CN113837207A - Remote control plant care device and method - Google Patents
Remote control plant care device and method Download PDFInfo
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Abstract
The invention relates to a remote control plant care device and a remote control plant care method, which at least comprise an inspection nursing module (1) capable of finishing inspection work in a plant factory under the control of a control unit (2), wherein the inspection nursing module (1) is at least provided with an image acquisition unit (2), an environment detection unit (6) and an adjusting component (8), wherein the adjusting component (8) finishes the acquisition of multi-angle plant images in a mode of driving the image acquisition unit (2) to change a plurality of working positions around a specific plant on a cultivation frame (3); the adjusting component (8) can also place the environment detection unit (6) in a leaf area of a specific plant in a mode of simulating a petiole to support a leaf, and the environment detection unit (6) is constructed in a mode of simulating a leaf structure and shape, so that the environment detection unit can acquire microenvironment parameters the same as the environment where the leaf is located.
Description
Technical Field
The invention relates to the technical field of plant care devices, in particular to a remote control plant care device and method.
Background
The effect and survival rate of the seedling raising technology are basically limited by environmental condition creation and climate factors, which shows that no matter which seedling raising technology is adopted, the environment is the key for realizing gene expression, agricultural production is taken as a technical work of artificial participation, the capability of artificially creating the environment can be fully exerted to solve the adverse factors of the climate or the environment, and the seedling raising effect is improved. More importantly, the environment can enable the genes or potential which can not be expressed by the plant under the conventional condition to be expressed and embodied under the artificially created environment.
In recent years, the industrial agriculture fields of China, such as greenhouse facility types, cultivation modes, agricultural product quality and the like, make great progress, but the extensive and empirical technical levels of China are basically not broken through in the aspects of environmental control technology, intelligent production management and the like, and the production level of China is far away from the production level of developed countries such as Japan, America, Israel and the Netherlands. Due to the uncertainty, complexity and low cost of agricultural production, the popularization and application of microelectronic technology in agricultural field is far behind that in other fields such as industry, military and the like, and many environmental control technologies with high cost and high energy consumption introduced from abroad cannot be practically applied in China. Therefore, China needs to develop an environment control and intelligent production management technology which has independent intellectual property rights and is suitable for industrial production with low cost and low energy consumption in China. The reasonable environment regulation and control technology can be used for improving the yield and quality of agricultural products, adjusting the time for the commodities to appear on the market, realizing standardized, standardized and refined production, thoroughly transforming the traditional extensive and empirical agricultural production into fine and intelligent industrial production, and greatly improving the economic benefit, social benefit and ecological benefit of the agricultural production.
Plant factory production systems in the world are currently classified into two major types, namely natural light utilization type and artificial light and natural light combined type, according to different illumination sources. The natural light utilization type plant factory utilizes natural light, the factory building is a large glass greenhouse or a multi-span plastic greenhouse, and monitoring and regulating equipment for various environmental factors is arranged indoors. The plant factories are influenced by natural conditions to a certain extent, the species of the planted plants are limited to a certain extent, and the biggest problem is how to realize low cost and low energy consumption of cooling in summer and heating in winter. In addition, the existing production system does not have the functions of automatic inspection and abnormal plant growth identification in the plant growth process, and common abnormal plant growth symptoms cannot be identified and analyzed under the condition of no manual operation of workers. The method can not assist the staff to complete the treatment and maintenance of the corresponding plants at the early stage of abnormity.
Chinese patent CN109656284A discloses a plant factory monitoring system based on the Internet of things, which utilizes the modern Internet of things technology to design a plant factory monitoring system based on the Internet of things, and comprises an agricultural product growth environment monitoring system and an agricultural product tracing system. The lower computer accurately senses the environmental factors in the greenhouse by arranging the ZigBee wireless sensor network in the greenhouse, and transmits the acquired data to the upper computer website by a Web service technology through a distributed middleware through a ZigBee-Wifi gateway; logging in an agricultural product growth environment monitoring system through a computer to check real-time environment information, and remotely operating facilities such as drip irrigation, temperature control and light supplement in the greenhouse; and a computer can be used for logging in the agricultural product tracing system in the process of planting agricultural products in the greenhouse, and information such as planting date, name, picking time, logistics information, sale path and the like of the agricultural products can be recorded according to the tracing number. The two-dimensional code carrying the agricultural product information is pasted on the packaging box, and a consumer scans the two-dimensional code label through a mobile phone to inquire detailed information. The patent does not have specific care for specific plants, and can not automatically observe whether the plants have abnormal growth. The patent can only adjust the growth environment of the whole plant factory in a large range, and can not accurately identify individual abnormal plants and simply analyze the origin of diseases.
Therefore, a plant detection and nursing device capable of completing whether the growth of plants in a planting space meets the requirements and whether abnormal growth occurs by a remote control means is needed.
Furthermore, on the one hand, due to the differences in understanding to the person skilled in the art; on the other hand, since the inventor has studied a lot of documents and patents when making the present invention, but the space is not limited to the details and contents listed in the above, however, the present invention is by no means free of the features of the prior art, but the present invention has been provided with all the features of the prior art, and the applicant reserves the right to increase the related prior art in the background.
