Lemna harvesting device based on visual monitoring

Abstract

The utility model discloses a kind of duckweed harvesting device based on visual monitoring, comprising: for storing solution, the cultivation container for the growth of duckweed;Setting in cultivation container upper, for monitoring the camera of duckweed growth condition in cultivation container;For pumping culture solution to cultivation container inside water pump;Setting in cultivation container inside, for discharging duckweed-solution mixture harvesting piece;For according to the control module of the monitoring signal of camera to control water pump operation.This duckweed harvesting device based on visual monitoring of the utility model is combined by the camera of high-definition visual sensing and water pump, realizes the unmanned, all-weather accurate monitoring of duckweed growth state, can automatically judge optimal harvesting opportunity and execute harvesting operation, completely replace traditional artificial experience judgment mode.

Description

Technical Field

[0001] This utility model belongs to the field of aquatic plant cultivation and harvesting technology, and relates to a duckweed harvesting device, specifically a duckweed harvesting device based on visual monitoring. Background Technology

[0002] Duckweed is a rapidly growing aquatic plant with high photosynthetic efficiency, rich in protein and various nutrients, and has broad application prospects in feed production, bioenergy manufacturing, wastewater treatment, food additives, and pharmaceutical raw materials. Traditional duckweed harvesting methods mainly rely on manual observation and operation, which is not only labor-intensive and inefficient, but also suffers from difficulties in standardizing harvesting timing and subjective judgment criteria. Because duckweed growth is easily affected by factors such as light, nutrition, and temperature, its biomass accumulation and coverage state change significantly. Manual harvesting methods cannot accurately determine and respond promptly to the optimal harvesting window in large-scale aquaculture environments, leading to problems such as insufficient utilization of aquaculture container space, uneven distribution of light resources, overly dense populations, or premature harvesting. These issues severely restrict the stability, resource utilization efficiency, and overall economic benefits of duckweed production systems. Utility Model Content

[0003] To overcome the aforementioned shortcomings of traditional duckweed harvesting devices, the inventor conceived and manufactured a visual monitoring-based duckweed harvesting device. Through the cooperation of a camera and components such as a water pump, this device solves the problems of traditional duckweed harvesting methods, which rely primarily on manual observation and operation, resulting in high labor intensity, low harvesting efficiency, difficulty in standardizing harvesting timing, and strong subjectivity in judgment criteria. Specifically, this utility model includes the following technical solutions.

[0004] A visual monitoring-based duckweed harvesting device includes: a cultivation container (circular or rectangular structure) for storing solution and providing a growing medium for duckweed; a camera positioned above the cultivation container for monitoring the growth of duckweed within the container, the camera being a high-definition industrial-grade RGB camera; a water pump for drawing culture solution into the cultivation container to raise the solution level; a harvesting component positioned inside the cultivation container for discharging the duckweed-solution mixture; and a control module for controlling the operation of the water pump based on the monitoring signal from the camera. The control module receives feedback from the camera monitoring. When the calculated duckweed coverage rate continuously exceeds a preset upper limit threshold, the control module determines that the optimal harvesting time has been reached and immediately sends a start command to the water pump. The water pump draws the solution into the cultivation container, raising the solution level, so that the solution and the duckweed floating on the surface of the solution (i.e., the duckweed-solution mixture) are discharged together through the harvesting component.

[0005] In one embodiment, an inclined filter screen is installed at the bottom of the aforementioned aquaculture container. The aquaculture container needs to be supported on the ground by a support frame (not shown) to provide installation space for the inclined filter screen. The harvesting device is located on the upper side of the inclined filter screen. The duckweed-solution mixture discharged through the harvesting device will fall onto the inclined filter screen. The duckweed will stay on the inclined filter screen and slide along the inclined filter screen, while the solution will seep through the inclined filter screen and enter the sewage discharge system, so as to separate the duckweed and solution in the duckweed-solution mixture discharged by the harvesting device.

[0006] Furthermore, the lower edge of the inclined filter can be provided with a collection net similar to a mesh bag, which is used to collect the duckweed as it slides down and flows out. After the duckweed is harvested, it can be removed for easy handling.

