Horizontally movable smart farm crop cultivation system

Abstract

A horizontally movable smart farm crop cultivation system according to one embodiment of the present invention comprises: a planting part for planting arbitrary crops in gutters; a cultivation part for cultivating the crops planted in the gutters; and a harvesting part for harvesting the cultivated crops, wherein the cultivation part has cultivation platforms, that are horizontally structured, and cultivates the crops by separating, at preset distances apart, adjacent gutters as going toward the direction in which the gutters are discharged.

Description

Horizontally mobile smart farm crop cultivation system

[0001] The present invention relates to a smart farm crop cultivation system, and more specifically, to a smart farm crop cultivation system that controls transport so that the gap between crops increases according to the growth of the crops, and controls growth conditions such as nutrient supply.

[0002]

[0003] Smart farm refers to an intelligent agricultural system that incorporates ICT (Information and Communication Technology) in the production, processing, and distribution stages of agricultural products. The smart farm industry, which uses ICT to increase crop productivity, is growing rapidly every year in line with global climate change.

[0004]

[0005] According to a global market research firm, the global smart farm market, which is expected to reach $20.6 billion in 2023, is expected to grow to $34.1 billion in 2026. It was at $12.4 billion in 2020, but has shown double-digit growth every year since then, recording $14.6 billion in 2021 and $17.4 billion in 2022. In addition, according to the 'SME Strategic Technology Roadmap' of the Ministry of SMEs and Startups, the domestic smart farm market is also estimated to have grown from KRW 4.7474 trillion in 2018 to KRW 5.9588 trillion last year, and in particular, indoor farms, a key sector within the smart farm industry, are showing the steepest growth among the domestic smart farm industry.

[0006]

[0007] Indoor farms are an agricultural method that uses light-emitting diode (LED) semiconductors to induce plant photosynthesis after building indoor facilities, and utilizes convergent technologies and facilities such as temperature and humidity control facilities, ICT, and water treatment facilities to promote plant growth. They have the advantage of being able to produce crops continuously 24 hours a day, 365 days a year, as long as conditions are maintained uniformly.

[0008]

[0009] Korean Patent No. 10-2177479 (November 5, 2020) “Automatic Plant Cultivation Spacing Adjustment Device” is a prior art invention related to indoor farms, which is a device that automatically adjusts the spacing of plant cultivation pots according to the user’s control.

[0010] However, although the above conventional technology has a structure in which the port spacing is automatically adjusted, there was a problem in that the structure of the transport section for transport was too complex, making maintenance / repair difficult, and due to the structural characteristics of the spacing adjustment section, there was a problem in that the distance between ports could not but be limited.

[0011]

[0012] The problem to be solved by the present invention is to propose a smart farm crop cultivation system that can space out adjacent gutters by a predetermined distance according to the growth of crops even with a simple structure, thereby preventing interference between crops growing with minimal space utilization, thereby maximizing the productivity of high-quality crops.

[0013] The problems to be solved by the present invention are not limited to the problems mentioned above, and other problems not mentioned can be clearly understood by a person having ordinary skill in the technical field to which the present invention belongs from the description below.

[0014]

[0015] According to one embodiment of the present invention for achieving the above technical task, a horizontally movable smart farm crop cultivation system includes a planting unit for planting any crop in a gutter, a cultivation unit for cultivating the crop planted in the gutter, and a harvesting unit for harvesting the crop after cultivation, wherein the cultivation unit is characterized in that the cultivation bed is formed in a horizontal structure, and the crop is cultivated by spacing the adjacent gutters apart from each other by a preset interval as the gutter faces the discharge direction.

[0016] In addition, the cultivation unit is characterized by having a nutrient solution unit that supplies and discharges nutrient solution to the crop and a conveying unit that horizontally conveys the gutter according to the growth of the crop.

[0017] In addition, the transport unit is characterized by having a cultivation bed in which a plurality of crops are vertically installed in a gutter, a transport bed positioned in the inner space of the cultivation bed and transporting the gutter in a horizontal direction, and a driving means for transmitting driving to the transport bed.

[0018] In addition, the cultivation bed is characterized by being height-adjustable to set the slope of the gutter.

[0019] In addition, the transport member comprises a transport frame that receives driving from the driving means, claws that are alternately installed on both sides of the transport frame at a preset interval, and a transport wheel that performs a rolling motion of the transport frame, and the claw is rotatable based on a claw axis, and the center of gravity is positioned at the bottom, and before an external force is applied in the discharge direction, the claw is characterized in that it changes from a first shape in which the upper end of the claw protrudes and stands up from the upper surface of the transport frame, and when an external force is applied in the discharge direction, it is recessed and lies down from the upper surface of the transport frame.

[0020] In addition, it is characterized by further including a control unit that controls the cultivation unit so that the growth of the crop is optimized.

[0021] In addition, the control unit is characterized by having a growth photographing module that photographs the growth of the crop, a growth judgment module that determines the growth level of the photographed crop based on information collected in advance, and a growth condition control module that controls at least one growth condition among nutrient solution supply, nutrient solution discharge, and horizontal gutter transport based on the determined growth level.

[0022] In addition, it is characterized by further including a conveyor unit that transports the gutter in which crops have been planted from the formal unit to the cultivation unit, and discharges and transports the gutter in which crop cultivation has been completed from the cultivation unit to the harvest unit.

[0023]

[0024] The crop cultivation transport device according to the present invention has a simple structure and can be easily manufactured, installed, and maintained / repaired.

[0025] Additionally, as the growth is completed and the gutters are discharged, it can be easy to transport the gutters that are put in to grow new crops.

