Self-adaptive multi-layer transfer planting factory vertical logistics system and method

Abstract

The invention discloses a planting factory vertical logistics system and method for self-adaptive multi-layer transfer, and the system comprises a bearing part which is configured to vertically lift along the tail end of a multi-layer planting frame; the driving mechanism is connected with the bearing part and used for driving the bearing part to ascend and descend; the control module is in communication connection with the driving mechanism; wherein the vertical logistics system at least has two working states: a first transfer state: the bearing part is configured to bear and transfer the harvesting equipment capable of autonomously moving on the multi-layer planting frame; the control module is used for obtaining the pose information and controlling the driving mechanism, so that a height difference is formed between the bearing part and the target stopping layer when the bearing part stops, and collision-free transfer of the harvesting equipment between the bearing part and the target stopping layer is realized; in the second transfer state, the bearing part is configured to transfer the harvested materials, two core requirements of dispatching of the harvesting equipment and conveying of the harvested materials are synchronously met through a set of integrated system, the transfer collision risk in a multi-layer space is overcome by utilizing a self-adaptive precise butt joint technology, and the transportation efficiency is improved. Therefore, the automation efficiency and the space utilization rate of a planting factory are comprehensively improved.

Description

TECHNICAL FIELD

[0001] The patent relates to the field of automatic transfer of agricultural products, in particular to a vertical logistics system and method for adaptive multi-layer transfer of a planting factory. BACKGROUND

[0002] With the development of modern agricultural technology, the industrial planting mode of edible fungi has become mature. Under this background, stable and efficient automation has become the key to industrial upgrading. The picking operation of double-spore mushrooms and other edible fungi has the characteristics of high repeatability, high labor intensity, strict timeliness requirements, etc., making it an ideal application scenario for agricultural robot technology. In recent years, replacing manual work with robot technology for mushroom picking has become an industry consensus, and various technical solutions have emerged to address the core pain points of high labor costs, efficiency fluctuations, and labor shortages.

[0003] In the existing public solutions, CN113940239B provides a representative intelligent picking system. The system constructs a collaborative operation system composed of automatic picking robots, unattended material receiving devices and automatic layer changing devices. Its innovation lies in the automatic layer changing device with a flow chain, which realizes the transfer of picking robots or material baskets between different levels, thereby expanding the working range of a single robot to a certain extent. However, the vertical transportation module of this scheme has obvious limitations: first, relying on chain transmission and multiple tray structure, the entire layer changing device extends to the side of the planting rack, which is complex in structure and occupies a large space, which is contrary to the fundamental demand of planting factory to pursue the ultimate space utilization rate, and seriously affects the workers' work between planting racks; second, the continuous chain transmission mode may limit the flexibility and parallel processing capacity of its transportation scheduling, making it difficult to achieve efficient and rapid response of multiple devices and materials. Another solution disclosed by US2020040485A1 shows a highly integrated technical path. The "automatic harvester" integrates a support positioning frame, a visual scanning system, a mechanical picking system and a central control system into one, forming a comprehensive robot platform that can move autonomously between mushroom beds. This highly integrated design reflects a high level of automation, but its drawbacks are also significant: the system complexity and manufacturing cost increase exponentially. Carrying all functional modules such as visual recognition, precise grabbing, root cutting, and material storage on a mobile chassis not only leads to a bloated robot structure and increased power consumption, but also hides an efficiency bottleneck due to its complex sequential work process. Any failure in any link can cause the entire system to shut down, posing serious challenges to maintenance costs and reliability. In addition, the mushroom picking robot use method disclosed in CN113179863A represents a relatively concentrated solution. This type of solution focuses on the core picking actions of the robot body such as movement, recognition and grabbing, and completes the preliminary collection of mushrooms through a track trolley and a conveyor belt. Although it achieves automation in specific links, the entire system has the defects of low functional modularity and insufficient collaboration. Specifically, the system lacks an efficient, centralized logistics scheduling core and fails to integrate the cross-layer scheduling of picking devices (such as picking cars and transfer cars) with the vertical transportation of materials (such as fresh mushrooms and waste roots). At the same time, the subsequent finishing steps such as root cutting and sorting are often ignored or require additional manual intervention, causing "breakpoints" in the automated process and failing to achieve end-to-end automation from picking to delivery.

[0004] In summary, the prior art is faced with a difficult contradiction: in order to realize the vertical transportation system of cross-layer operation, the structure is often cumbersome, sacrificing the space economy; and the integrated robot platform with complete functions faces the challenges of cost and reliability due to high complexity; as for the single function picking scheme, it cannot form a closed-loop automation due to poor system synergy. Therefore, the multi-layer vertical agriculture field urgently needs a new system architecture, which can realize efficient and flexible vertical transportation of picking equipment and materials, has the characteristics of compact structure and controllable cost, and can seamlessly cooperate with multiple operation units such as picking, root cutting, sorting and transfer, thereby truly breaking through the current bottleneck of mushroom picking robot system in efficiency, cost and space adaptability. SUMMARY

[0005] The purpose of the patent is to provide a self-adaptive multi-layer transfer planting factory vertical logistics system and method, which aims to simultaneously solve the two core needs of picking equipment scheduling and picking material transportation through an integrated integrated system, and overcome the transfer collision risk in multi-layer space by using self-adaptive precise docking technology, thereby improving the automation efficiency and space utilization of the planting factory.