[0007] Preferably, a storage tank for holding the solution is provided below the inclined filter screen, which allows the solution to be discharged into the storage tank for storage. The pumping end of the water pump extends into the storage tank, allowing the solution to be recycled. The lower end of the inclined filter screen extends out of the outside of the storage tank, which allows duckweed to slide along the inclined filter screen to an area outside the storage tank.

[0008] Preferably, the horizontal angle of the inclined filter screen is 35°-65°, which can be selected and set according to actual needs.

[0009] Preferably, the harvesting component is a hollow tube connected to the bottom of the aquaculture container. The cross-sectional shape of the hollow tube is circular or polygonal. The upper end of the harvesting component is lower than the upper end of the aquaculture container to ensure that the duckweed-solution mixture can be discharged through the harvesting component.

[0010] In one embodiment, the number of hollow tubes is one, and the hollow tube is disposed on one side of the aquaculture container.

[0011] In another embodiment, the number of hollow tubes is at least two, and when there are two hollow tubes, the two hollow tubes are symmetrically arranged along the center line of the aquaculture container.

[0012] Preferably, the above-mentioned aquaculture container is provided with an isolation net to divide the aquaculture container into at least two isolation areas. Each isolation area is provided with at least one hollow pipe. The duckweed-solution mixture in each isolation area will flow into the corresponding harvesting device, and the duckweed-solution mixture is discharged through different harvesting devices to increase the discharge efficiency of the duckweed-solution mixture.

[0013] In one embodiment, the harvesting device includes a bottom pipe communicating with the bottom of the aquaculture container. A rotating pipe is rotatably and sealed on the upper side of the bottom pipe, and a harvesting box is connected and installed on the upper side of the rotating pipe. The harvesting box has drainage holes and is driven to rotate horizontally by a motor. During operation, the harvesting box can be driven by the motor to rotate around the rotating pipe, which allows the duckweed-solution mixture located at different positions in the aquaculture container to be discharged quickly.

[0014] Preferably, the motor is fixed to the aquaculture container by a horizontal plate, or suspended to the support frame by a connecting frame.

[0015] Preferably, a bracket is provided on the upper side of the above-mentioned breeding container, and the camera is mounted on the bracket. The camera is located at the center of the breeding container to ensure that the breeding container can be fully monitored and to prevent blind spots in monitoring.

[0016] This invention relates to a visual monitoring-based duckweed harvesting device. By combining a high-definition visual sensor camera with a water pump, it achieves unmanned, all-weather, and precise monitoring of duckweed growth. It can automatically determine the optimal harvesting time and execute the harvesting operation, completely replacing the traditional manual experience-based judgment method. This device not only significantly improves the utilization efficiency of the aquaculture space and the efficiency of light energy conversion, keeping the duckweed in its exponential growth phase and increasing biomass yield, but also greatly reduces labor costs and intensity. Furthermore, the device features standardization, modularity, and remote controllability, supporting large-scale, intensive duckweed aquaculture applications and providing a reliable data foundation for building a smart agriculture Internet of Things (IoT) system. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the first embodiment of this utility model.

[0018] Figure 2 This is a structural schematic diagram of the second embodiment of this utility model.

[0019] Figure 3 This is a structural schematic diagram of the third embodiment of this utility model. Detailed Implementation

[0020] The technical solution of this utility model will now be described with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the implementation methods of this application, and not all of them; and the structures and logical relationships shown in the accompanying drawings are merely illustrative and do not represent physical objects. It should be noted that all other embodiments obtained by those skilled in the art based on these embodiments of this utility model are within the scope of protection of this application.

[0021] This embodiment combines the existing technology of camera image recognition with water pumping technology to provide a visual monitoring-based duckweed harvesting device.

[0022] See Figures 1 to 3 In line with the development of automation technology, the duckweed harvesting device based on visual monitoring in this embodiment can be applied to automated operations to harvest duckweed automatically. In terms of functional modules, it consists of a visual sensing module, a control module, an execution module, and a system support module.