[0026] Additionally, because they are spaced appropriately at a set interval according to crop growth, crops can be grown effectively even in narrow cultivation areas.

[0027] However, the effects of the present invention are not limited to the effects described above, and effects not mentioned can be clearly understood by a person having ordinary skill in the art to which the present invention pertains from this specification and the attached drawings.

[0028]

[0029] FIG. 1 is a schematic block diagram of a horizontal mobile smart farm crop cultivation system according to one embodiment of the present invention.

[0030] FIG. 2 is a schematic perspective view of a gutter used in a horizontally mobile smart farm crop cultivation system according to one embodiment of the present invention.

[0031] FIG. 3 is a schematic block diagram for explaining the nutrient solution supply of a horizontal mobile smart farm crop cultivation system according to one embodiment of the present invention.

[0032] Figure 4 is a schematic perspective view of a transport unit according to one embodiment of the present invention.

[0033] FIGS. 5 and 6 are drawings for explaining a conveyor belt, which is one of the configurations of a conveyor according to one embodiment of the present invention.

[0034] Fig. 7 is a perspective view of a claw, which is one of the components of a transport unit according to one embodiment of the present invention.

[0035] FIG. 8 is a drawing for explaining a driving means, which is one of the components of a transport unit according to one embodiment of the present invention.

[0036] FIG. 9 is a schematic perspective view of a conveying unit including a gutter injection means according to one embodiment of the present invention.

[0037]

[0038] Hereinafter, specific embodiments of the present invention will be described in detail with reference to the drawings. However, the spirit of the present invention is not limited to the presented embodiments, and those skilled in the art who understand the spirit of the present invention will be able to easily propose other backward inventions or other embodiments included within the scope of the spirit of the present invention by adding, changing, or deleting other components within the scope of the same spirit, but this will also be considered to be included within the scope of the spirit of the present invention. In addition, components having the same function within the scope of the same spirit shown in the drawings of each embodiment are described using the same reference numerals.

[0039]

[0040] FIG. 1 is a schematic block diagram of a horizontally mobile smart farm crop cultivation system according to one embodiment of the present invention, and FIG. 2 is a schematic perspective view of a gutter used in the horizontally mobile smart farm crop cultivation system according to one embodiment of the present invention.

[0041]

[0042] Referring to FIGS. 1 and 2, the horizontally mobile smart farm crop cultivation system (1) may include a planting unit (10) for planting any crop in a gutter (G100), a cultivation unit (20) for growing the crop planted in the gutter (G100), and a harvesting unit (30) for harvesting the crop after cultivation is complete.

[0043] In addition, the horizontal mobile smart farm crop cultivation system (1) may further include a control unit (40) that controls the cultivation unit (20) so that the growth of the crops is optimized, and a conveyor unit (50) that transports the gutter (G100) in which crops have been planted from the transplanting unit (10) to the cultivation unit (20) and discharges and transports the gutter (G100) in which crop cultivation has been completed from the cultivation unit (20) to the harvesting unit (30).

[0044]

[0045] The above-mentioned formal part (10) can be used to plant any crop in the gutter (G100).

[0046] For example, the above-mentioned formal part (110) can be formalized through a robot arm method, and the robot arm method can be implemented by a SCARA robot method having two parallel rotary joints and an articulated robot method having three or more rotary joints, but is not limited thereto.

[0047] In addition, the above-mentioned formal part (110) can be planted by limiting the number of crops to be planted in the gutter (G100) depending on the type of crop.

[0048] Here, the gutter (G100) is a bed for planting crops used in hydroponics, also called a gully. At this time, the gutter (G100) may be a bed suitable for the thin film hydroponics (NFT) method, and for example, the cross-sectional shape of the gutter may be an inverted 'ㅂ' shape, but is not limited thereto.

[0049] In addition, a plurality of crops can be planted longitudinally at a predetermined interval (D100) on the upper portion of the gutter (G100), and the planting unit (10) can plant crops by limiting the number of crops planted in the gutter (G100) depending on the type of crop. This may be to cultivate crops in an optimal condition without interference between neighboring crops, as the growth rate varies depending on the type of crop.

[0050]

[0051] In addition, after the formalization is completed, the above-mentioned regular section (10) can determine whether to put the gutter (G100) in which the crop is planted into the above-mentioned cultivation section (20) depending on the cultivation situation of the above-mentioned cultivation section (20), and if the gutter is decided to be put in, the gutter (G100) can be delivered to the above-mentioned conveyor section (50). At this time, the delivery method includes, but is not limited to, a push method that pushes the gutter (G100) to the above-mentioned conveyor section (50) and a method that places the gutter (G100) on the above-mentioned conveyor section (50) using a robot arm equipped with a gripper.

[0052]

[0053] Next, the cultivation section (20) can cultivate crops that have been established in the gutter (G100).

[0054] For example, the cultivation section (20) has a cultivation bed (100) of a horizontal structure, and the adjacent gutters (G100) are spaced apart from each other by a preset interval (D100) as they face the discharge direction (W10) so that the crops can be cultivated.

[0055]

[0056] As a detailed configuration for this, the cultivation unit (20) may be equipped with a nutrient solution unit (21) that supplies and discharges nutrient solution to the crop and a conveying unit (22) that horizontally conveys the gutter according to the growth of the crop.

[0057]

[0058] FIG. 3 is a schematic diagram for explaining the nutrient solution supply of a horizontally mobile smart farm crop cultivation system according to one embodiment of the present invention.