Disclosure of Invention
Under actual environmental condition, plant physiological condition information is obtained through corresponding equipment, and nutrition is provided for plants according to the requirements of the nutrition control model and the plants, so that the plants can reach the optimal growth state. In order to help plant cultivation in high quality in industrial farming, plant factories usually need to rely on the temperature, humidity, light, CO, which can be applied to the cultivation space2The environmental monitoring and controlling technology for monitoring and regulating the factors such as concentration creates proper growth and development conditions for plants. Data acquisition is an important link of the whole monitoring and controlling process, data information of a plurality of environmental factors must be acquired for monitoring and adjusting environmental conditions, the task of acquiring data is completed by a data acquisition system, and a sensor is an important component of the data acquisition system. Due to different types and properties of various environmental factors, the data acquisition system needs to adopt sensors with different functions, such as a temperature sensor, a humidity sensor, an illumination sensor, a biosensor and the like. The data collected by the data collecting system is displayed after statistical analysis and intelligent treatment by the computer, the computer intelligent system sends out instructions according to the displayed data and the optimal conditions required by plant growth, controls the operation of related systems and equipment, adjusts all environmental factors to the optimal state, and ensures the plantsThe production is scientific, orderly and normatively carried out.
At present, environmental control methods used in industrial agriculture generally assume that conditions of atmospheric factors such as air temperature and humidity in a facility environment are consistent in an environmental space, and in fact, the conditions of the factors are not consistent in the space, but present a spatial distribution state, so that to create optimal growth conditions for plants more accurately, the distribution state of the factors in the facility environment space needs to be controlled. In the actual monitoring process, the air humidity distribution in the environment of the factory planting area is related to the air flow temperature, speed, direction of the indoor environment, relative position between the plants and the air inlet and the like. In the planting space of an actual plant factory, the distribution of the air temperature and humidity environment at the location of the plants is mainly determined by the temperature, speed and direction of the air flow in the planting space. Preferably, the relation between the temperature and humidity distribution and the air flow characteristics of the area is simulated and verified by utilizing the neural network model, so that the incidence relation between the temperature and humidity distribution and the air flow characteristics, which is convenient for controllably adjusting the plant growth environment in the planting space, is obtained, the temperature distribution in the space can be controlled by changing the temperature, the speed and the direction of the air flow in the facility environment, and the distribution of the optimal air, the temperature and other environmental factors suitable for plant growth is obtained.
Aiming at the defects of the prior art, the technical scheme provided by the invention is a remote control plant care device which at least comprises an inspection nursing module capable of finishing inspection work in a plant factory under the control of a control unit, wherein the inspection nursing module is at least provided with an image acquisition unit, an environment detection unit and an adjusting component, and the adjusting component finishes the acquisition of multi-angle plant images in a mode of driving the image acquisition unit to change a plurality of working positions around a specific plant on a cultivation frame; the adjusting component can also place the environment detection unit in the leaf area of a specific plant in a mode of simulating a petiole to support the leaf, and the environment detection unit is constructed in a mode of simulating the structure and the shape of the leaf, so that the environment detection unit can acquire microenvironment parameters the same as the environment where the leaf is located. The method has the advantages that the plant images can be collected in the inspection process, the screening of suspected abnormal plants growing in the images is completed in an image comparison mode, the marked plant images with multiple shooting angles of the suspected plants and the microenvironment parameters of the plant leaves can be obtained in the further secondary inspection process to be analyzed and further compared, whether the suspected abnormal plants growing are really bad plants or not is verified, and the origin of the abnormal plant characterization can be analyzed in a mode of comparing the plant images and the microenvironment parameters with prestored data in a microenvironment standard data sample base corresponding to the growing stage of the plants and a disease sample data base.
According to a preferred embodiment, after the control unit obtains the remote control instruction, the control unit can control the inspection nursing module to perform the first inspection operation on the plants on the cultivation frame along the set inspection path, wherein the first inspection operation means that the control unit controls the inspection nursing module to perform the variable-speed movement process, and the image acquisition unit acquires images of a plurality of plants at the same shooting angle.
According to a preferred embodiment, the image acquisition unit utilizes a processing module to compare the plant images acquired in the first inspection process; the processing module can mark abnormal plant growth conditions in the plurality of plant images, and calculates coordinates of suspected abnormal-growth plants on the cultivation frame according to the image acquisition sequence and the routing inspection path.
According to a preferred embodiment, the suspected growing abnormal plant in the image result output after the processing module performs image comparison processing is the specific plant; the image acquisition unit acquires multi-angle plant images and the environment detection unit acquires leaf microenvironment parameters under the control of the control unit after the processing module outputs suspected growth abnormal plant image information. The method has the advantages that the leaves or/and the stems with pathological changes of the plants can be better collected by acquiring the multi-angle clear images of the plants, so that the diseases can be effectively identified according to the sample database data in the later stage. In addition, the monitoring module capable of simulating the blade state can acquire accurate parameter data of a microenvironment where the blades are located, so that whether the abnormality of the plant is caused by the abnormality of the environmental factors is effectively judged, and then the plant factory module corresponding to the abnormality can be found out according to the environmental factors with abnormal data volume, and the plant factory module can be conveniently and pertinently subjected to working state expansion detection.
According to a preferred embodiment, under the condition that the processing module outputs the comparison result, the control unit drives the inspection nursing module to perform variable-speed motion along the same inspection path, so that the inspection nursing module can be controlled to stop at the set coordinate position, and the image acquisition unit and the environment detection unit are utilized to acquire double heterogeneous verification data which can be used for secondary verification of the marked suspicious plants.
According to a preferred embodiment, the dual heterogeneous verification data includes a plurality of different images of the same marked plant obtained by the image acquisition unit in the process of performing a plurality of working position transformations, and leaf microenvironment parameters obtained by the environment detection unit in a manner of simulating the shape, structure and positions of the leaves.