[0006] To solve the above technical problems, the patent uses the following technical solutions: A self-adaptive multi-layer transfer planting factory vertical logistics system, comprising: a bearing part configured to vertically lift along the end of a multi-layer planting rack; a driving mechanism connected with the bearing part for driving the bearing part to lift; a control module in communication connection with the driving mechanism; wherein the vertical logistics system has at least two working states: The first transfer state: the bearing part is configured to carry and transfer the picking equipment that can move autonomously on the multi-layer planting rack; The second transfer state: the bearing part is configured to transfer the picking material.

[0007] Further, the bearing part is configured to have a sunken collection space.

[0008] Further, the driving mechanism is a winch mechanism.

[0009] Further, the driving mechanism includes a driving motor.

[0010] Further, it also contains a rope winch driven by the driving motor.

[0011] Further, it also contains a rigging with one end wound on the rope winch and the other end connected to the bearing part.

[0012] Further, in the first transfer state, the control module controls the driving mechanism to form a height difference between the target landing layer and the carrying part at the time of parking, so as to realize the collision-free transfer of the harvesting device between the two: when the harvesting device needs to move from the target landing layer to the carrying part, control the carrying part to stop at a position where the carrying surface is slightly lower than the docking surface of the target landing layer.

[0013] Further, when the harvesting device needs to move from the carrying part to the target landing layer, control the carrying part to stop at a position where the carrying surface is slightly higher than the docking surface of the target landing layer.

[0014] Further, the height difference between the carrying part and the target landing layer when stopping is 3-15 mm.

[0015] Further, it further comprises a containing member which is removably accommodated in the collection space.

[0016] A vertical logistics method of a self-adaptive multi-layer transfer planting factory, which applies the vertical logistics system, comprises: a) Selecting a first transfer state or a second transfer state according to the type of the object to be transferred; b) In the first transfer state: -obtaining the pose information between the carrying part and the target landing layer; -controlling the carrying part to stop at a predetermined height difference based on the pose information to form a micro-step docking; -completing the driving out / driving in of the harvesting device between the carrying part and the target landing layer; c) In the second transfer state: -controlling the carrying part and the target landing layer to be basically in the same height docking; -completing the receiving and transferring of the material.

[0017] Further, directly receiving the material comprises: controlling the harvesting device located in the target landing layer to extend the loading part towards the carrying part; wherein the bottom of the loading part is provided with a flap, and the free end of the flap gradually falls during the extension process, so that the material directly falls into the collection space of the carrying part.

[0018] Further, forming a micro-step docking is specifically forming a collision-free docking state, comprising: when the harvesting device needs to drive into the carrying part, controlling the carrying part to stop at a position where the carrying surface is slightly lower than the docking surface of the target landing layer to form a receiving step; when the harvesting device needs to drive out of the carrying part, controlling the carrying part to stop at a position where the carrying surface is slightly higher than the docking surface of the target landing layer to form a release drop.

[0019] The present patent provides a vertical logistics system and method for a multi-layer planting system, which has the following beneficial effects compared with the prior art: 1. Function integration and space intensification: Achieving efficient logistics hub with "one elevator for two purposes" The vertical scheduling of harvesting equipment and the vertical transportation of harvested materials are integrated into a unified vertical logistics system, achieving "one elevator for two purposes". This completely changes the complex situation in traditional systems where independent lifting devices need to be set up for equipment and materials, simplifying the system architecture. Due to functional integration, the system can be compactly arranged at the end of the planting rack, occupying only the minimum longitudinal space, avoiding the problem of installing large chains or lifting mechanisms on the side or inside of the planting rack, freeing up the aisle space of the planting factory and improving space utilization.

[0020] 2. Intelligent docking and safe transfer: fundamentally eliminating collisions and losses

[0021] Self-adaptive collision-free docking: through closed-loop control of the control module, pose detection, and driving mechanism, the system can dynamically adjust the carrying part to a precise position slightly lower (forming a receiving step) or slightly higher (forming a release drop) than the target stop layer according to the load transfer direction. This "micro-step" docking fundamentally eliminates the risk of collisions, scratches, or drop impacts between the equipment and the interface edge during the transfer process, ensuring the long-term operation safety and service life of the harvesting equipment. At the same time, this design allows the equipment transfer process to be as smooth as walking on flat ground, without the need for complex alignment or additional buffer mechanisms, significantly improving equipment scheduling efficiency and shortening non-harvesting operation time.

[0022] 3. Flexibility and automation of material transfer: improving the efficiency of the back-end process

[0023] The system has the ability to handle multiple types of materials in the material transfer state. It can receive bulk materials through the collection space of the carrying part, achieving rapid dumping and collection, and can also achieve rapid packaging through specific shaped containers. This design allows harvested mushrooms to be immediately and classifiedly sent into the vertical logistics channel, achieving seamless connection from harvesting, root cutting to material delivery, forming a complete automated closed loop, and reducing manual transfer links.