[0023] The visual sensing module is camera 4, and camera 4 can be a high-definition industrial-grade RGB camera. It is fixedly installed on the best observation position directly above the aquaculture container 1 by bracket 7, generally located in the center of the aquaculture container 1, to monitor the growth and distribution of duckweed in the aquaculture container 1 in real time. Camera 4 is connected to the control module for data transmission to transmit the real-time monitored growth and distribution of duckweed to the monitoring module.

[0024] The control module is based on an industrial computer (an embedded industrial computer can be selected as the core), with a built-in duckweed visual recognition algorithm. It has image processing and coverage calculation functions, and can analyze images in real time and accurately output the duckweed coverage ratio.

[0025] The execution module includes a water pump 3, a harvesting component 2, an inclined filter screen 6, an isolation net 8, and a storage tank 5. The water pump 3 is connected to the industrial control computer in the control module for data transmission, and the water pump 3 automatically starts and stops according to the control signals issued by the industrial control computer, realizing a gentle harvesting method of duckweed based on water level difference and gravity flow. Specifically, the harvesting component 2 is set inside the aquaculture container 1 and communicates with the bottom of the aquaculture container 1. The height of its upper drain outlet is precisely adjusted so that it is slightly lower than the normal working liquid level of the aquaculture container 1.

[0026] The system support module includes an aquaculture container 1, a support frame (for installing and supporting components such as the aquaculture container 1 and the inclined filter screen 6), a communication unit, and a power management unit. The communication unit supports 4G / Wi-Fi / Ethernet and other methods for remotely transmitting images, status data, and receiving control commands. The power unit provides stable power to each module.

[0027] To further optimize system performance and reliability, the vision sensing module can be equipped with an automatic supplemental lighting device to ensure clear images are acquired under different ambient lighting conditions; the aquaculture containers can adopt a standardized design to facilitate system integration and large-scale deployment; the control module can also be expanded with data storage capabilities to record historical harvesting data and system operation logs, providing data support for production management decisions.

[0028] The term "connection" in this text includes physical connections, electrical connections, and / or communication connections. Those skilled in the art can determine, without dispute, whether it refers to a physical connection, an electrical connection, or a communication connection based on the context in which the term is used. When "connection" refers to a communication connection, it includes both wired and wireless connections.

[0029] According to the embodiment of this invention, an automated duckweed harvesting device based on visual recognition is provided. The visual recognition algorithm performs image analysis and segmentation based on the unique RGB color space features and surface texture features of duckweed. It adopts adaptive image enhancement and noise reduction preprocessing, which can effectively overcome interference such as water surface reflection, shadows and changes in ambient light, and accurately identify duckweed areas in real time, and calculate the percentage of its coverage area to the entire surface of the aquaculture container.

[0030] According to the visual recognition-based automated duckweed harvesting device provided in this embodiment, the control module allows users to preset one or more coverage thresholds based on the duckweed variety and growth cycle, and can set a delayed trigger time to prevent misjudgment. When the visual sensing module detects that the duckweed coverage continuously reaches or exceeds the set threshold, the industrial control computer automatically generates a control command, triggering the execution module to start the water pump 3 for quantitative harvesting. During the harvesting process, the visual sensing module continuously monitors the coverage change, and when the coverage drops to the preset lower limit, it automatically stops the water pump 3, thereby achieving fully automatic closed-loop control.

[0031] According to the visual recognition-based automated duckweed harvesting device provided in this embodiment, the harvesting component 2 is made of corrosion-resistant material. When the liquid level in the aquaculture container 1 rises during the water replenishment process and exceeds the preset height of the harvesting port of the harvesting component 2, the duckweed-solution mixture (a mixture of duckweed and solution) automatically overflows into the harvesting port of the harvesting component 2 under gravity, realizing continuous gravity-flow harvesting of duckweed. The inflow rate is matched with the cross-sectional area of ​​the harvesting port of the harvesting component 2 to maintain a stable micro-overflow state of the liquid surface, ensuring the smooth outflow of the duckweed-solution mixture while avoiding drastic fluctuations in water level.