[0059]

[0060] Referring to Fig. 3(a), the nutrient solution unit (21) may be equipped with a nutrient solution supply unit (21-a) that supplies the nutrient solution to the crop, a nutrient solution discharge unit (21-b) that discharges the supplied nutrient solution, and a nutrient solution tank (21-c) that stores and purifies the nutrient solution.

[0061] Here, the nutrient solution is a solution containing dissolved inorganic nutrients necessary for the growth of crops. The nutrient solution supply unit (21-a) can supply different types and concentrations of the nutrient solution depending on the growth of the crops. The nutrient solution can be transferred between each component of the nutrient solution unit through pipes.

[0062] For example, the nutrient solution supply unit (21-a) may be located on one side of the gutter (G100), and the nutrient solution discharge unit (21-b) may be located on the other side of the gutter. At this time, the gutter (G100) may have a predetermined slope formed in the horizontal direction, so that the nutrient solution supplied from the nutrient solution supply unit (21-a) may naturally move along the slope to the nutrient solution discharge unit (21-b).

[0063] In addition, the nutrient solution tank (21-c) may be equipped with a supply tank (21-ca) connected to the nutrient solution supply unit (21-a), a discharge tank (21-cb) connected to the nutrient solution discharge unit (21-b), and a purification tank (21-cc) that receives the discharged nutrient solution from the discharge tank (21-cb), purifies it, and supplies it to the supply tank (21-ca). At this time, the nutrient solution tank (21-c) has separate tanks for supply, discharge, and purification in a single tank configuration, so that the quality of the supplied nutrient solution can be improved, and the nutrient solution can be continuously circulated in the gutter, making it easy for thin-film hydroponics. However, the present invention is not limited thereto, and various modifications can be made at a level obvious to a person skilled in the art.

[0064]

[0065] Figure 4 is a schematic perspective view of a transport unit according to one embodiment of the present invention.

[0066]

[0067] Referring to FIG. 4, the transfer unit (22) includes a cultivation bed (100) on which a plurality of crop-planted gutters (G100) are installed in a longitudinal direction, a transfer bed (200) positioned in the internal space (S100) of the cultivation bed (100) to transfer the gutters (G100) in a transverse direction, and a driving means (300) for transmitting driving to the transfer bed (200), and the transfer bed (200) can separate the adjacent gutters (G100) by a preset distance (D100) as the gutters (G100) move toward the discharge port.

[0068]

[0069] The above cultivation platform (100) may be equipped with a horizontal support member (110) and a vertical support member (120) that vertically supports the horizontal support member (110).

[0070]

[0071] The above horizontal support member (110) may include a first horizontal support member (111) that is installed longitudinally and connected to the vertical support member (120) and a second horizontal support member (112) that is installed transversely and connected to the first horizontal support member (111).

[0072]

[0073] Specifically, the first horizontal support member (111) may be a 'C'-shaped steel made of galvanized metal, and the long side of the 'C'-shaped steel is connected to the vertical support member (120), and the short side of the 'C'-shaped steel is connected to the second horizontal support member (112) to support the second horizontal support member (112). At this time, the number of the first horizontal support members (111) per stage of the transfer member (22) may be 4 to 5, and the interval between adjacent first horizontal support members (111) may be 1000 mm to 2500 mm. This may be a number and interval that can minimize installation costs while considering the structural stability of the cultivation bed (100). However, the present invention is not limited thereto, and the number, shape, arrangement, material, and specifications of the first horizontal support members (111) may be variously modified at a level obvious to a person skilled in the art.

[0074]

[0075] In addition, the second horizontal support member (112) may be a 'ㄷ' shaped steel made of galvanized metal, and may be arranged so that the opening of the 'ㄷ' shaped steel faces the upper surface, and may be seated on and connected to the first horizontal support member (111). At this time, the second horizontal support members (112) may be arranged in at least two rows, for example, four, and the interval between adjacent first horizontal support members (111) may be 2000 mm to 2500 mm. This is a number and interval that can minimize installation costs while considering the structural stability of the cultivation bed (100), and may be a number and interval that reflect the longitudinal length of the gutter (G100) to be seated on the second horizontal support member (112). However, without limitation thereto, the number, shape, arrangement, material and specifications of the second horizontal support member (112) can be varied in various ways at a level obvious to a person skilled in the art.

[0076]

[0077] The vertical support member (120) may be a 'C'-shaped steel made of galvanized metal, and the long side of the 'C'-shaped steel may be connected to the long side of the first horizontal support member (111), and the upper part of the vertical support member (120) may support the lower surface of the second horizontal support member (112). At this time, the number of the vertical support members (120) may be installed at each intersection of the first horizontal support member (111) and the second horizontal support member (112), thereby withstanding the load of the horizontal support member (110) and the load of the gutter (G100) mounted on the horizontal support member (110). However, the present invention is not limited thereto, and the number, shape, arrangement, material, and specifications of the second horizontal support members (112) may be variously modified at a level obvious to a person skilled in the art.

[0078]

[0079] Additionally, the vertical support member (120) may be height-adjustable.

[0080] For example, the vertical support member (120) can be combined with a height adjustment plate (P100) having a hole punched in the lower portion, a first nut (N110) is attached to the upper surface of the height adjustment plate (P100), and a bolt (B110) is combined with the first nut (N110) through the hole, so that the height of the vertical support member (120) can be adjusted as the bolt (B110) moves up and down along the screw thread of the first nut (N110). At this time, the head of the bolt (B110) is connected to a cone-shaped support (B120), thereby improving the support stability of the vertical support member (120). In addition, a second nut (N120) is additionally fastened between the head of the bolt (B110) and the lower surface of the height adjustment plate (P100). After the height adjustment is complete, the second nut (N120) is fastened to the lower surface of the height adjustment plate (P100), thereby fixing the height of the vertical support member (120). Accordingly, in order to provide a longitudinal gradient of the gutter (G100), instead of setting the length of the 'C'-shaped steel of the vertical support member (120) differently, the height adjustment plate (P100) is coupled to the vertical support member (120) of the same length, thereby enabling easy height adjustment even with a simple structure. However, without being limited thereto, the height adjustment mechanism of the vertical support member (120) can be modified in various ways at a level obvious to a person skilled in the art.