[0024] 4. Significant improvement in system reliability and economy

[0025] Compared with bulky robots with full integration of functions or complex chain-type layer-changing devices, the system has a more simple structure, and the core components (such as the winch mechanism) are mature and reliable, which directly leads to a reduction in manufacturing and maintenance costs. Clear functional division and simple mechanical structure reduce the complexity and number of fault points of the system. The intelligent docking mechanism also reduces equipment damage and downtime for repair due to collisions, thereby improving the operational reliability and production efficiency of the entire planting factory.

[0026] 5. Realize man-machine space separation, maximize the protection of valuable artificial operation space

[0027] In the current planting factory, full automation is still a gradual process, and manual inspection, maintenance and emergency treatment are still indispensable. Therefore, the main aisle between the planting racks is the core strategic resource to ensure production flexibility and reliability. The system realizes the physical separation of the logistics channel and the artificial channel by accurately integrating the vertical logistics function at the "end" of the planting rack. This layout fundamentally avoids the situation that large, mobile automated equipment and inspection workers compete for the space of the main aisle in traditional schemes. Workers can freely pass and work in the spacious and safe aisle without worrying about collisions with the automated transportation system or waiting, which not only ensures personal safety, but also ensures the independence and efficiency of manual operation. The design also provides a smooth upgrade path for the planting factory. Plant managers do not need to sacrifice the existing manual operation mode or make a radical change to the plant layout for the deployment of an automated logistics system. The automated system runs "quietly" at the end, and the manual operation is free in the front channel, achieving a perfect balance between "machine for people" and "man-machine cooperation". The system has high applicability in the modification of existing factories and the construction of new factories.

[0028] In summary, the patent successfully realizes the coordinated optimization of space utilization, operation efficiency, equipment safety and system economy through its integrated functional design, intelligent adaptive docking and flexible material handling capacity, providing a high-efficiency, reliable and cost-controllable vertical logistics solution for modern multi-layer planting systems. BRIEF DESCRIPTION OF DRAWINGS

[0029] The above content of the patent and the following detailed description will be better understood when read in conjunction with the accompanying drawings. It should be noted that the drawings are only examples of the claimed technical solutions.

[0030] Figure 1 is a three-dimensional schematic view of a multi-layer planting system; Figure 2 is a three-dimensional schematic view of a vertical logistics system of a multi-layer planting system; Figure 3 is a schematic view of a transfer car unloading.

[0031] Among them, the reference signs are explained as follows: 1: Vertical logistics system 2: Multi-layer planting rack 3: Transfer car 4: Picking car 101: Bearing part 102: Sling 103: Winch seat 104: receptacle 105: rope winch 302: loading portion 304: containment assembly 305: flap DETAILED DESCRIPTION

[0032] The detailed features and advantages of the present patent are described in detail in the detailed description, which is sufficient for any person skilled in the art to understand the technical content of the present patent and to implement it, and according to the description, claims and drawings disclosed in the specification, a person skilled in the art can easily understand the purposes and advantages related to the present patent.

[0033] The present specification also uses several composite terms to describe devices, elements, equipment, etc. containing more than one function, or to give additional functions to a certain corresponding device, element, equipment, etc., and a person skilled in the art understands that such composite terms can be implemented in a single or multiple devices, elements, equipment, etc. as long as it is reasonable under the interpretation rules of the terms of the present patent.

[0034] It should be noted that in the present specification, similar reference numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. In the present specification and claims, a plurality of terms will be mentioned, and unless otherwise indicated, these terms will be defined to have the following meanings: The term "comprising" or "having" has the same meaning as containing, also including other forms of the term, such as gerund and singular forms in English, meaning including but not limited to, and is not intended to exclude, for example, other elements, components, integers or steps; All other terms used herein are intended to have the general meaning understood by a person skilled in the art to which they belong, in particular the meaning that a person skilled in the art can directly and without doubt determine how to implement the technical solution of the present patent after reading the claims, description and drawings of the present patent.

[0035] Even if the grammar, words, punctuation, graphics, symbols, etc. in the claims, description and drawings of the present patent have not been described in detail, are missing or ambiguous, a person skilled in the art can still obtain the only correct understanding without much reasoning or testing by reading the claims, description and drawings as a whole, and effectively exclude all kinds of incorrect understanding methods not aimed at achieving the purpose of the present patent.

[0036] Those of ordinary skill in the art will recognize that, in this patent document and likely in documents incorporated herein by reference, the terms "including", "includes", "having", "has", "containing", "contains", or variants thereof do not exclude other without modifying such terms and the material described thereafter are in addition to that which the terms describe. Those having ordinary skill in the art will recognize that the term "coupled" is intended to mean either a direct connection between two elements, an indirect connection between two elements through one or more intermediate elements, or no connection between two elements. As such, the term "coupled" will be understood to encompass the use of terms such as "connected", "supported", "in communication with", "attached", "mounted", and "interfaced" where appropriate. As will be further appreciated by one skilled in the art, the specific mechanical, chemical, and / or electrical configurations, which are described herein, can differ from those because all such configurations must be compatible with the overall operational workings of a system, a process and / or apparatus. Those of ordinary skill in the art will recognize or be able to ascertain using no more than routine experimentation, the essential nature of the claimed subject matter. Such experiments and / or procedures are encompassed within the scope of the present disclosure.