According to a preferred embodiment, the plant image acquired by the image acquisition unit in the secondary verification and inspection process and the blade microenvironment parameters acquired by the environment detection unit can be transmitted to the data analysis unit; after the data analysis unit completes the verification of the abnormal growth condition of the plant by using the received plant information, the data analysis unit can also analyze the abnormal production reason of the plant by using the plant image and the microenvironment parameters of the leaves.
According to a preferred embodiment, the adjusting assembly at least comprises a first mechanical arm capable of driving the image acquisition unit to change the working position and a second mechanical arm capable of placing the environment detection unit in the space area where the marked plant leaves are located in a mode of simulating petioles to position and support the leaves.
The application also provides a remote control plant caring method, which at least comprises the following steps:
the control unit drives the inspection nursing module to drive the image acquisition unit to carry out first inspection operation according to an inspection instruction sent to the plant factory control center by a worker; the processing module processes the plant image acquired in the first inspection process and marks the plant image suspected of abnormal growth; the control unit controls the inspection nursing module to complete secondary inspection work in a variable-speed motion mode; the image acquisition unit and the environment detection unit respectively complete multi-angle marked plant image acquisition and blade microenvironment parameter acquisition in the secondary verification and inspection process; the plant information which is acquired by the image acquisition unit and the environment detection unit and used for verifying the marked suspicious plants is transmitted to the data analysis unit for verification and abnormal symptom analysis. The method has the advantages that the plant images can be collected in the inspection process, the screening of suspected abnormal plants growing in the images is completed in an image comparison mode, the marked plant images with multiple shooting angles of the suspected plants and the microenvironment parameters of the plant leaves can be obtained in the further secondary inspection process to be analyzed and further compared, whether the suspected abnormal plants growing are really bad plants or not is verified, and the origin of the abnormal plant characterization can be analyzed in a mode of comparing the plant images and the microenvironment parameters with prestored data in a microenvironment standard data sample base corresponding to the growing stage of the plants and a disease sample data base.
According to a preferred embodiment, the image acquisition unit and the environment detection unit complete the work position change of the image acquisition unit and the environment detection unit in the marked plant information acquisition process through the adjusting unit.
Drawings
FIG. 1 is a schematic workflow diagram of a preferred embodiment of a remotely operated plant care device and method of the present invention;
fig. 2 is a schematic plan view of a remote-controlled plant care device and method of the present invention.
List of reference numerals
1: a patrol nursing module; 2: a control unit; 3: a cultivation shelf; 4: an image acquisition unit; 5: a processing module; 6: an environment detection unit; 7: a data analysis unit; 8: an adjustment assembly; 81: a first robot arm; 82: a second mechanical arm.
Detailed Description
The following detailed description is made with reference to the accompanying drawings.
Example 1
The application provides a remote control's plant is protected device, it is including can patrolling and examining nursing module 1, can control to patrol and examine nursing module 1 and follow the control unit 2 of fixed path around cultivation frame 3 directional removal and set up image acquisition unit 4, processing module 5, environment detecting element 6, data analysis unit 7 and the adjusting part 8 on patrolling and examining nursing module 1 in planting the space.
According to a specific embodiment shown in fig. 1, the patrol and examine nursing module 1 can be controlled by the control unit 2 to patrol and examine the plant in the planting space, and the control unit 2 can control the advancing speed of the patrol and examine nursing module 1 at any point of the advancing route, so that the image acquisition unit 4 and the environment detection unit 6 arranged on the patrol and examine nursing module 1 can acquire plant growth data accurately enough. Image acquisition unit 4 and environment detecting element 6 support through adjusting part 8 on patrolling and examining nursing module 1, and image acquisition unit 4 and environment detecting element 6 can patrol and examine nursing module 1 relatively under adjusting part 8's drive and take place the change of operating position to can acquire the image and the microenvironment parameter of plant with the operating position of difference. When the staff needs to collect the growth condition of plants in the planting space, the mobile terminal sends an inspection instruction to the control center of the plant factory, and the control center further drives the inspection nursing module 1 to move through the control unit 2 and complete related instruction tasks. When the patrol nursing module 1 is driven by the control unit 2 to carry out the first patrol, the control unit 2 controls the image acquisition unit 4 to acquire the image data of all plants in the planting space in a directional and sequential acquisition mode. Processing module 5 receives image acquisition unit 4 and patrols and examines all plant image data back that the in-process was gathered for the first time, processing module 5 carries out contrast processing to the image and distinguishes and mark the suspected plant image that has the problem of growing situation on the cultivation frame, processing module 5 can also carry out sequencing and planting position information arrangement according to the acquisition time to the plant image to the image data that will gather carries out space coordinate with the arrangement condition of plant on cultivation frame 3 and arranges, make things convenient for control unit 2 can acquire the suspicious plant concrete coordinate position of being marked on cultivation frame 3. The control unit 2 controls the inspection nursing module 1 to perform a secondary inspection movement according to the suspected plant result output by the processing module 5, so as to further control the image acquisition unit 4 and the environment detection unit 6 to complete a new round of verification information acquisition operation on the marked suspected plant. In the secondary verification information acquisition process, the image acquisition unit 4 can carry out the working position conversion around the mark plant under the drive of the adjusting component 8, thereby obtaining relatively complete plant images which are used for verifying whether the abnormal growth condition of the plant exists and can be used for carrying out contrastive analysis on abnormal symptoms from a plurality of shooting angles. The environmental detection unit 6 can obtain the microenvironment parameter information close to the blades in a mode of simulating the positions where the blade photosynthesis occurs under the driving of the adjusting component 8, so that the data analysis unit 7 analyzes whether the microenvironment where the blades of the suspected abnormal-growth plant are located has content errors of environmental factors or assists the hardware elements for plant growth to be damaged according to the mode of comparing the microenvironment parameters with the planting space setting standard parameters. For example, the damage and the abnormal operation of the light module above the plant, the insufficient amount of the culture solution or the misallocation cause certain nutrition deficiency, and the microenvironment air retention and the abnormal temperature and humidity caused by the position of the plant far away from the air inlet and the air outlet. Data analysis unit 7 can transmit final analysis result for mobile terminal through the control maincenter, makes things convenient for the staff to carry out long-range looking over of plant growth situation. And the control center can also adjust the microenvironment of the abnormal-growth plant or change the arrangement position of the abnormal-growth plant on the cultivation frame according to the analysis result of the microenvironment of the plant leaves, so that the plant leaves are in a good growth microenvironment again.