[0032] Camera 4 continuously captures images of the surface of the aquaculture container, and the image data is transmitted to the control module. An algorithm calculates the duckweed coverage rate in real time. When the coverage rate exceeds a preset threshold, the control module sends a signal to start water pump 3 to harvest the duckweed. Once the coverage rate falls below the set value, the system automatically stops the water pump, completing one harvesting operation. This system has a simple structure and rapid response, effectively improving the intelligence level and production efficiency of duckweed aquaculture.

[0033] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0034] See Figure 1This embodiment of the visual recognition-based automated duckweed harvesting device includes a culture container 1, a camera 4, a water pump 3, a harvesting component 2, an inclined filter screen 6, and a control module. The culture container 1 contains a solution at a certain level (the solution is water, and it contains nutrient solution, fertilizer solution, and other substances necessary for duckweed growth to promote its development). The harvesting component 2 is installed inside the culture container 1, with its lower end connected to the outer bottom of the culture container 1. A bracket 7 is fixed above the culture container 1, and the camera 4 is mounted on the bracket 7. The camera 4 is used to monitor the growth status of the duckweed inside the culture container 1. The camera 4 is located at the center of the culture container 1 to ensure comprehensive monitoring and prevent blind spots. The water pump 3 can be installed on the side wall or other components of the culture container 1, with its outlet located inside the culture container 1.

[0035] When the duckweed coverage calculated by the control module continuously exceeds the preset upper limit threshold, the control module determines that the optimal harvesting time has been reached and then sends a start command to the water pump 3. The water pump 3 draws the solution into the aquaculture container 1, raising the liquid level in the aquaculture container 1. When the liquid level in the aquaculture container 1 is higher than the upper harvesting port of the harvesting device 2, the duckweed-solution mixture will automatically overflow and be discharged through the harvesting device 2. The inclined filter screen 6 is installed at the bottom of the aquaculture container 1, and the harvesting device 2 is located at the upper starting point of the inclined filter screen 6. After the duckweed-solution mixture is discharged through the harvesting device 2, the duckweed will be blocked at its upper position by the inclined filter screen 6, while the solution will seep down through the inclined filter screen 6, completing the separation of duckweed and solution. The duckweed will slide down with the inclined filter screen 6. A collection box can be placed on the lower side of the inclined filter screen 6 to collect the duckweed.

[0036] Furthermore, the lower edge of the inclined filter screen 6 may be provided with a collection net (not shown) similar to a net bag, which is used to collect duckweed as it slides down and flows out. After the duckweed is harvested, it can be removed for easy handling.

[0037] It should be noted that the lower end of the inclined filter screen 6 extends beyond the outer side of the liquid storage tank 5. This design allows duckweed to slide along the inclined filter screen 6 to areas outside the liquid storage tank 5. Both sides of the inclined filter screen 6 have upward-protruding baffles to prevent duckweed from overflowing from the sides. The horizontal angle of the inclined filter screen 6 is 35°-65°, which can be selected according to actual needs to ensure that duckweed falling on the inclined filter screen 6 can slide downwards due to gravity. If it does not slide downwards on its own, the operator can pull it down with an external object and place a collection box on the ground to collect the duckweed.

[0038] In an optional embodiment, the solution separated by the inclined filter 6 can be directly discharged into the sewage discharge system for wastewater treatment. In this embodiment, the pump 3 is connected to an external water source to discharge new water into the aquaculture container 1.

[0039] In another optional embodiment, a storage tank 5 for holding the solution is provided below the inclined filter screen 6, allowing the solution to be discharged into the storage tank 5 for storage. The pump end of the water pump 3 extends into the storage tank 5, allowing the solution in the water pump 3 to be drawn into the aquaculture container 1, so that the solution can be recycled. The specific number of times the solution can be recycled depends on the quality of the solution. If it is determined that it is still suitable for the growth of duckweed, it can continue to be recycled. If it is not suitable for the growth of duckweed, it can be discharged into the sewage discharge system through the discharge port of the storage tank 5, and fresh water can be injected into the storage tank 5 from an external water source.

[0040] In an optional embodiment, the harvesting component 2 is a hollow tube that communicates with the bottom of the aquaculture container 1. The hollow tube has a circular or polygonal cross-sectional shape and a smooth, flared opening without sharp edges. The upper end of the harvesting component 2 is lower than the upper end of the aquaculture container 1 to ensure that the duckweed-solution mixture can be discharged through the harvesting component 2.

