristic value is greater than or equal to the preset threshold, it is determined that the cleanliness of the cultivation trough meets the transportation standards. The cultivation trough transport module can be controlled to transport the cultivation trough to the planting end and placed in the corresponding ratchet position for positioning and installation through visual recognition.

[0085] In another embodiment, the mobile leafy vegetable cultivation system further comprises:

[0086] a growth detection module connected to the cultivation trough transport module, for acquiring images of the leafy vegetables on the planting cups to determine growth data of the leafy vegetables, the growth data including growth height, growth rate, and health status of the leafy vegetables;

[0087] The mobile cultivation control module is further configured to adjust a circulation speed of the liquid water fertilizer based on the growth data.

[0088] Specifically, the mobile cultivation control module determines whether to adjust the circulation speed of the liquid water and fertilizer according to the consistency of the growth speed of the leafy vegetables in each cultivation tank within a preset period;

[0089] If the growth rate of the leafy vegetables in each cultivation tank meets or exceeds the corresponding growth range, it is determined that there is no need to adjust the circulation speed of the liquid fertilizer, and the liquid fertilizer is pumped at the current liquid supply speed;

[0090] If the growth rate of the leafy vegetables in each cultivation trough is lower than the corresponding growth range, it is determined that the circulation speed of the liquid water fertilizer needs to be adjusted, and the current liquid supply speed is increased to pump the liquid water fertilizer.

[0091] In another embodiment, the health status of the leafy vegetables can be determined based on the area of ​​the characteristic region in the image of the leafy vegetables, and the circulation speed of the liquid fertilizer can be adjusted according to the health status;

[0092] Among them, the characteristic areas include yellowed areas and insect-eaten areas. The corresponding characteristic area is obtained through image training. The health status of leafy vegetables is the ratio of the characteristic area to the image area.

[0093] If the area of ​​the characteristic region accounts for a proportion of the image area that is greater than or equal to the preset area, it is determined that the circulation speed of the liquid fertilizer needs to be adjusted, and the current liquid supply speed is increased to pump the liquid fertilizer;

[0094] If the area of ​​the feature region accounts for a smaller proportion of the image area than the preset area, it is determined that there is no need to adjust the circulation speed of the liquid fertilizer.

[0095] Specifically, the mobile cultivation control module is used to determine a growth compliance rate according to the growth rate of the leafy vegetables in each cultivation trough and the corresponding preset speed, and to determine the traction speed of the cultivation trough based on the growth compliance rate.

[0096] Specifically, the ratio of the growth rate of the leafy vegetables in each cultivation trough to the preset standard rate is calculated respectively, and the growth compliance rate is calculated based on the ratio of the number of ratios greater than 0.9 in each cultivation trough to the total number of tractions in each cultivation trough;

[0097] If the growth compliance rate is greater than or equal to the preset growth compliance rate, the pulling speed of the cultivation trough does not need to be adjusted and is set at the preset pulling speed;

[0098] If the growth compliance rate is less than the preset growth compliance rate, the traction speed of the cultivation trough needs to be adjusted, and the adjusted traction speed is calculated by multiplying the preset traction speed by the growth compliance rate.

[0099] It is understood that the preset traction speed is the speed at which leafy vegetables meeting the harvesting criteria can be obtained at the harvesting end when the cultivation trough is towed from the planting end to the harvesting end at the preset traction speed. For example, if it takes 25 days for leafy vegetables to grow to meet the harvesting criteria from planting, and the length of the traction track is 100 meters, the traction speed is 100 meters / 25 days, or 4 meters / day.

[0100] Specifically, the mobile cultivation control module is further configured to adjust the cleaning parameters of the cultivation and cleaning module according to the first cleanliness and the second cleanliness.

[0101] In an embodiment, the mobile cultivation control module is further configured to calculate a cleaning characteristic value according to the first cleanliness and the second cleanliness, and adjust the cleaning parameters of the cultivation and cleaning module according to the cleaning characteristic value;

[0102] Among them, the cleaning characteristic value is negatively correlated with the cleaning intensity parameter.

[0103] It is understood that the cleaning characteristic value indicates the cleanliness of the cultivation trough. The smaller the cleaning characteristic value, the poorer the cleanliness of the cultivation trough. In this case, the cleaning intensity can be enhanced by increasing the cleaning water flow rate, increasing the cleaning water pressure, or increasing the brushing intensity and speed. Those skilled in the art can set these according to the actual cleaning scenario, and will not be detailed here.

[0104] Thus far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present invention.