[0081]

[0082] In addition, the cultivation bed (100) may be installed in a manner in which the first horizontal support member (111) and the vertical support member (120) are first connected, and then the lower surface of the second horizontal support member (112) is secured and connected to the short side of the horizontal support member (110) and the upper side of the vertical support member (120). At this time, the connection between the first horizontal support member (111) and the vertical support member (120) may be achieved by inserting a first connecting plate between the long side of the first horizontal support member (111) and the long side of the vertical support member (120) and connecting through bolting, and then, second connecting plates may be placed against both sides of the second horizontal support member (112) and both short sides of the vertical support member (120) and connected through bolting. Here, the shape of the first connecting plate may be a hexagonal shape in which the short and long sides are parallel to each other, and the sides that touch the long sides are each vertical, and the shape of the second connecting plate may be a rectangular shape with a chamfer so as not to interfere with the first horizontal support member (111) in the shape of the first connecting plate. However, the present invention is not limited thereto, and various modifications may be made at a level obvious to a person skilled in the art.

[0083]

[0084] That is, the cultivation bed (100) used in the transfer unit (22) of the present invention can be designed with a simple structure rather than being installed through difficult work such as welding to connect each member, and can also be installed through bolting, thereby maximizing constructability.

[0085]

[0086] FIGS. 5 and 6 are drawings for explaining a conveyor belt, which is one of the components of a conveyor according to one embodiment of the present invention, and FIG. 7 is a perspective view of a claw, which is one of the components of a conveyor according to one embodiment of the present invention.

[0087]

[0088] Referring to FIGS. 5 to 7, the transporter (200) is positioned in the internal space (S100) of the cultivation stand (100) and can transport the gutter (G100) in a horizontal direction, and the transporter (200) can space the adjacent gutters (G100) apart by a preset interval (D100) as the gutters (G100) move toward the discharge port.

[0089]

[0090] Specifically, the above-mentioned transport member (200) is installed in the internal space (S100) of the second horizontal support member (112) and can perform a reciprocating movement in the transverse direction within the second horizontal support member (112).

[0091] For example, the transfer unit (200) may be provided with a transfer frame (210) that receives driving from the driving means (300), claws (220) that are alternately installed at a predetermined interval (D100) on both sides of the transfer frame (210), and a transfer wheel (230) that performs a rolling motion of the transfer frame (210). In this case, the predetermined interval (D100) may be a distance at which the adjacent gutters (G100) are arranged, reflecting the growth size of the crop.

[0092]

[0093] The above-mentioned transfer frame (210) is connected to the driving means (300) and can perform a reciprocating movement in the transverse direction by receiving driving from the driving means (300).

[0094] For example, the above-mentioned transfer frame (210) may have a rectangular shape that is formed long in the horizontal direction, and the material of the above-mentioned transfer frame (210) may be a galvanized metal material, but is not limited thereto.

[0095] In addition, the transfer frame (210) may be formed with a first hole (H110) for installing the claw (220) and a second hole (H120) in which a nut (N200) for limiting the rotation radius of the claw (220) is installed. In addition, the first hole (H110) and the second hole (H120) may be formed in multiple numbers horizontally by being arranged vertically with each other. At this time, the number of the first hole (H110) and the second hole (H120) may be formed to be greater than or equal to the number of the claws (220). This is to adjust the spacing between adjacent claws (220) in various ways when installing the claws (220) on the transfer frame (210), and thus, the transfer unit (22) of the present invention can easily change the spacing between adjacent claws (220) according to the gutter (G100) type, crop type, and crop growth rate.

[0096]

[0097] The above claw (220) is connected to the transfer frame (210) and can perform a reciprocating movement in the horizontal direction according to the movement of the transfer frame (210). The claw (220) has a hole (H200) formed in the center and can be installed by the first hole (H110) of the transfer frame (210) and the claw shaft (C100). At this time, the claw (220) can be rotated based on the claw shaft (C100).

[0098] For example, the claw shaft (C100) may be simply configured with a bolt and nut that secures the claw (220) so that it does not come off from the transport frame (210), rather than having a separate configuration for providing tension or elasticity to the claw (220). This makes maintenance of the claw (220) easy.

[0099] In addition, the claw (220) can be changed from a first shape in which the center of gravity is located at the bottom and the upper end of the claw (220) protrudes from the upper surface of the transfer frame (210) before an external force is applied in the discharge direction, to a second shape in which the claw (220) is laid down and recessed from the upper surface of the transfer frame (210) when an external force is applied in the discharge direction.

[0100] For example, the upper part of the claw (220) may be formed of a plate-shaped plastic material, which may be to make the weight lighter than that of a metal claw, thereby facilitating rotation of the claw (220) about the claw axis (C100). At this time, the lower part of the claw (220) may be formed thicker than the upper part of the claw (220), so that the claw (220) can be restored to the first shape by itself by gravity when not affected by a separate external force.