[0041] In an optional embodiment, the number of hollow tubes is one, which can be disposed on one side of the aquaculture container 1, see [reference]. Figure 1 At this time, only one inclined filter screen 6 is set.

[0042] In another optional embodiment, the number of hollow tubes is at least two; when there are two hollow tubes, see [reference needed]. Figure 2 Two hollow tubes are symmetrically arranged along the center line of the aquaculture container 1. Alternatively, four hollow tubes can be arranged symmetrically in pairs along the center line of the aquaculture container 1. In this case, two inclined filter screens 6 can be set, and each inclined filter screen 6 filters the duckweed-solution mixture discharged from the two hollow tubes respectively.

[0043] In the above text, the terms "left" and "right" refer to the relative positional relationship between the two sides inside the aquaculture container 1, but do not mean that they must face a certain fixed direction in actual installation and operation. They are just relative concepts, which can be understood by those skilled in the art.

[0044] Furthermore, the aquaculture container 1 is equipped with an isolation net 8 along its centerline to divide the container into two isolation zones. Each isolation zone has at least one hollow pipe, allowing the duckweed-solution mixture in each zone to flow into the corresponding harvesting unit 2, thereby increasing the discharge efficiency of the duckweed-solution mixture. Alternatively, the isolation net 8 can be configured in a cross shape, dividing the aquaculture container 1 into four isolation zones, with at least one hollow pipe installed in each zone.

[0045] The implementation of this embodiment includes the following steps: The camera 4 in the visual sensing module continuously acquires images of duckweed growth on the surface of the aquaculture container 1 at a fixed frequency, and transmits the acquired image data to the control module in real time via wired or wireless means; the industrial control computer in the control module calls its built-in visual recognition algorithm to perform color segmentation, feature extraction, and noise filtering on the images, and calculates in real time the proportion of the current duckweed coverage area to the total liquid surface area; when the calculated duckweed coverage rate continuously exceeds a preset upper limit threshold, the control module determines that the optimal harvesting time has been reached, and then sends a start command to the execution module; the water pump 3 in the execution module starts according to the command, and begins to inject solution into the aquaculture container 1 at a set flow rate. When the water level in the aquaculture container 1 exceeds the preset height of the harvesting device 2, the duckweed-solution mixture will flow out along the harvesting device 2 with the water flow and be separated by the inclined filter 6 below, allowing the duckweed to be harvested. During the harvesting process, the camera 4 in the visual sensing module continuously monitors the coverage change. When the duckweed coverage drops to the preset lower threshold, the industrial control computer in the control module issues a stop command, the water pump is turned off, and one harvesting operation is completed. The industrial control computer in the control module automatically records key data during this harvesting process, including harvesting time, duration, coverage change curve, etc., and saves them to the local storage device to provide data support for production management and algorithm optimization.

[0046] In an optional embodiment, the harvesting position of the harvesting component 2 can be adjusted to achieve rapid harvesting of duckweed-solution mixtures at different locations, increasing harvesting efficiency. The harvesting component 2 includes a bottom pipe 24 communicating with the bottom of the aquaculture container 1. A rotating pipe 23 is rotatably and sealed on the upper side of the bottom pipe 24. The connection between the rotating pipe 23 and the bottom pipe 24 can be secured by a waterproof sealing ring to prevent the solution in the aquaculture container 1 from leaking out through the gap between the rotating pipe 23 and the bottom pipe 24. A harvesting box 22 is connected to the upper side of the rotating pipe 23. The harvesting box 22 has drainage holes, which serve as the harvesting port for the duckweed-solution mixture. The harvesting box 22 is driven to rotate horizontally by a motor 21. The motor 21 is fixed to the aquaculture container 1 by a horizontal plate or suspended from the support 7 by a connecting frame. The output end of the motor 21 is connected and fixed to the harvesting box 22 by a connecting rod, and the output end of the motor 21, the connecting rod, and the rotating pipe 23 are coaxially arranged. The motor 21 is connected to the industrial control computer of the control module via a wired connection.