Preferably, the frame of the inspection and nursing module 1 can be arranged into a gantry structure, so that the inspection and nursing module can stride across the nutrient solution tank to walk, and the two sides of the gantry frame of the inspection and nursing module 1 are also provided with jacking structures capable of clamping cultivation plates, so that the cultivation plates can be put into the designated nutrient solution tank. Preferably, the patrol inspection and nursing module 1 can also control the manipulator which can work with the jacking structure to complete the transfer or position adjustment of the cultivation plate planted with the abnormally-growing plants according to the environmental parameters and the image analysis result obtained by the blades.
Preferably, the environment detecting unit 6 is provided in a manner simulating a shape of the leaf in such a manner that it can simulate an environment in which the surface of the leaf actually contacts during the growth of the plant. Preferably, the environment detection unit 6 is capable of detecting temperature, humidity, light, nutrition, CO2And sensors for collecting environmental parameters such as dissolved oxygen and the like are integrated in the blade-shaped environmental detection unit 6. Preferably, the environment detecting unit 6 arranged in a leaf shape can simulate the air pore structure of the plant and the requirements of water metabolism, photosynthesis, temperature conditions and the like, and the sensing leaf made by combining a highly dense circuit, special materials and sensing technology can sense various factors of the micro-domain environment of the plant leaf: temperature, water evaporation coefficient, water film distribution of the leaves, substrate moisture, air humidity, substrate humidity, ion concentration of mineral nutrients (EC value), ambient light and other environmental parameters. The control center of the plant factory performs parameter operation by simulating induction parameters fed back by the leaves and combining a rapid propagation system, and then instructs the automatic control execution mechanism to start and stop peripheral equipment so as to regulate and control the external environment. The environment detection unit 6 is used as an induction organ capable of monitoring the change of environmental factors (microenvironment parameters) of the environment in the plant production process, and can accurately acquire various parameters influencing the interaction between the leaves and the environment to perform systematic acquisition, thereby accurately completing the simulation of the leaf environment. Especially, when the difference of the same region or the same plant is found to be obviously abnormal in the plant growth condition image acquired by the image acquisition unit 4 arranged on the patrol inspection and nursing module 1, the environment detection unit 6 can be positioned and suspended at different blade positions, so that the parameter information of the blade environment under different growth conditions can be acquired in a mode of simulating the environment where the blade is positioned, and the data analysis unit 7 can conveniently analyze the influence parameters of the abnormal resultAnd (6) carrying out analysis.
Preferably, the environment detecting unit 6 which is leaf-shaped and can be suspended at the corresponding position of the plant leaf can also effectively acquire the change of the leaf environment in time, for example, when the plants are subjected to micro-spraying cooling, the temperature of the area closest to the surface of the plant leaf in the plant planting space needing cooling is detected to be reduced, the adjustment of the plant growth environmental parameters can be determined to be completed, compared with the prior art, the temperature of the whole plant factory planting area influencing the growth of the plants or the plants in the area is not required to be reduced, therefore, the efficiency and the energy consumption of adjusting the plant growth environment in the plant factory are greatly reduced, and the control center or the control unit 2 of the plant factory can change the plant growth environment corresponding to the acquisition parameters of the environment detection unit 6 in an environment micro-control adjusting mode according to the parameter data fed back by the environment detection unit 6.
As shown in fig. 2, the movable end of the adjusting assembly 8 is provided with an image acquisition unit 4 capable of acquiring an image of a plant. The image acquisition unit 4 can follow and patrol and examine the removal that nursing module 1 carries out the fixed orbit around cultivating frame 3 to acquire the image of all plants on whole cultivating frame 3. Preferably, the adjusting component 8 can also adjust the relative position between the image acquisition unit 4 and the patrol and examine nursing module 1, so that when the patrol and examine nursing module stops moving forward, the adjusting component 8 can change the position between the image acquisition unit 4 and the plant to be shot, thereby acquiring the image data of different angles of the plant by using the image acquisition unit 4. Preferably, the image acquisition unit 4 remains in a relatively fixed working position with the patrol care module 1 at all times when it is operated for the first time following the patrol care module 1. After the processing module 5 receives the image data of all plants cultivated in the same period and the same type on the whole cultivation frame 3 shot by the image acquisition unit 4 within a certain time, all the plant images are compared, and the plant images with abnormal conditions such as wilting, lodging, green fading or yellowing of leaves possibly exist are marked.
Preferably, the patrol and nursing module 1 drives the image acquisition unit 4 to perform the second operation around the same motion track. When patrolling and examining nursing module 1 and removing the plant position that corresponds to the marker image, patrolling and examining nursing module 1 pause motion, adjusting part 8 drives image acquisition unit 4 and carries out the transform of operating position for image acquisition unit 4 can carry out multi-angle image to the suspected abnormal plant that is marked and acquire, conveniently carries out the secondary to the abnormal conditions that this plant exists and confirms.