[0037] All references cited in this application are incorporated by reference to the extent that they provide exemplary procedural or other details consistent with the present disclosure, in the event of an inconsistency between a reference and this disclosure, the disclosure in this document controls. It will be apparent to those of ordinary skill in the art that products (devices, elements, equipment, compounds, compositions, materials, etc.) and methods (processes, steps, conditions, parameters, apparatuses, and test methods, etc.) other than those specifically described herein can be employed in the practice of the presently disclosed subject matter without resort to undue experimentation, and that the best mode for carrying out the disclosure has been described. The present patent is intended to cover and include all such variations and modifications in the method and apparatus of the present disclosure that fall within the scope of the application. All references cited are: Marks' Standard Handbook for Mechanical Engineers (11th edition and other editions prior to the filing date of the present application) published by McGraw-Hill, Inc.; DeGarmo's Materials and Processes in Manufacturing (13th edition and other editions prior to the filing date of the present application) published by Wiley; Machinery's Handbook (32nd edition and other editions prior to the filing date of the present application) published by Industrial Press Inc.; Mechanical Design Handbook (6th edition and other editions prior to the filing date of the present application) edited by Cheng Daxian and published by Chemical Industry Press; Modern Machinery Design Handbook (6th edition and other editions prior to the filing date of the present application) edited by Wen Bangtun and published by Machinery Industry Press.

[0038] It should be noted that, in order to facilitate description and understanding, directional terms such as "left", "right", "up", "down", "axial", "transverse" and the like may be used in the patent file. These terms are described based on the orientation shown in the drawings or the relative position relationship of the components in the conventional use state, and cannot be understood as an absolute limitation on the protection scope of the present application. For those skilled in the art, in combination with the whole description and drawings, it can be understood that the essence of these directional descriptions is to clarify the relative connection and cooperation relationship of the components. Therefore, any equivalent transformation of the direction or position of the components based on the essential concept of the present application should be included in the protection scope of the claims of the present patent.

[0039] The vertical logistics system for the multi-layer planting system according to the present application will be described in detail below in combination with the drawings. Those skilled in the art can understand that the described embodiments are exemplary and are intended to explain the present application, but cannot be interpreted as a limitation on the present application.

[0040] Overview of vertical logistics system assembly

[0041] Referring to Figure 1 The multi-layer planting system according to the present application comprises a vertical logistics system 1, a multi-layer planting rack 2, and a transfer trolley 3 and a picking trolley 4 that can travel thereon. The vertical logistics system 1 is independently and compactly installed at the end of the multi-layer planting rack 2 (i.e. one end in the length direction of the planting rack), which layout ensures that it does not occupy the valuable lateral manual passage between the planting racks, and realizes the separation of logistics space and manual operation space.

[0042] Referring to Figure 2 As an independent functional module, the vertical logistics system 1 mainly comprises a bearing part 101, a rigging 102, a winch base 103, a driving motor (not shown in the figure, which is a conventional design), and a rope winch 105. As a centralized vertical hub, the system is responsible for scheduling harvesting equipment such as transfer trolleys and picking trolleys between different levels of the entire multi-layer planting rack, and transporting harvested mushrooms, waste roots and other materials.

[0043] The bearing part 101 is the working platform of the whole system and is the part directly in contact with the harvesting device or the material. The main body is a rigid frame structure welded or bolted by section steel (such as square steel pipe or angle steel). The frame structure ensures the overall stability and bearing capacity during lifting. The bearing part 101 is suspended by the rigging 102 and vertically moved by the driving mechanism. The middle sunken structure of the frame is configured as a collection space, and various forms of receiving members 104 can be placed in the collection space. The sunken collection space ensures that the bearing part can be docked without interference when the harvesting device enters. The steel structure around the bearing part can form a bearing surface. The collection space removably contains one or more receiving members 104. This design enables the ground operator or automated equipment to quickly remove the full receiving member 104 and replace the empty container after the material transfer task is completed, thereby greatly reducing the waiting time of the logistics link and realizing the rapid turnover and continuous operation of the harvested material.

[0044] Specifically, the main frame of the bearing part 101 is preferably Q235 carbon steel and is treated for rust prevention, or aluminum alloy is used in a cleaner environment to balance strength, weight, and corrosion resistance.

[0045] The sunken collection space of the bearing part 101 can accommodate various receiving members 104, and the specific style can be flexibly configured according to the application scenario to improve work efficiency, specifically: In the mode of directly receiving bulk materials, the receiving member 104 is configured as a basic single basket. In this scenario, the receiving member 104 is an overall large-capacity basket. This configuration is suitable for operation processes that do not require on-site root sorting.

[0046] In the mode of receiving processed materials, the receiving member 104 is configured as two baskets, one large and one small, divided into two independent compartments, "mushroom cap" and "waste root". This configuration works with harvesting devices integrated with root cutting functions to achieve automatic sorting when dumping.

[0047] In the mode of receiving market-ready packaged products, the receiving member 104 in the collection space is a pre-placed small material basket that meets market retail specifications. After receiving the material, the material can directly fall into these small baskets, completing the terminal packaging at one time and eliminating the subsequent manual sub-packaging link; or, the receiving member 104 can be a basic single basket, directly receiving market-ready products from the transfer device.