[0101] In addition, based on the first shape, the claw (220) is formed with a vertical surface (M100) that is perpendicular to the upper surface of the transport frame (210) when viewed from the opposite direction of transport, and when the vertical surface (M100) comes into contact with the lower portion of the gutter (G100), it can perform a function of pushing the gutter (G100) in the transport direction, and when the inclined surface (M200) is formed so as to form a predetermined angle with the upper surface of the transport frame (210) when viewed from the transport direction, and when the inclined surface (M200) comes into contact with the lower portion of the gutter (G100), the claw (220) can be changed to the second shape. At this time, the claw (220) may have a step (M300) formed between the upper and lower portions, and when the claw (220) is rotated by receiving an external force in the opposite direction of movement, the step (M300) may come into contact with the nut (N200) installed in the second hole (H120) and be caught, thereby limiting the rotation radius of the claw (220), and thereby, the claw (220) may easily push the gutter (G100) in the movement direction.

[0102] In addition, the claws (220) may be installed alternately on both sides of the transfer frame (210), which may be to balance the left and right sides of the transfer frame (210) to primarily prevent the transfer frame (210) from being twisted or lifted to one side, thereby allowing smooth reciprocating motion.

[0103]

[0104] The above-mentioned transfer wheel (230) is connected to the transfer frame (210) and can perform a rolling motion of the transfer frame (210), and may include a first transfer wheel (231) that is in vertical contact with the bottom surface of the internal space of the second horizontal support member (112) and a second transfer wheel (232) that is in vertical contact with both sides of the internal space of the second horizontal support member (112).

[0105] For example, the second transfer wheel (232) can assist in the clouding by the first transfer wheel (231) and, at the same time, can secondarily prevent the transfer frame (210) from being twisted or lifted to one side, thereby allowing it to perform a smooth reciprocating motion.

[0106] In addition, the transfer wheels (230) may be multiple and may be bolted to the transfer frame (210). At this time, the number of transfer wheels (230) and the spacing between adjacent transfer wheels (230) may be formed along a line that allows smooth movement of the transfer frame (210).

[0107]

[0108] In addition, the transfer unit (22) of the present invention may further include a slip means (400) installed on both ends of the 'ㄷ' shape of the second horizontal support unit (112) to reduce the frictional force of the gutter (G100).

[0109] When the gutter (G100) is transported on the second horizontal support member (112) without the slip means (400), the transport of the gutter (G100) is hindered by the frictional force formed in the opposite direction of transport, causing the gutter (G100) to stop or overturn. To solve this problem, the present invention can reduce the frictional force of the gutter (G100) by installing the slip means (400) on both ends of the 'ㄷ' shape of the second horizontal support member (112) that contacts the gutter (G100).

[0110] For example, referring to FIG. 3, the slip means (400) may be installed in multiple pieces at the tips on both sides of the 'ㄷ' shape of the second horizontal support member (112), and the material of the slip means (400) may be a plastic material with a smooth surface.

[0111] In addition, the slip means (400) is formed in a 'ㄷ' shape and can be fitted and connected to both ends of the horizontal support member (110), and can be directly connected in addition to the fitted connection to improve the fixing force.

[0112] In addition, when the slip means (400) are fitted together, the joints of the slip means (400) that are horizontally adjacent to each other may be staggered so as not to face each other, and this means that when the gutter is transported, even if the joint portion of the first slip means (410) and the gutter are caught and the first slip means (410) is lifted or additional frictional force is generated in the gutter (G100), since the second slip means (420) is not a joint portion, it may conflict with problems (for example, frictional force, etc.) that occur in the first slip means (410).

[0113] However, without limitation thereto, the slip means (400) can be modified in various ways at a level obvious to a person skilled in the art.

[0114]

[0115] In addition, the above-described transfer plates (200) can be arranged in a plurality of horizontal directions within the second horizontal support member (112), and the preset interval (D100) can be set differently for each of the adjacent transfer plates (200), and the interval can be set wider as the transfer plates are closer to the direction in which the gutter (G100) is discharged.

[0116]

[0117] Referring to FIG. 6, the above-described transport platforms (200) may be arranged in multiple numbers in the horizontal direction, and a connecting means (240) for connecting adjacent transport platforms (200) may be further provided.

[0118] For example, the connecting means (240) may have a slot hole (H300) formed in the transverse direction, and by means of the slot hole (H300), the adjacent conveying members (200) may be spaced apart from each other by a predetermined distance (D130) or may be attached to each other.

[0119] At this time, the predetermined interval (D130) may be the difference between the first preset interval (D110) which is the interval between the claws of the conveyor (210-a) located on the inlet side and the second preset interval (D120) which is the interval between the claws of the conveyor (210-b) located on the outlet side, and the conveyor (200) may synchronize the gutter (G100) from the first preset interval (D110) to the second preset interval (D120) through the connecting means (240). As a result, the crop cultivation conveyor may space the adjacent gutters (G100) apart by the preset interval (D100) as the gutters (G100) move toward the outlet.

[0120]

[0121] FIG. 8 is a drawing for explaining a driving means, which is one of the components of a transport unit according to one embodiment of the present invention.

[0122]

[0123] Referring to FIG. 8, the driving means (300) may be composed of a hydraulic pump (not shown), a hydraulic cylinder (310), a crank (320), and a connecting rod (330). The hydraulic pump (not shown) transmits hydraulic pressure to the hydraulic cylinder (310), and the crank (320) converts the linear motion of the hydraulic cylinder (310) into a rotary motion, thereby transmitting the rotary motion through the crank shaft (C200). At the same time, the connecting rod (330) converts the rotary motion of the crank (320) back into a linear motion, thereby transmitting a reciprocating linear motion to the transfer plate (200) connected to the connecting rod (330).