Preferably, when patrolling and examining the nursing module and carrying out the second operation, adjusting part 8 can also change environment detecting element 6's operating position for when image acquisition unit 4 carries out plant multi-angle image and obtains, environment detecting element 6 can remove to the blade region of this plant, thereby obtains the microenvironment parameter data of plant blade. Preferably, the high-definition multi-angle image about the suspicious plant acquired by the image acquisition unit 4 through secondary acquisition and the environmental detection unit 6 can acquire the data of the blade microenvironment parameter and send the data to the data analysis unit 7. Preferably, the data analysis unit 7 can analyze whether the leaves in the plant image collected by the image collection unit 4 have abnormalities such as wilting, lodging, greening or yellowing through image gray processing, leaf contour shape comparison and the like. Preferably, data analysis unit 7 can also be according to the difference between the plant blade microenvironment parameter that environment detecting element 6 obtained and the environmental parameter that the planting space was predetermine, thereby send the analysis result to plant factory control maincenter, make the control maincenter can control light module on the cultivation frame 3, illumination intensity and microenvironment humidity of the blade area microenvironment and the microenvironment humidity of humidification module and the module of blowing that change unusual plant, wind-force size and wind direction, make the microenvironment of this plant adjust, more do benefit to the plant blade and grow and photosynthesis.
Example 2
Preferably, the processing and analyzing module 5 and the data analyzing unit 7 can also perform the colorimetric identification and the size comparison of the outer contour of the plant by the color of the upper, middle and lower leaves of the plant stem in the picture. When the outer contour of one or a few plants is obviously smaller than that of the plants in the rest images, the distribution condition of the part of the plants can be summarized and sorted, so that whether the same cultivation plate does not effectively finish cultivation pre-cleaning is judged, and the cultivation plate has disease fungi; or the nutrient solution for supplying the plants in the area by the cultivation frame 3 has wrong proportion and certain nutrient deficiency to cause slow growth; it is also possible that voltage abnormality or illumination abnormality exists in a certain power supply branch, so that the light module fails to provide effective illumination for plants in the abnormal growing area. Preferably, the illumination abnormality may be damage of the illumination lamp, a light emitting color of the illumination lamp is not optimal to grow light, brightness of light is too high or too low, or the like. Preferably, the difference in growth of the plants may also be caused by the position of the cultivation shelves 3 and the ventilation openings, the air outlets, the level of the cultivation plates on the cultivation shelves 3, etc.
The suitable environment is the basis for the survival and development of the organism. Such as photosynthesis of plants, require proper temperature, humidity, light, moisture and CO2And the environment, and the survival and the growth can not be established after the environment factors are separated. In addition, the leaf microenvironment is also called micro-area environment, and the optimization control technology of the leaf micro-area environment (namely around the leaves) is that the micro-environment of the designated area on the surface of the plant leaves is controlled in the most suitable range, the temperature and humidity environment of the planting space and the whole space of the cultivation frame 3 is not required to be controlled, and the temperature of the surface of the leaves and the air humidity within 0.5cm of the surface of the leaves really affect the growth of the plants due to the fact that the external temperature and humidity change anyway. According to experimental research, the temperature and humidity of a micro-area environment are greatly different from the temperature and humidity of a seedbed space or air, when the air humidity of 0.5cm reaches more than 90 percent in a high-temperature season, the air humidity of 1.6cm away from the surface of a blade is only 40 percent, the air humidity within 0.5cm is easy to realize if the air humidity is kept at more than 90 percent, a small amount of mist can be provided at fixed points, and a large amount of electricity and water are not consumed.
Preferably, the simulated leaves constructed by the environment detection unit 6 are artificial leaves which are developed by adopting highly-dense circuits, special materials and sensing technologies and can sense various factors of the micro-domain environment of the plant leaves, wherein the simulated leaves simulate the stomatal structure of the plant and meet the requirements of temperature conditions of water metabolism photosynthesis and the like under the in vitro condition: the data analysis unit 7 analyzes and processes the microenvironment parameters fed back by simulating the blades, uploads the analysis result of the abnormal growing plants to the control center, and the control center controls the actuating mechanism to adjust the starting and stopping of peripheral equipment of the plant growing environment according to the analysis result so as to regulate and control the external environment.
The control unit 2 controls the environment detection unit 6 and the second mechanical arm 82 by adopting a two-stage control structure: the first level is a direct control level, namely a singlechip intelligent sub-controller, which consists of an AT89C51 singlechip and is responsible for simulating the temperature, the humidity, the illumination and the C0 of the environment detection unit 6 of the blade structure2And monitoring the environmental factors. Preferably, the control unit 2 can also be set to be able to carry out critical control of the greenhouse installation in real time as a function of the monitoring result of the environment detection unit 6. The critical control means that the monitoring value of a certain microenvironment parameter in the plant growth environment is not controlled between the upper critical value and the lower critical value of the given microenvironment parameter, otherwise, the corresponding control equipment is started when the monitoring value exceeds the upper critical value and the lower critical value of the microenvironment parameter. This is advantageous for saving energy. The critical control is a control mode with low input and high output. The actuating mechanism adopts equipment such as water pump, geothermy silk, ruddiness vegetation lamp. Preferably, the second stage is a process management stage, namely, the second stage is realized by a plant growth controller, and the plant growth controller consists of a W78E58B single-chip microcomputer. The system mainly completes the management of the environmental parameters and the modification of the control parameter setting, and can adjust and expand the system at any time. Meanwhile, the plant growth controller is provided with an A/D conversion circuit for processing data from the sensors: can be used as an independent control system for controlling the single-region growing task.