[0048] The driving mechanism provides vertical power, which in this embodiment is embodied as a set of hoisting mechanisms. The hoisting seat 103 is a solid welded box or cast base, fixedly installed on the steel structure at the top of the ground or planting rack. Its main function is to provide a stable support for the entire lifting system as the installation base of the driving motor and the rope winch 105. The rope winch 105 is installed on the hoisting seat 103 through a bearing seat, and is driven by the driving motor through a speed reducer (such as a worm and gear reducer or a gear reducer) to rotate forward and backward. Its core function is to orderly wind or release the rigging 102, thereby accurately controlling the lifting position of the carrying part 101. The rigging 102 is preferably a high-strength and flexible steel wire rope. One end of the rigging 102 is fixedly connected to the rope winch 105 through a pressing plate or a wedge joint, and the other end is connected to the lifting point of the carrying part 101 vertically downward. Alternatively, the rigging 102 can also be replaced by a chain or a synthetic fiber lifting belt with the same function. To ensure safety, the system can be provided with redundant rigging, i.e. double-rope or four-rope lifting. In addition, a load sensor can be installed on the rigging 102 for real-time monitoring of the load.

[0049] The control module can be a PLC (Programmable Logic Controller) or an industrial single-chip microcomputer installed on the hoisting seat 103. It is connected with the driving motor (to control its start-stop, direction and speed), the pose detection module, and the general control system of the plantation through a cable or a wireless communication module. The pose detection module can specifically include: a height encoder installed on the driving motor, which indirectly obtains the absolute height of the carrying part 101 by calculating the motor angle; a proximity sensor, such as a laser ranging sensor or an ultrasonic sensor, installed on the carrying part 101, which is used to accurately measure the real-time distance (i.e. the pose information) from the layer plane when approaching the target landing layer. The working logic of the control module: the control module receives the target instruction (such as "to the 3rd layer to receive the transfer vehicle"); the control module first controls the driving motor to quickly run the carrying part 101 to the target layer through the rigging 102, and then starts the pose detection module for accurate positioning. Based on the obtained real-time pose information, the control module calculates the height that needs to be fine-tuned. Specifically, when the transfer vehicle needs to drive into the carrying part from the multi-layer planting rack, the control module will accurately control the carrying part to stop at a position slightly lower (such as 5-10 mm lower) than the layer plane of the planting rack, forming a "receiving step" to allow the transfer vehicle to smoothly "slide into" the carrying part. Conversely, when the transfer vehicle needs to drive out of the carrying part, the carrying part is stopped at a position slightly higher (such as 5-10 mm higher) than the layer plane of the planting rack, forming a "release drop" to allow the transfer vehicle to smoothly "slide down". The "collision-free docking state" is achieved.

[0050] Overview of other mechanisms: See Figure 1, picking vehicle 4 is used to perform the identification, positioning and picking of crops (such as mushrooms). On the multi-layer planting rack 2, the picking vehicle 4 and the transfer vehicle 3 preferably adopt a coaxial following movement mode, that is, the two vehicles run on the same track system and maintain a relatively fixed pose relationship, so that after picking mushrooms, the mechanical arm of the picking vehicle 4 can conveniently deliver the mushrooms directly into the loading part 302 of the transfer vehicle 3 following it, realizing seamless transfer of materials, thereby forming an efficient mobile harvesting unit.

[0051] Referring to Figure 3 When the transfer vehicle 3 identifies that the material is fully loaded, the loading part 302 is extended above the bearing part 101. Since the bottom of the transfer vehicle 3 is designed with a flap 305, during the extension process, the free end of the flap is flipped under the action of gravity, and the bulk mushrooms and waste roots in the basket fall directly into the collection space of the bearing part 101 by gravity. Specifically, the judgment method of full load of the material includes but is not limited to: gravity sensing, infrared height sensing and any other method that can judge the full load of the material of the transfer vehicle. Since this part belongs to the prior art, it will not be described here.

[0052] Corresponding to the collection space, the loading part 302 can also have various styles, which can be: ① one large basket, corresponding to the harvesting equipment without root cutting function, ② one large and one small compartment, corresponding to the harvesting equipment with root cutting function, ③ placing small baskets directly used in the market in the basket, and placing the picked mushrooms directly in the small basket, etc. It is easy to understand that in other embodiments, the loading part 302 can also directly release the container full of mushrooms inside it to the collection space. The released loading part 302 can manually place new empty containers inside it.

[0053] It is easy to understand that the description of the picking vehicle, the transfer vehicle and their coaxial following relationship in this paper is only to clearly show one mode of cooperative work inside the system. In the vertical logistics system protected by the present application, the specific structure, form and cooperation mode of the harvesting equipment can be selected and designed according to actual needs, and are not limited to the specific examples introduced in this paper. Any equipment that can realize mushroom picking and moving on a multi-layer rack, and any mobile equipment that can receive and temporarily store materials and dump materials, falls within the scope of "harvesting equipment" considered by the present application.

[0054] First transfer state: In the first transfer state, the logistics system serves as a special vertical channel for the mobile harvesting equipment (such as the transfer vehicle 3 and the picking vehicle 4), realizing efficient and safe scheduling of the equipment between any target layer and the ground.