[0047] During operation, the harvesting box 22 can be driven by the motor 21 to rotate around the rotating tube 23 with the length of the discharge hole as the radius, so as to adjust the position of the harvested duckweed and quickly discharge the duckweed-solution mixture located in different positions in the aquaculture container 1.

[0048] It should be noted that in this scheme, the bottom pipe 24 is centrally located at the center of the aquaculture container 1, and only one inclined filter screen 6 is provided.

[0049] It should be noted that the terms "comprising," "including," or any other variations thereof used herein are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. For example, a light (not shown) may also be provided on the support 7 to provide illumination to the aquaculture container 1 at night, ensuring that the camera 4 can clearly monitor the growth of duckweed within the aquaculture container 1.

[0050] This embodiment combines a high-definition visual sensor camera 4 with a water pump 3 to achieve unmanned, all-weather, and precise monitoring of duckweed growth. It can automatically determine the optimal harvesting time and execute harvesting operations, completely replacing the traditional manual, experience-based judgment method. This device not only significantly improves the utilization efficiency of the aquaculture space and the efficiency of light energy conversion, keeping the duckweed in its exponential growth phase and increasing biomass yield, but also greatly reduces labor costs and intensity. Furthermore, the device features standardization, modularity, and remote controllability, supporting large-scale, intensive duckweed aquaculture applications and providing a reliable data foundation for building a smart agriculture IoT system.

[0051] This embodiment utilizes a closed-loop automated operation involving perception, decision-making, and execution. With a clear structure and sensitive response, it not only significantly reduces the intensity of human intervention but also effectively avoids over-harvesting or under-harvesting by precisely controlling the timing and quantity of harvesting. This greatly improves the intelligence level, production stability, and overall economic benefits of duckweed aquaculture.

[0052] It should be noted that the number of devices and processing scale in this embodiment are used to simplify the description of the present invention, and the application, modification and variation of the present invention will be obvious to those skilled in the art.

[0053] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of this utility model.

Claims

1. A visual monitoring-based duckweed harvesting device, characterized in that, include: Aquaculture containers used to store solutions and provide a habitat for duckweed growth; A camera is installed above the aquaculture container to monitor the growth of duckweed inside; a water pump is used to draw culture medium into the aquaculture container; A harvesting device installed inside the aquaculture container for discharging duckweed-solution mixtures; A control module used to control the operation of water pumps based on monitoring signals from cameras.

2. The duckweed harvesting device as described in claim 1, characterized in that, The bottom of the aquaculture container is equipped with an inclined filter screen, and the harvesting device is located on the upper side of the inclined filter screen to separate the duckweed and solution in the duckweed-solution mixture discharged by the harvesting device.

3. The duckweed harvesting device as described in claim 2, characterized in that, Below the inclined filter screen is a liquid storage tank for holding the solution, and the lower end of the inclined filter screen extends outward from the outside of the liquid storage tank.

4. The duckweed harvesting device as described in claim 2, characterized in that, The horizontal angle of the inclined filter screen is 35°-65°.

5. The duckweed harvesting device according to any one of claims 1-4, characterized in that, The harvesting component is a hollow tube connected to the bottom of the aquaculture container, and the cross-sectional shape of the hollow tube is circular or polygonal.

6. The duckweed harvesting device as described in claim 5, characterized in that, The number of hollow tubes is one.

7. The duckweed harvesting device as described in claim 5, characterized in that, The number of hollow tubes is at least two.

8. The duckweed harvesting device as described in claim 7, characterized in that, The aquaculture container is equipped with an isolation net to divide the aquaculture container into at least two isolation areas, and each isolation area is equipped with at least one hollow tube.

9. The duckweed harvesting device according to any one of claims 1-4, characterized in that, The harvesting device includes a bottom pipe connected to the bottom of the aquaculture container. A rotating pipe is rotatably and sealed on the upper side of the bottom pipe. A harvesting box is connected and installed on the upper side of the rotating pipe. The harvesting box has drainage holes and is driven to rotate horizontally by a motor.

10. The duckweed harvesting device as described in claim 1, characterized in that, A bracket is provided on the upper side of the aquaculture container, and the camera is mounted on the bracket.

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