Preferably, the environment detecting unit 6 further comprises CO generated when the plant is respired2Gas is measured to obtain infrared CO of plant photosynthetic rate2A gas analysis unit. Preferably, infrared CO2When the gas analysis unit can patrol and examine the nursing module 1 at night, the existing image acquisition unit 4 can not acquire a clear image under the dark condition, and the environment is examinedThe measuring unit 6 can monitor CO in a certain plant area2The content change is used for judging whether the plant respiration effect is in normal growth or not, so that the plants in the area with abnormal concentration can be further detected and analyzed by parameter sampling. Preferably, the CO is carried out using infrared light2The effective analysis of gas concentration can be sufficient to control the condition of plants in the process of growth at night, and the defect that the image acquisition unit 4 cannot acquire clear pictures at night to perform accurate analysis is eliminated.
Example 3
This embodiment is a further improvement of embodiment 1, and repeated contents are not described again.
Preferably, the image acquisition unit 4 is mounted on the patrol care module 1 by means of an adjustment assembly 8. The adjustment assembly 8 is capable of changing the working position of the image acquisition unit 4 under the control of the control unit 2. When the processing module 5 finishes the primary marking of the suspicious plant image, the processing module 5 can send the position coordinates of the plant on the planting frame and the corresponding driving instruction to the patrol and examine nursing module 1 and the control unit 2. The patrol and examine nursing module 1 can carry the image acquisition unit 4 to carry out the secondary and the same-path movement after receiving the plant position coordinate sent by the processing module 5, so that the image acquisition unit 4 can carry out the new round of conventional image acquisition on the unmarked plant and send the unmarked plant to the processing module 5 for comparison. When the patrol and examine nursing module 1 and remove the coordinate position that corresponds to suspicious plant, the control unit 2 moves around fixed orbit according to predetermined drive instruction control adjusting part 8 for the image acquisition unit 4 of installation can carry out multi-angle image acquisition to the suspicious plant of growing state on the adjusting part 8, and adjusting part 8 can also drive environment detecting element 6 and carry out the position change simultaneously, makes environment detecting element 6 can simulate the growth form that the blade was located and acquire the environmental parameter data of blade microenvironment.
Preferably, the environment detection unit 6 can move to different positions on the cultivation frame 3 under the driving of the adjusting component 8 controlled by the control unit 2, so that the environment detection unit 6 can simulate the real growth position of plant leaves to collect the environmental parameters of the microenvironment of the same region of the abnormally grown plant. The control unit 2 can drive the environment detection unit 6 simulating the shape of the blade to move into the blade area of the middle section of the plant according to the position control and adjustment assembly 8 marked by the processing module 5 and having the plant with abnormal growth conditions, so that the environment detection unit 6 can collect the environment parameters in the microenvironment of the blade area in a mode simulating the shape of the blade. Preferably, the environment detecting unit 6 can be driven by the adjusting component 8 to rotate and translate relative to the patrol nursing module in multiple angles, so that the environment detecting unit 6 can adjust the position around the plant.
Preferably, the identification and differentiation by the processing module 5 comprises comparing the presence of significant wilting, lodging of plant leaves in the images and the size, color, etc. of the plants between all images with each other. Preferably, the processing module 5 can sequence the plant images according to the advancing route planned in advance by the patrol and examine nursing module 1 in the process of comparing and processing the plant images acquired by the image acquisition unit 4 for the first time, so that the suspicious plants can be marked and the coordinate supplement can be carried out on the plant images, the control unit 2 can acquire the coordinate position of the suspicious plants on the cultivation frame 3, and the patrol and examine nursing module 1 can stop at the position corresponding to the advancing track and the suspicious plants under the control of the control unit 2 when moving along the preset path.
Preferably, the data analysis unit 7 is able to set a standard sample database regarding various parameters characterizing the growth status of plants in a pre-entered manner. For example: the average height of the plant in different periods and the threshold range of the plant height corresponding to each growth cycle, the size of the projection area of the outline formed by the leaves when the single plant is projected in a overlooking way, the standard size and the threshold range of the diameter of the plant rod in different periods, the color and the size of the leaves in the middle section of the plant, whether the leaves of the plant have obvious wilting and lodging, and the like. Preferably, the data analysis unit 7 also stores in advance a database of sample leaf microenvironment parameters suitable for plants to maintain optimal growth conditions at each stage. Preferably, the sample database comprises at least temperature, humidity, illumination, moisture and CO influencing photosynthesis of leaves2The environmental parameters and the wind direction and the wind power which can cause the environmental parameters to be non-uniformly distributed and can flow in the plants.
Preferably, the control unit 2 can control the inspection nursing module 1 to inspect and observe the plants between the cultivation shelves 3 according to a patrol command issued by the plant factory control center at regular time or a driving command issued by a human being actively. When no abnormal plant exists, the control unit 2 can continuously drive the patrol inspection nursing module 1 to finish the patrol inspection operation of the plant in the cultivation frame 3 according to the set time period. When the control unit 2 controls the patrol inspection nursing module 1 to find the suspected abnormal plant for the first time, the control unit 2 can immediately drive the patrol inspection nursing module 1 to carry out patrol inspection for the second time. Preferably, the control unit 2 can also control the inspection nursing module 1 to stop at a specific track position in the second inspection process, and drive the adjusting component 8 to drive the image acquisition unit 4 and the environment detection unit 6 to change different working positions, so as to acquire plant images and microenvironment parameters which can perform double verification on initial results.