[0124] At this time, the portion where the hydraulic cylinder (310) and the crank (320) are connected, and the portion where the crank (320) and the connecting rod (330) are connected may be rotatable, and in particular, the crank (320) may be formed such that the portion where the piston rod (311) of the hydraulic cylinder (310) is connected protrudes. As a result, the crank (320) can minimize vibration generated in the process of converting linear motion by the hydraulic cylinder (310) into rotary motion and then converting rotary motion into linear motion again.

[0125] In addition, the hydraulic cylinder (310) may be installed on each side of the discharge port side of the second horizontal support member (112), and the remaining upper second horizontal support member (112) may be configured only with the crank (320) and the connecting rod (330) without the hydraulic cylinder (310), and the crank (320) may be connected by a crank shaft (C200).

[0126] At this time, the hydraulic pump (not shown) of the driving means (300) is configured as one and is equipped with a distributor that equally distributes hydraulic pressure, so that the same hydraulic pressure can be transmitted to the hydraulic cylinders (310) on both sides.

[0127] This is because, if only one of the driving means (300) is installed, the driving force transmitted to the conveyor (200) may be minimal, and conversely, if multiple driving means (300) are installed in addition to both sides of the discharge port of the second horizontal support member (112), it is not economical, and rather, the driving force may not be synchronized, which may cause problems such as the crank shaft being twisted or the hydraulic cylinder being broken. Therefore, the design may be considered to be economical, easily synchronized, and provide an appropriate driving force.

[0128] However, it is not limited to this and can be modified in various ways at a level that is obvious to a person skilled in the art.

[0129]

[0130] FIG. 9 is a schematic perspective view of a conveying unit including a gutter injection means according to one embodiment of the present invention.

[0131]

[0132] Referring to FIG. 9, the transfer unit (22) according to one embodiment of the present invention may further include a gutter injection means (500) for inserting the gutter (G100) located between the adjacent second horizontal support units (112).

[0133]

[0134] As in the transport unit (22) illustrated in Fig. 4, if a separate gutter feeding means (500) is not included, since the gutters (G100) that have completed growth must be discharged one by one and new gutters (G100) must be fed in one by one, manpower must be supplied to both the input side and the output side.

[0135] Alternatively, multiple gutters (G100) that have completed growth can be discharged in succession first, and then new gutters (G100) can be inserted in the same number as the discharged gutters (G100). At this time, multiple claws without gutters are formed on the inlet side in the same number as the discharged gutters (G100), and in order to insert new gutters (G100), they must be transported one by one and placed in the claws without gutters.

[0136] Accordingly, the conveying unit (22) of the present invention can improve work efficiency when inserting the gutter by separately configuring the gutter insertion means (500).

[0137]

[0138] The above gutter injection means (500) has the same configuration and operating mechanism as the above-described transfer unit (22). In order to explain the above gutter injection means (500), the transfer unit (22) illustrated in FIG. 4 is defined as the main transfer unit. In the following, any content overlapping with the above-described content will be omitted, and the features of the above gutter injection means (500) will be briefly described.

[0139]

[0140] The gutter feeding means (500) may be positioned between the second horizontal support parts (112-a) of the main transport means, and the second horizontal support part (112-b) of the gutter feeding means (500) may be formed shorter than the second horizontal support part (112) of the main transport means. This is a length that takes into account the number of gutters discharged continuously, and the length of the second horizontal support part (112) of the gutter feeding means (500) may be determined according to the number of gutters discharged continuously, and accordingly, the length of the transport platform (200) of the gutter feeding means (500) may also be applied.

[0141] In addition, the driving means (300-b) of the gutter feeding means (500) and the driving means (300-a) of the main transport means may be installed separately, and the claw arrangement of the gutter feeding means (500) and the claw arrangement of the adjacent main transport means may be the same. This may be to maintain compatibility with the claw of the main transport means when the gutter feeding means (500) is driven to feed the gutter (G100) while the main transport means is stopped.

[0142]

[0143] Hereinafter, the gutter transport mechanism of the transport unit (22) according to one embodiment of the present invention will be described.

[0144]

[0145] First, when multiple crops are installed in the gutter (G100) in the longitudinal direction on the cultivation bed (100) toward the input port, only the driving means (300) of the main transport means is operated to transport the input gutter (G100). At this time, by the driving means (300), the transporting member (200) performs a reciprocating movement in the transverse direction, and when the transporting member (200) moves in the transporting direction, the claw (220) pushes and transports the gutter (G100) in the transporting direction in the first shape, and when the transporting member (200) moves again in the opposite transporting direction, the claw (220) changes into the second shape by the lower end of the gutter (G100), and when it leaves the lower end of the gutter (G100), it changes back into the first shape, and when the transporting member (200) moves again in the transporting direction, the claw (220) repeats the operation of pushing and transporting the gutter (G100) in the transporting direction in the first shape, so that the gutter (G100) can gradually move toward the discharge port.

[0146] In addition, in order to space the adjacent gutters (G100) apart from each other by a preset interval as the gutter (G100) moves toward the discharge port, the interval of the claw (220) may be set for each of the adjacent transfer frames (210), and the adjacent transfer frames (210) may be connected by a connecting means (240) by the difference in the preset interval.

[0147] Specifically, when the transfer plate (200) moves in the opposite direction of the transfer, the adjacent transfer frames (210) are adjacent without a gap between them, and the gap between the transfer frame claws on the inlet side and the transfer frame claws on the outlet side can become the same as the gap between the transfer frame claws on the inlet side. When the transfer plate (200) moves in the transfer direction, the gap between the adjacent transfer frames (210) widens again, and the gap between the transfer frame claws on the inlet side and the transfer frame claws on the outlet side can become the same as the gap between the transfer frame claws on the outlet side. In this way, by synchronizing the change in the gap between the claws between the adjacent transfer frames (210), the adjacent gutters (G100) can be spaced apart by a preset gap as the gutters (G100) move toward the outlet.