[0055] Device release: -Initial system deployment: Before the harvesting operation begins, both the empty transfer vehicle 3 and the harvesting vehicle 4 are located on the ground. Upon receiving instructions from the system's central control unit, the vertical logistics system 1 enters the first preparatory stage of the transfer process.

[0056] - Loading: The transfer vehicle 3 (or picking vehicle 4) drives itself onto the bearing unit 101 parked on the ground.

[0057] - Lifting and Precise Docking: The control module receives information about the target layer (e.g., the 5th layer); the drive mechanism starts, and the hoisting mechanism lifts the carrier 101 to the vicinity of the 5th layer; subsequently, the posture detection module (e.g., a laser sensor) starts, and accurately measures the distance between the carrier 101 and the plane of the 5th layer planting rack; according to the "equipment exit" logic, the control module controls the carrier 101 to finally stop at a position where its bearing surface is slightly higher (e.g., 8mm higher) than the track plane of the 5th layer, forming a small "release drop" to achieve a collision-free docking state.

[0058] - Equipment Release: In this collision-free docking state, the transfer vehicle 3 (or harvesting vehicle 4) can smoothly "slide" from the higher support unit 101 to the track on the 5th layer, without any bumps or collision risks. After the transfer vehicle 3 leaves, the support unit 101 automatically descends to the ground, and this process is repeated until all equipment is deployed.

[0059] Equipment transfer and recycling: - Process begins: When the harvesting work on a certain layer is completed, it is necessary to transfer the equipment to the next layer or to retrieve the equipment.

[0060] - Call and docking: The transfer vehicle 3 first travels to the end of the floor and sends a "call elevator" signal to the system. The load-bearing unit 101 rises to the floor, at which point the control module executes the "equipment entry" logic, controlling the load-bearing surface of the load-bearing unit 101 to finally stop at a position slightly lower (e.g., 8mm lower) than the track plane, forming a "receiving step".

[0061] - Equipment recovery: The transfer vehicle 3 can easily "slide" into the slightly lower support section 101; then, the support section 101 carries the transfer vehicle 3 down to the ground or the next target layer, and the picking vehicle 4 is then recovered in the same process.

[0062] Second transfer state: Material transfer process (in coordination with transfer vehicle 3): - Process begins: After picking mushrooms, the picking vehicle 4 places individual mushrooms into the mushroom loading section 302 of the synchronously following transfer vehicle 3. When the loading section 302 is full, the transfer vehicle 3 sends a signal.

[0063] - Call and docking: Vertical logistics system 1 enters material transfer state. The carrier 101 (which at this time serves as a collection space or has been placed with an empty container 104) rises to the target layer. In this state, the control module controls the carrier 101 to achieve a basic level docking with the planting rack track surface so that the loading part 302 of the transfer vehicle 3 can extend smoothly.

[0064] - Material unloading: The transfer vehicle 3 moves to the front of the carrying unit 101 and extends its loading section 302 upwards from the carrying unit 101. See also Figure 3 Because the bottom of the transfer vehicle 3 is designed with a flap 305, its free end flips under the action of gravity during the extension process, and the mushrooms inside fall directly into the collection space of the bearing part 101 by gravity.

[0065] -Categorized collection: If a containment component 104 is installed in the collection space, the carrier 101 can be lowered to the ground and workers can directly unload the fully loaded containment component 104 and replace it with an empty containment component 104.

[0066] Vertical logistics method for multi-tiered growing system:

[0067] The vertical logistics method described in this invention is implemented through the aforementioned vertical logistics system 1. Its core lies in intelligently switching and executing two different workflows according to different task requirements. The method is uniformly scheduled and executed by the system's control module.

[0068] I. Embodiment of equipment transfer method

[0069] This method is specifically designed for scheduling transport vehicles 3 and harvesting vehicles 4 between any level of the multi-layer planting rack 2 and the ground.

[0070] 1. Deployment of harvesting equipment (transporting harvesting equipment to the planting racks): S11 - Status Judgment and Call: The system master controller or a worker issues a task, requesting the deployment of a transfer vehicle 3 to the Nth layer. The control module of the vertical logistics system 1 judges accordingly and initiates the equipment transfer process. The support unit 101 is located on the ground and waits.

[0071] S12 - Equipment loading: The transfer vehicle 3 drives in by itself and stops on the support unit 101 located on the ground.

[0072] S13 - Coarse Positioning Lifting: The control module commands the drive mechanism to start, and the hoisting mechanism lifts the bearing unit 101 to the vicinity of the Nth floor.

[0073] S14 - Collision-free docking (exit mode): a) Precise positioning: The pose detection module (such as a laser rangefinder sensor installed on the bearing part 101) is activated to obtain the precise distance (i.e., relative pose information) between the bearing surface of the bearing part 101 and the Nth layer track surface in real time.

[0074] b) Intelligent decision-making and fine-tuning: Based on the logic that "the equipment needs to move from the carrier 101 to the target docking layer", the control module calculates that the carrier needs to be finally stopped at a specific height of 3~15mm (e.g. 8mm) slightly higher than the Nth layer track surface, forming a "release drop".

[0075] c) Execution: The drive mechanism performs precise lifting and fine-tuning according to this instruction, and finally stops at the position, completing the collision-free docking.