Preferably, when the data analysis unit 7 determines that the plant has abnormal growth due to a significant difference between the plant image acquired twice and the standard data stored in the same growth period, the data analysis unit 7 can determine whether the plant has abnormal green fading, yellowing, wilting, lodging and the like due to the abnormal environment of the leaves according to the difference between the microenvironment parameters of the leaves acquired by the environment detection unit 6 and the standard parameters. When the data analysis unit 7 processes the image of the plant image acquired for the second time to find that the plant leaves have obvious diseases such as lime deposition, mildew on the leaves, white spots and the like, the data analysis unit 7 can also upload the plant image to a rear-end processing platform where a control center of a plant factory is located, so that a worker can perform manual analysis and judgment on diseases or the processing platform can identify the diseases displayed in the plant image according to the existing network data or plant case record files, and the light module, the humidifying module and the blowing module on the patrol inspection nursing module 1 or the cultivation frame 3 are driven to transfer the plants or perform environmental processing on the leaves according to the existing processing scheme corresponding to the diseases.
Preferably, the adjusting assembly 8 includes a first mechanical arm 81 capable of driving the image capturing unit 4 to perform multi-working position transformation in a certain region and a second mechanical arm 82 capable of supporting the leaf-shaped environment detecting unit 6 in the same blade region for micro-environment parameter capturing according to the actual working position and the unfolding direction of the leaves on the stem in the middle of the plant. Preferably, the first mechanical arm 81 and the second mechanical arm 82 can also be retractably accommodated in the accommodating chamber on the inspection care module 1, so that the environment detecting unit 6 is kept in a closed state while the inspection care module 1 performs regular inspection. Preferably, the first mechanical arm 81 can support the image acquisition unit 4 on the inspection nursing module, so that the image acquisition unit 4 can continuously acquire the plant images on the trackside cultivation frame 3 when the inspection nursing module moves along the preset track. Preferably, the adjusting assembly 8 can be accommodated according to actual detection requirements, the service life and the wear resistance of the mechanical arm element can be effectively improved, and the oxidation of the element when exposure is attempted and the corrosion caused by the external high-humidity environment and the corrosion caused by germs when plants grow abnormally are avoided.
Example 4
The application also provides a remote control plant nursing method, which comprises the following steps:
(1) the control unit 2 drives the inspection trolley 1 to drive the image acquisition unit 4 to carry out first inspection operation according to an inspection instruction sent to a plant factory control center by a worker, and the image acquisition unit 4 orderly acquires images of all plants in a planting space in the process that the inspection trolley 1 carries out variable speed movement along a preset path;
(2) the processing module 5 receives images of plants in the same period collected by the care image collecting unit 4 in the same time period, compares the images of a plurality of plants, and marks the plants suspected of having abnormal symptoms such as wilting, lodging, green fading or yellowing;
(3) the inspection nursing module 1 carries out secondary inspection according to the processing result of the processing module 5, the control unit 2 controls the image acquisition unit 2 and the environment detection module 6 to finish the acquisition of image data of the marked plants and microenvironment parameters of the leaves in the secondary inspection process, and sends the acquired data to the data analysis unit 7;
(4) the data analysis unit 7 compares the stored sample data with the acquired image data and the microenvironment parameters of the leaves, so as to judge whether the abnormal growth of the plants is caused by the invasion of the pathogenic bacteria or the abnormal microenvironment parameters affecting the photosynthesis of the leaves.
Preferably, after the processing module 5 completes the operation of distinguishing and marking the suspected abnormal plants, the processing module 5 can also spatially arrange the image data which are orderly arranged according to the distribution condition of the plants on the cultivation frame 3 according to the advancing path of the inspection nursing module 1, so that the plant coordinates of the marked image are matched with the advancing path of the inspection nursing module 1, and the position coordinates of the suspected abnormal plants are added to the output image processing result. The plant image with the coordinate information output by the processing module 5 can be conveniently stopped at a fixed point on a plant observation position corresponding to a suspected abnormal plant image in a second inspection process in which the control unit 2 controls the inspection nursing module 1 to carry out suspicious result verification along a set path according to the coordinate information, so that the control unit can change the working positions of the image acquisition unit 4 and the environment detection unit 6 by driving the movement of the adjusting assembly 8, and further obtain verification data which can be used for verifying the first inspection result and prevent diseases to analyze plant parameters of the verified abnormal roots of the abnormal growing plants.
Preferably, the microenvironment parameter anomaly is determined by checking the corresponding parameter providing device or assembly to determine whether it is caused by damage or an anomaly to the associated growth environment building element.
Preferably, the device for the care and care of plants in the planting space of a plant factory manufactured on the basis of the method has the following functions:
detecting parameters: the basic function of greenhouse environment measurement and control is the detection of environmental parameters, such as temperature, humidity, illuminance and CO2Concentration, etc. At least basic environmental factors such as temperature, humidity and illuminance are studied based on consideration of factors such as technical complexity and cost.
Collecting and transmitting: the ZigBee wireless sensor network is established to collect the environmental information of all detection points (patrol and nursing modules with different planting spaces), so that the information transmission of all nodes is realized, the environmental parameter measurement value is fed back to the control center in real time, and the control center can also realize the query and collection of the environmental information of all nodes through the wireless network.
And displaying in real time: the detected environmental parameters are displayed in a single-point and multi-point mode, so that a display screen is required to be installed at each detection point to display the environmental information of the point, and the multi-point environmental information is required to be collected and then transmitted to a certain position to be displayed in a centralized mode, so that the overall environmental condition of the greenhouse can be better known.
Fourthly, temperature evaluation: aiming at the temperature which is the most important factor of plant growth and development in the greenhouse, a greenhouse temperature environment fuzzy evaluation system is established, and whether the current temperature environment is suitable for the growth of plants is evaluated so as to automatically adjust or manually intervene to enable the temperature environment to reach the growth environment which is most suitable for the plants.