[0148] Lastly, when a new gutter is to be reintroduced as much as the discharged gutter, the operation of the main transport means is stopped, and the gutter injection means (500) is separately driven so that a new gutter can be reintroduced as much as the discharged gutter, and when the reintroduction of a new gutter as much as the discharged gutter is completed, the operation of the gutter injection means (500) is stopped and the crops can be allowed to grow.

[0149]

[0150] Next, the harvesting unit (30) can harvest crops that have been cultivated.

[0151] For example, the harvesting unit (30) can be planted using a robotic arm method, similar to the planting unit (10). The robotic arm method can be implemented using a SCARA robot method having two parallel rotary joints and a multi-joint robot method having three or more rotary joints, but is not limited thereto.

[0152] In addition, the harvesting unit (30) can receive the crops for which cultivation has been completed from the conveyor unit (50) and harvest the crops. At this time, the harvesting unit (30) can harvest the crops by classifying them differently according to the quality of the crops.

[0153]

[0154] *For example, the harvesting unit (30) can classify the crop based on the quality, such as size, color, etc., and harvest the crop according to the classification. At this time, the harvesting unit (30) can be performed using machine vision technology, and known technologies can be applied to the machine vision technology.

[0155]

[0156] In addition, the harvesting unit (30) and the planting unit (10) may perform compatible tasks with each other. For example, the planting unit (10) may perform tasks for harvesting crops that have been cultivated. This means that the planting and harvesting tasks can be performed with a single configuration without having to be divided into two components, the harvesting unit (30) and the planting unit (10), and thus the crop cultivation process can be simplified.

[0157]

[0158] Next, the control unit (40) can control the cultivation unit (20) so that the growth of the crop is optimized.

[0159] For example, the control unit (140) may be equipped with a growth photographing module (41) that photographs the growth of the crop, a growth judgment module (42) that determines the growth level of the photographed crop based on previously collected information, and a growth condition control module (43) that controls at least one growth condition among nutrient solution supply, nutrient solution discharge, and horizontal gutter transport based on the determined growth level.

[0160] For example, the growth photographing module (41) can photograph the growth of a crop using a photographing device such as a camera or camcorder, and transmit the photographed data to the growth determination module (42). At this time, the growth determination module (42) can determine the degree of growth of the crop based on the photographed data transmitted from the growth photographing module (41) and information collected in advance related to the growth of the crop. In addition, the growth determination module (42) can subdivide the determined degree of growth of the crop into leaf color, number of leaves, color of fruit, size of fruit, number of fruit, color of stem, and thickness of stem, and digitize each of them.

[0161] For example, the growth determination module (42) can determine the growth of a crop based on a pre-trained artificial intelligence model by inputting photographed data. At this time, the artificial intelligence model and the growth determination module (42) interact through a pre-defined standard API, and the growth determination module (42) maintains compatibility regardless of the artificial intelligence model that implements the same API and the algorithm used in the internal implementation of the model, and can simultaneously use multiple models for various growth-related components.

[0162] Specifically, the growth determination module (42) can extract features of crop images from photographed data through an artificial intelligence model and classify and detect crops based on these. At this time, in order to extract the features of the crop image, a filter process of matrixing the crop image is performed, various features of the crop image are extracted, and among the extracted features, unnecessary data is subjected to a preprocessing process, and the preprocessed data is flattened and vectorized to perform operations, thereby determining the growth degree of the crop.

[0163] For example, the growth determination module (42) can determine the growth of a crop by matching a photographed crop image with an image of a pre-learned crop, and can perform matching by digitizing (for example, vectorizing) each of the photographed crop image and the image of the pre-learned crop and calculating the similarity of each digitized image. At this time, the similarity can use cosine similarity, Euclidean similarity, etc., and the closer the similarity is to a certain value, the more similar the two data are. Here, the growth determination module (42) for determining the growth of a crop maintains compatibility with an artificial intelligence model that implements the same API (regardless of the algorithm used for the internal implementation of the model), and can use multiple models simultaneously for various growth-related components.

[0164] In addition, the growth determination module (42) can collect external information from an external server through an online network in addition to the information collected in advance regarding crop growth. For example, the external information may be information helpful for learning to improve the accuracy of the artificial intelligence model of the growth determination module (42). Here, the online network referred to in the present invention may be a core network integrated with a wired public network, a wireless mobile communication network, or a mobile Internet, and may refer to a global open computer network structure that provides various services existing in the TCP / IP protocol and its upper layer, such as HTTP (Hyper Text Transfer Protocol), HTTPS (Hyper Text Transfer Protocol Secure), Telnet, FTP (File Transfer Protocol), DNS (Domain Name System), SMTP (Simple Mail Transfer Protocol), and the like, and is not limited to these examples, but comprehensively refers to a data communication network that can transmit and receive data in various forms. In addition, the server referred to in the present invention may include other components for performing a server environment, and the server may include any type of device. For example, a server may be a digital device equipped with a processor, memory, and computing power, such as a laptop, notebook, desktop computer, web pad, or mobile phone. It may also be a web server. However, the server is not limited to this and can be modified in various ways as would be apparent to those skilled in the art.

[0165] In addition, the growth condition control module (43) can control at least one growth condition among nutrient solution supply, nutrient solution discharge, and horizontal gutter transport according to the level of crop growth determined by the growth determination module (42).