[0076] S15 - Equipment Release: The transfer vehicle 3 smoothly "slides" from the support unit 101 to the Nth level track, with no climbing resistance or collision risk throughout the process. Afterward, the support unit 101 can return to the ground to transport the next piece of equipment.

[0077] 2. Operation and recovery process (returning equipment to the ground floor or other levels): S21 - Status Judgment and Call: The Nth layer operation is completed, and the transfer vehicle 3 travels to the end and sends a retrieval request to the system. The control module judges and enters the equipment transfer process.

[0078] S22 - Coarse positioning lifting and collision-free docking (driving-in mode): After the carrier unit 101 rises to the vicinity of the Nth floor, the control module, based on the logic that "the equipment needs to move from the target docking floor to the carrier unit 101", controls it to finally stop at a specific height of 3~15mm (e.g. 8mm) slightly lower than the track surface, forming a "receiving step".

[0079] S23 - Equipment Recovery: The transfer vehicle 3 easily "slides" into the carrier 101. The carrier 101 then carries the equipment down to the ground or other levels.

[0080] II. Embodiment of material transfer method

[0081] This method is used to efficiently transport harvested mushrooms from the working layer to the ground: M1 - Status Judgment and Call: When the loading section 302 in the transfer vehicle 3 is about to be full, a signal is sent. The control module judges and enters the material transfer process.

[0082] M2 - Lifting and Docking: The support unit 101 (which at this time serves as a collection space or has an empty container 104 placed on it) rises to the target layer. In this mode, the control module controls it to achieve a basically level docking with the planting rack track surface (allowing for an error of 1-5mm).

[0083] M3 - Material Discharge and Receiving: The transfer vehicle 3 moves to the front of the carrying unit 101 and extends its loading section 302 upwards from the carrying unit 101. Since the loading section 302 has a hinged plate 305 at its bottom, during extension, the free end of the hinged plate flips under gravity, causing the mushrooms inside the loading section 302 to fall directly into the collection space of the carrying unit 101 by gravity. If a receiving container 104 is placed in the collection space, automatic dispensing of the mushrooms can be achieved.

[0084] M4 - Completion and Return: After dumping is completed, the transfer vehicle 3 retracts the loading section 302, and the bearing section 101 descends to the ground, where workers handle the collected materials.

[0085] Industrial applicability

[0086] Compared with existing technologies, the locking structure provided by this patent, through its unique mechanical structure and the synergistic effect between components, brings significant and multifaceted technical benefits, specifically reflected in: 1. Functional integration and space utilization: Achieving a highly efficient logistics hub with "one elevator serving two purposes". This system integrates the vertical scheduling of harvesting equipment and the vertical transport of harvested materials into a unified vertical logistics system, achieving "dual-purpose use of one ladder." This completely changes the complex situation of traditional systems requiring separate lifting devices for equipment and materials, simplifying the system architecture. Due to its functional integration, the system can be compactly arranged at the end of the planting rack, occupying minimal longitudinal space. This avoids the problems of installing large chains or lifting mechanisms on the sides or inside the planting rack, freeing up aisle space in the planting plant and improving space utilization.

[0087] 2. Intelligent docking and safe transport: fundamentally eliminating collisions and damage.

[0088] Adaptive Collision-Free Docking: Through closed-loop control of the control module, pose detection, and drive mechanism, the system can dynamically adjust the load-bearing unit to a precise position slightly lower (forming a receiving step) or slightly higher (forming a release drop) than the target docking layer, based on the load transfer direction. This "micro-step" docking fundamentally eliminates the risk of collisions, scratches, or drop impacts between the equipment and the interface edge during transfer, ensuring the long-term operational safety and lifespan of the harvesting equipment. Simultaneously, this design allows for smooth equipment transfer, eliminating the need for complex alignment or additional buffer mechanisms, significantly improving equipment scheduling efficiency and shortening non-harvesting operation time.

[0089] 3. Flexibility and automation of material handling: improving back-end processing efficiency

[0090] The system is capable of handling various forms of materials during material transfer. It can efficiently receive materials through the collection space of its carrying unit, enabling rapid dumping and collection. This design allows harvested mushrooms to be immediately and systematically delivered to the vertical logistics channel, achieving seamless integration from harvesting and root trimming to material delivery, forming a complete automated closed loop and reducing manual transfer steps.

[0091] 4. Significant improvement in system reliability and economy

[0092] Compared to bulky, fully integrated robots or complex chain-type layer-changing devices, this system has a simpler structure, and its core components (such as the hoisting mechanism) are mature and reliable, directly resulting in lower manufacturing and maintenance costs. Clear functional divisions and a simplified mechanical structure reduce system complexity and the number of potential failure points. The intelligent docking mechanism also reduces equipment damage and downtime caused by collisions, thereby improving the overall reliability and production efficiency of the planting plant.

[0093] 5. Achieve separation of human and machine space, maximizing the protection of valuable human operating space.