Remote control: the environmental factors are automatically adjusted by inquiring the environmental information and remotely regulating and controlling the corresponding electrical equipment through an upper computer or a mobile phone short message, the current environmental temperature, humidity and illumination are controlled in real time, and the most suitable environment for plant growth is created.
Energy saving and safety protection: the method realizes that the related electrical equipment is closed through a preset operation strategy (through remote setting) under the greenhouse environment, so as to achieve the effects of energy conservation and emission reduction.
It should be noted that the above-mentioned embodiments are exemplary, and that those skilled in the art, having benefit of the present disclosure, may devise various arrangements that are within the scope of the present disclosure and that fall within the scope of the invention. It should be understood by those skilled in the art that the present specification and figures are illustrative only and are not limiting upon the claims. The scope of the invention is defined by the claims and their equivalents. Throughout this document, the features referred to as "preferably" are only an optional feature and should not be understood as necessarily requiring that such applicant reserves the right to disclaim or delete the associated preferred feature at any time.
Claims (10)
1. A remote-control plant care device at least comprises an inspection nursing module (1) which can finish inspection work in a plant factory under the control of a control unit (2), and is characterized in that the inspection nursing module (1) is at least provided with an image acquisition unit (4), an environment detection unit (6) and an adjusting component (8), wherein,
the adjusting assembly (8) can drive the image acquisition unit (4) to perform multi-angle plant image acquisition in a mode of changing a plurality of working positions around a specific plant on the cultivation frame (3);
the adjusting component (8) can also place the environment detection unit (6) in a leaf area of a specific plant in a mode of simulating a petiole to support a leaf, and the environment detection unit (6) is constructed in a mode of simulating a leaf structure and shape, so that the environment detection unit can acquire microenvironment parameters the same as the environment where the leaf is located.
2. The remote control plant nursing device according to claim 1, wherein after the control unit (2) obtains the remote control command, the control unit can control the patrol nursing module (1) to perform a first patrol operation on the plants on the cultivation frame (3) along a set patrol path, and the first patrol operation means that the control unit (2) controls the patrol nursing module (1) to perform a variable-speed movement process to obtain images of a plurality of plants at the same shooting angle through the image acquisition unit (4).
3. The remote-controlled plant nursing device according to claim 2, wherein the image acquisition unit (4) utilizes the processing module (5) to compare the plant images acquired in the first inspection process;
the processing module (5) can mark abnormal plant growth conditions in the plurality of plant images, and calculates coordinates of suspected abnormal-growth plants on the cultivation frame (3) according to the image acquisition sequence and the routing inspection path.
4. The remote-controlled plant care device according to claim 3, wherein the suspected growing abnormal plant in the image result outputted by the processing module (5) after the image comparison processing is the specific plant;
the image acquisition unit (4) acquires multi-angle plant images and the environment detection unit (6) acquires blade microenvironment parameters under the control of the control unit (2) after the processing module (5) outputs suspected growth abnormal plant image information.
5. The remotely controlled plant care apparatus according to claim 4, characterized in that in case the processing module (5) outputs the comparison result, the control unit (2) drives the patrol nursing module (1) to make variable speed movements along the same patrol path, so that it can control the patrol nursing module (1) to stop at the set coordinate position, thereby acquiring the dual heterogeneous verification data that can be used for the secondary verification of the marked suspicious plant using the image acquisition unit (4) and the environment detection unit (6).
6. Remote-controlled plant care device according to one of the preceding claims, wherein said dual heterogeneous verification data comprise a number of different images of the same marked plant acquired by said image acquisition unit (4) during a plurality of working position changes and leaf microenvironment parameters acquired by said environment detection unit (6) in a manner simulating the shape, structure and position of the leaves.
7. A remotely controlled plant care device as claimed in any one of the preceding claims, wherein the plant image acquired by said image acquisition unit (4) during the secondary verification patrol and the leaf microenvironment parameters acquired by said environment detection unit (6) can be transmitted to a data analysis unit (7);
after the data analysis unit (7) completes the verification work of the abnormal growth condition of the plant by using the received plant information, the data analysis unit can also analyze the abnormal production reason of the plant by using the plant image and the microenvironment parameters of the leaves.
8. A remote-controlled plant care device as claimed in one of the preceding claims, characterized in that the adjusting assembly (8) comprises at least a first robot arm (81) which can move the image acquisition unit (4) into a working position and a second robot arm (82) which can position the environment detection unit (6) in the spatial region where the leaves of the marked plant are located in such a way as to simulate the positioning of the leaves by the petioles.
9. A remote control plant nursing method is characterized by at least comprising the following steps:
the control unit (2) drives the inspection nursing module (1) to drive the image acquisition unit (4) to carry out the first inspection operation according to an inspection instruction sent to the plant factory control center by a worker;
the processing module (5) processes the plant image acquired in the first inspection process and marks the plant image suspected of abnormal growth;
the control unit (2) controls the inspection nursing module (1) to complete secondary inspection work in a variable-speed motion mode;
the image acquisition unit (4) and the environment detection unit (6) respectively complete multi-angle marked plant image acquisition and blade microenvironment parameter acquisition in the secondary verification and inspection process;
the plant information which is acquired by the image acquisition unit (4) and the environment detection unit (6) and used for verifying the marked suspicious plants is transmitted to the data analysis unit (7) for verification and abnormal symptom analysis.
10. A method as claimed in claim 9, characterized in that the image acquisition unit (4) and the environment detection unit (6) are adapted to perform their working position changes during the acquisition of the information of the marked plants by means of the adjustment unit (8).
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