[0166] For example, the growth condition control module (43) can apply different weights to the numerical scores based on the numerical information on the degree of crop growth determined by the growth determination module (42) and apply them to growth condition control. As a result, control commands for nutrient solution supply, nutrient solution discharge, and horizontal gutter transport can be individually commanded according to the degree of crop growth.

[0167] For example, if the digitized crop growth chart received from the growth determination module (42) has the number of leaves as 1, the color of the fruit as 2, and the number of fruits as 3, and if the weights preset by the growth condition control module (43) are a 10% weight for the number of leaves, a 30% weight for the color of the fruit, and a 20% weight for the number of fruits for nutrient solution supply control, then when the digitized scores are added up, they can be digitized as 1.1 + 2.6 + 3.6 = 7.3, and if a 30% weight for the number of leaves, a 20% weight for the color of the fruit, and a 10% weight for the number of fruits for nutrient solution discharge control, then when the digitized scores are added up, they can be digitized as 1.3 + 2.4 + 3.3 = 7.0. This allows for multifaceted control of growth conditions by applying different weights to control commands for identically digitized crop growth. However, this is not limited to this method, and various modifications are possible at a level readily apparent to those skilled in the art.

[0168]

[0169] Next, the conveyor unit (50) can transport the gutter in which crops have been planted from the planting unit (10) to the cultivation unit (20), and can discharge and transport the gutter in which crop cultivation has been completed from the cultivation unit (20) to the harvest unit (30).

[0170] For example, the conveyor unit (50) has the same basic configuration as a general conveyor system, such as a conveyor belt, rollers, motor, and control device, and is provided with a pull-push means that pushes the gutter to be fed into the cultivation unit (20) and pulls the gutter discharged from the cultivation unit (20) to be fed and discharged from the cultivation unit (20). At this time, the conveyor unit (50) can be installed on each of the horizontal sides of the cultivation unit (20), and the conveyor unit (50) can transport the gutter (G100) in the longitudinal direction. However, the present invention is not limited thereto, and various modifications can be made at a level obvious to a person skilled in the art.

[0171]

[0172] In order to more clearly express the technical idea of ​​the present invention, the attached drawings briefly express or omit components that are not related to or have little to do with the technical idea of ​​the present invention.

[0173]

[0174] Although the configuration and features of the present invention have been described above based on embodiments according to the present invention, the present invention is not limited thereto, and it is obvious to those skilled in the art that various changes or modifications can be made within the spirit and scope of the present invention, and therefore, it is made clear that such changes or modifications fall within the scope of the appended patent claims.

[0175]

[0176] The crop cultivation transport device according to the present invention has a simple structure and can be easily manufactured, installed, and maintained / repaired.

[0177] Additionally, as the growth is completed and the gutters are discharged, it can be easy to transport the gutters that are put in to grow new crops.

[0178] Additionally, because they are spaced appropriately at a set interval according to crop growth, crops can be grown effectively even in narrow cultivation areas.

Claims

1. Transplanting part where any crop is transplanted into the gutter; A cultivation section for growing crops in the above gutter; and Including a harvesting unit for harvesting crops that have been grown; The above cultivation department, A horizontally movable smart farm crop cultivation system characterized in that the cultivation bed is formed in a horizontal structure and the crops are cultivated by spacing out adjacent gutters by a preset interval as they face the discharge direction.

2. In paragraph 1, The above cultivation department, A horizontally mobile smart farm crop cultivation system characterized by comprising a nutrient solution unit for supplying and discharging nutrient solution to the crop and a transport unit for horizontally transporting the gutter according to the growth of the crop.

3. In paragraph 2, The above transfer part, A horizontally mobile smart farm crop cultivation system characterized by comprising: a cultivation bed on which a plurality of crops are vertically arranged in gutters; a conveyor bed positioned in the internal space of the cultivation bed and horizontally conveying the gutters; and a driving means for transmitting drive to the conveyor bed.

4. In paragraph 3, The above cultivation zone, A horizontally movable smart farm crop cultivation system characterized by height adjustment for setting the slope of the above gutter.

5. In paragraph 3, The above conveyor belt, It comprises a transfer frame that receives driving from the above driving means, claws that are alternately installed at preset intervals on both sides of the transfer frame, and transfer wheels that perform rolling motion of the transfer frame. The above claw, A horizontally mobile smart farm crop cultivation system characterized in that the system can rotate around the claw axis, the center of gravity is located at the bottom, and the claw top protrudes from the upper surface of the transfer frame and stands up before an external force is applied in the discharge direction, and changes into a second shape in which the claw top is recessed from the upper surface of the transfer frame and lies down when an external force is applied in the discharge direction.

6. In paragraph 1, A vertical mobile smart farm crop cultivation system, characterized in that it further includes a control unit that controls the cultivation unit so that the growth of the crop is optimized.

7. In paragraph 6, The above control unit, A horizontally mobile smart farm crop cultivation system characterized by comprising: a growth photography module for photographing the growth of the crop; a growth judgment module for judging the growth level of the photographed crop based on information collected in advance; and a growth condition control module for controlling at least one growth condition among nutrient solution supply, nutrient solution discharge, and horizontal gutter transport based on the determined growth level.

8. In paragraph 1, A horizontally mobile smart farm crop cultivation system characterized by further comprising a conveyor section for transporting the gutters in which crops have been planted from the above-mentioned regular section to the above-mentioned cultivation section, and for discharging and transporting the gutters in which crop cultivation has been completed from the above-mentioned cultivation section to the above-mentioned harvest section.

Images