[0094] In current agricultural plants, complete automation remains a gradual process, and manual inspection, maintenance, and emergency response are still indispensable. Therefore, the main aisles between planting racks are a core strategic resource for ensuring production flexibility and reliability. This system achieves physical separation between logistics and manual access by precisely integrating vertical logistics functions at the "end" of the planting racks. This layout fundamentally avoids the situation in traditional solutions where large, mobile automated equipment competes with inspection workers for main aisle space. Workers can move and work freely in spacious, safe aisles without worrying about collisions or waiting with the automated transport system, ensuring both personal safety and the independence and efficiency of manual operations. This design also provides a smooth upgrade path for agricultural plants. Plant managers do not need to sacrifice existing manual operation modes or make drastic changes to the plant layout to deploy an automated logistics system. The automated system operates "silently" at the end, while manual labor operates freely in the front aisles, achieving a perfect balance between "machine replacement" and "human-machine collaboration," making this system highly applicable to both the renovation of existing plants and the construction of new plants.

[0095] In summary, this patent, through its integrated functional design, intelligent adaptive docking, and flexible material handling capabilities, has successfully achieved synergistic optimization across multiple key performance indicators, including space utilization, operational efficiency, equipment safety, and system economy, providing a highly efficient, reliable, and cost-controllable vertical logistics solution for modern multi-layer planting systems.

[0096] The terminology and expressions used herein are for descriptive purposes only and this patent should not be limited to these terms and expressions. The use of these terms and expressions does not imply the exclusion of any illustrative and descriptive equivalent features (or parts thereof), and it should be recognized that various possible modifications should also be included within the scope of the claims. Other modifications, variations, and substitutions may also exist. Accordingly, the claims should be considered to cover all such equivalents.

[0097] Similarly, it should be noted that although this patent has been described with reference to the specific embodiments described above, those skilled in the art should recognize that the above embodiments are only used to illustrate this patent, and various equivalent changes or substitutions can be made without departing from the spirit of this patent. Therefore, any changes or modifications to the above embodiments within the essential spirit of this patent will fall within the scope of the claims of this patent.

Claims

1. An adaptive multi-layer transfer vertical logistics system for a planting factory, characterized in that, include: The support unit is configured to move vertically up and down along the end of the multi-layer planting rack; A drive mechanism, connected to the support unit, is used to drive the support unit to move up and down; The control module is communicatively connected to the drive mechanism; The vertical logistics system has at least two operating states: First transfer state: The bearing unit is configured to bear and transfer harvesting equipment that can move autonomously on the multi-layer planting rack; Second transfer state: The carrier is configured to transfer the harvested materials.

2. The adaptive multi-layer transfer vertical logistics system for planting factories according to claim 1, characterized in that, The supporting part is configured to have a sunken collection space.

3. The adaptive multi-layer transfer vertical logistics system for planting factories according to claim 1, characterized in that, The driving mechanism is a hoisting mechanism, including: Drive motor; A rope winch driven by the aforementioned drive motor; And a rigging with one end wound around the rope winch and the other end connected to the load-bearing part.

4. The adaptive multi-layer transfer vertical logistics system for planting factories according to claim 1, characterized in that, In the first transfer state, the control module acquires pose information and controls the drive mechanism to create a height difference between the carrier and the target docking layer when the carrier stops, thereby achieving collision-free transfer of the harvesting equipment between the two: When the harvesting equipment needs to move from the target docking layer to the bearing part, the bearing part is controlled to stop at a position where its bearing surface is slightly lower than the docking surface of the target docking layer; When the harvesting equipment needs to move from the bearing section to the target docking layer, the bearing section is controlled to stop at a position where its bearing surface is slightly higher than the docking surface of the target docking layer.

5. The adaptive multi-layer transfer vertical logistics system for planting factories according to claim 4, characterized in that, The height difference between the bearing unit and the target docking layer when the bearing unit is stationary is 3~15mm.

6. The adaptive multi-layer transfer vertical logistics system for planting factories according to claim 2, characterized in that, It also includes a containment component that is removably housed within the collection space.

7. An adaptive multi-layer transfer vertical logistics method for a planting factory, employing the vertical logistics system according to any one of claims 1-6, characterized in that, include: a) Select the first or second transfer status based on the type of the object to be transferred; b) In the first transit state: - Obtain the pose information of the load-bearing unit and the target docking layer; -Based on the pose information, the bearing part is controlled to stop at a predetermined height difference to form a micro-step docking; -Complete the exit / entry of the harvesting equipment between the bearing section and the target docking layer; c) In the second transfer state: - Control the bearing unit to be basically at the same height as the target docking layer; - Complete the receipt and transfer of the materials.

8. The adaptive multi-layer transfer vertical logistics method for planting plants according to claim 7, characterized in that, The process of receiving and transferring the materials includes: Control the harvesting equipment located at the target docking layer to extend its loading section toward the bearing section; The loading section has a hinged plate at its bottom. During the extension process, the free end of the hinged plate naturally tilts and flips under the action of gravity, allowing the material to fall directly into the collection space.

9. The adaptive multi-layer transfer vertical logistics method for planting plants according to claim 7, characterized in that, The formation of micro-step docking specifically refers to forming a collision-free docking state, including: When the harvesting equipment needs to enter the bearing section, the bearing section is controlled to stop at a position where its bearing surface is slightly lower than the docking surface of the target docking layer to form a receiving step; When the harvesting equipment needs to leave the bearing section, the bearing section is controlled to stop at a position where its bearing surface is slightly higher than the docking surface of the target docking layer to form a release drop.

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