Claims

1. A mobile leafy vegetable cultivation system, characterized in that: include: A traction-type cultivation module, which is used to automatically plant leafy vegetables and transport them from the planting end to the harvesting end within a set growth cycle, includes a traction-type track transmission mechanism arranged between the planting end and the harvesting end, a cultivation trough arranged on the traction track for fixing the leafy vegetables, and a plurality of planting cups placed in the planting holes of the cultivation trough for planting the leafy vegetables; A cultivation trough transport module, connected to the traction-type cultivation module, is used to place / remove a single cultivation trough on the traction-type track conveyor mechanism, and to transport the cultivation trough between the planting end and the harvesting end of the traction-type track conveyor mechanism; A cultivation tank cleaning module, which is connected to the cultivation tank transport module and is used to clean the cultivation tank after harvesting; A water and fertilizer supply module, connected to the traction-type cultivation module, for supplying liquid water and fertilizer to each cultivation trough; a mobile cultivation control module, which is respectively connected to the traction cultivation module, the cultivation trough transport module and the water and fertilizer supply module, and is used to determine the cultivation trough traction speed of the traction track transmission mechanism according to the leafy vegetable growth data, and determine the water circulation speed according to the utilization of the water and fertilizer in each cultivation trough, wherein the mobile cultivation control module respectively calculates the ratio of the growth rate of the leafy vegetables in each cultivation trough to the preset standard rate, and calculates the growth compliance rate based on the ratio of the number of ratios greater than 0.9 among the ratios of each cultivation trough to the total number of tractions of each cultivation trough; if the growth compliance rate is less than the preset growth compliance rate, the traction speed of the cultivation trough needs to be adjusted, and the adjusted traction speed is calculated as the product of the preset traction speed and the growth compliance rate; a visual recognition module connected to the cultivation trough transport module, configured to determine position information of the cultivation trough and a first cleanliness level of the appearance of the cultivation trough based on the acquired image information of the cultivation trough; a clean data recognition module connected to the visual recognition module and configured to determine a second cleanliness level of the cultivation trough based on the weight data of the cultivation trough; A mobile control module is respectively connected to the cultivation trough conveying module and the cultivation trough cleaning module, and is used to determine whether the cleanliness of the cultivation trough meets the transportation standard based on the first cleanliness and the second cleanliness, and to determine the transportation position of the cultivation trough based on the judgment result of the transportation standard. The mobile cultivation control module is also used to adjust the cleaning parameters of the cultivation trough cleaning module according to the first cleanliness and the second cleanliness, wherein the cleaning characteristic value is the product of the first cleanliness and the second cleanliness, and the cleaning characteristic value is negatively correlated with the cleaning intensity parameter.

2. The mobile leafy vegetable cultivation system according to claim 1, characterized in that: The traction type track transmission mechanism includes: Seedbed steel frame, used to support the cultivation trough; The traction track is arranged on the seedbed steel frame, and includes a plurality of ratchet-type traction chains arranged in parallel on the upper surface of the seedbed steel frame, a rotating component for driving the traction chain to rotate, and a driving motor for driving the rotating component to move.

3. The mobile leafy vegetable cultivation system according to claim 2, characterized in that: The cultivation trough transport module includes: A gantry-type movable frame is arranged above the steel frame of the seedbed and parallel to the cultivation trough so as to move between the planting end and the harvesting end of the cultivation trough; Moving rails, which are provided at both ends of the gantry-type moving frame in contact with the steel frame of the seedling bed, for guiding the moving path of the gantry-type moving frame; The transport motor is arranged on the gantry type moving frame and is used for driving the rotating wheels at both ends of the gantry type moving frame to move so that the gantry type moving frame moves on the moving track.

4. The mobile leafy vegetable cultivation system according to claim 3, characterized in that: The cultivation trough is a rectangular box-shaped hollow structure, the top surface of which is provided with a plurality of through planting holes for placing planting cups, and the bottom of which is provided with a positioning clamping part that cooperates with the ratchet-type traction chain to form a fixed connection with the ratchet-type traction chain.

5. The mobile leafy vegetable cultivation system according to claim 4, characterized in that: The water and fertilizer supply module identifies changes in the level of the water and fertilizer in the cultivation tank after the planting cup is placed and changes in the fertilizer content in the water.

6. The mobile leafy vegetable cultivation system according to claim 5, characterized in that: The water and fertilizer supply module includes: A liquid level sensor is provided in each cultivation tank to identify the liquid level of the water fertilizer in the cultivation tank; A water and fertilizer supply tank for storing liquid fertilizer; a liquid supply pump connected to the water and fertilizer supply tank and each of the cultivation tanks, for pumping liquid water and fertilizer into each of the cultivation tanks; The recovery tank is connected to each of the cultivation tanks and is used to store the water circulating back in the cultivation tank.

7. The mobile leafy vegetable cultivation system according to claim 1, characterized in that: Also includes: a growth detection module connected to the cultivation trough transport module, for acquiring images of the leafy vegetables on the planting cups to determine growth data of the leafy vegetables, the growth data including growth height, growth rate, and health status of the leafy vegetables; The mobile cultivation control module is further configured to adjust a circulation speed of the liquid water fertilizer based on the growth data.

8. The mobile leafy vegetable cultivation system according to claim 7, characterized in that: The mobile cultivation control module is used to determine a growth compliance rate according to the growth rate of the leafy vegetables in each cultivation trough and the corresponding preset speed, and to determine the pulling speed of the cultivation trough based on the growth compliance rate.

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