Virtual prototyping robotic cell for mushroom cultivation in controlled atmosphere.
Nicolescu, Adrian Florin ; Ivan, Andrei-Mario ; Petre, Marian 等
1. INTRODUCTION
Mushrooms cultivation common processes are not benefiting from
fully septic conditions, mostly due to non sterile cultivation mediums
(composts) using, as well as human operators' necessary involvement
in the specific not-continuous production cycles. The more, frequently
the productivity and quality of mushroom crops are not exactly
predictable because cultivation processes are not benefiting too of
controllable and repeatable environment parameters as well as these
parameters' continuously monitoring and adapting to different
production phases (as incubation and fructification are). In order to
avoid above mentioned disadvantages a fully automated facility for
mushroom's cultivation and harvesting has been developed as a
completely new (already patented) system (Petre et al., 2008a and Petre
et al., 2008b). The conceptual model of the overall above mentioned
fully automated facility as well as the virtual prototype of the first
robotic manufacturing cell included in the system (for compost
sterilization and inoculation) have been already presented in previously
20th DAAAM Symposium (Nicolescu et al., 2009a and Nicolescu et al.,
2009b).
The modular robotic manufacturing cell presented in this paper
represent a second fully automated subsystem dedicated for mushrooms
cultivation in controlled atmosphere conditions, designed by authors as
a completely new robotic subsystem allowing septic cultivation condition
and respecting food safety standards by completely excluding human
operators involvement in the production cycles and allowing controllable
and repeatable production cycles by continuously monitoring and adapting
of the environment parameters to different cultivation phases (as
incubation and fructification are). The system is able to supply best
environmental conditions for cultivation of a large variety of edible
mushrooms (Ganoderma lucidum, Grifola frondosa, Hericium erinaceus,
Lentinus edodes, Pleurotus eryngii, Pleurotus ostreatus), for better
results, in the incubation / fructification room the atmosphere
parameters being continuously monitored and set accordingly each variety
of mushroom and cultivation phase.
As growing support for mushrooms are used specially designed bags
filled with sterilized and inoculated compost, those are transported
thru the production facility using custom built pallets loaded with
three compost bags (Fig. 1).
[FIGURE 1 OMITTED]
[FIGURE 2 OMITTED]
2. VIRTUAL PROTOTYPE FOR MUSHROOMS CULTIVATION ROBOTIC CELL UNIT
As previously mentioned, after the compost bags were sterilized and
automated inoculated with liquid mycelium in the first modular robotic
cell (Nicolescu et al., 2009b), the bags loaded on pallets, are
transferred into a video inspection area (for bags integrity checking
before loading into the cultivation rooms) and afterwards transported by
roller conveyors to the cultivation (incubation/fructification) area.
The cultivation area is divided in four distinct incubation /
fructification rooms, grouped in two robotic cell units (Fig. 2), each
robotic cell unit including a set of two "face-to-face"
incubation/fructification rooms served by same column robot equipped
with a bilateral telescopic fork system (Fig. 3), allowing both
pallet's transfer (pallet's pick-up from / to conveyors), as
well as pallet's manipulation and staking in the two automated
storage-retrieval systems (AS-RS) belonging to the same robotic cell
unit.
However, in order to allow cultivation of multiple varieties of
mushrooms at the same time, or as well extending (when necessary)
production capacity for a specific mushroom type (on two, three or four
rooms), each incubation / fructification rooms may be used
independently, being equipped with own sealing (horizontally sliding)
doors system (Fig.2) and including own system for climate
parameter' s monitoring and adjusting able to be set in
correspondence with specific mushroom' s variety / cultivation
phases specificity. In the same time, to allow maintaining the sterile
climate in the cultivation area the conveyor's access gates are
designed as sealing (vertically sliding) doors too (Fig. 2).
[FIGURE 3 OMITTED]
[FIGURE 4 OMITTED]
In order for interconnecting two similar robotic cell units and
both of them to the overall mushroom's automatic cultivation and
harvesting system each column robot equipped with the bilateral
telescopic fork system is programmed to perform a first working cycle
allowing exclusive pallet's transfer (pick-up from / to the in-line
transport conveyors, as figure 4 is detailing). However, for each
pallet's manipulation and staking in the two
incubation/fructification rooms belonging to the same AS-RS unit the
column robot has the facility to automatically load different (specific
type) working cycles programs allowing pallet's loading / unloading
on bothsides (front/rear robot's sides) of the storage systems
included in each incubation/fructification room (a total set of 30
stations -15 stations distributed in two storage systems, each station
supporting up to 200 kg nominal load--being included in each room). To
allow pallet's loading / unloading in each storage station the
maximum robot payload is 300 kg, column robot's telescopic forks
extending strokes are 1400 mm (in front and respectively back side
direction) the vertical fork's stroke is 6 m and the ground
column's traveling stroke is 12 m (Fig 3), (Nicolescu, 2005 and
Nicolescu, 2010).
3. CONCLUSION
The modular robotic system presented in this paper is component of
an already patent protected fully automated facility for mushrooms
cultivation and conditioning system.
The modular robotic above detailed cell is dedicated for mushroom
cultivation in controlled atmosphere.
The overall modular robotic facility has following advantages (as a
sum of the involved advantages induced by each modular robotic section
specific design): the facility guarantees the alimentary and therapeutic
safety of the products by respecting all standard conditions of
workspace purity in the sterile zones and also by totally excluding
human operators presence in the whole facility (biotechnological safety
ensuring); it uses an efficient method of sterilizing the cultivation
substrate by total decontamination, accomplished in a shorter time (70%
time less) and reducing by 40% the energy consumption costs compared to
classic procedures; it fully ensures the total sterile conditions
imposed by appropriate biological material cultivation, eliminating any
hazards regarding human contamination of the production areas; it
prevents human access in the sterile zones, allowing 100% automatic
pallet's / bag's sterilization, handling, transport, transfer,
compost thermo-regulation and inoculation, pallet's / bag's
manipulation and storage, 100% incubation and fructification controlled
process performing, as well as automated mushrooms harvesting, all
operations being performed by modular robotic equipments; the
installation functions are controlled by a central command system which
also controls the system parameters for the sterilizing system, the
thermo regulation areas, the robotic inoculation system, the pallets
identification, bags visual inspection, pallet's / bag's
handling, transfer, transport and storage systems, the environment
parameters control of the incubation / fructification areas, the robotic
harvesting system and the final product packing equipment (Petre 2008b
and Nicolescu A., 2009a).
Real scale production system will be fully operational starting by
June 2011. By the time, virtual prototyping for individual units and
overall system, functioning simulation, detailed design phases, have
been already performed and system's sections building up and
testing, as well as overall system programming and real functioning
adjusting will be performed. A following paper directed related to the
present one illustrates the virtual prototype of the last automatic
subsystem achievement: mushroom's robotic harvesting cell.
4. REFERENCES
Nicolescu, A. (2005). Industrial Robots (in Romanian), EDP Publishing House, Bucharest, Romania
Petre M.; Nicolescu A. & Dobre M., (2008a) Biotechnological
model for controlled cultivation and integrated processing of mushrooms
in a modular robotic system for obtaining ecological products in
alimentary security and safety conditions, Research contact Nr. 52143 /
CNMP, PNCDI 2, Prioritary domains partnership
Petre M.; Nicolescu A. & Dobre M., (2008b) Process and
installation for alimentary and therapeutic mushrooms cultivation,
patent request nr 00610, 07th august 2008, abstract published in
Official Bulletin of Industrial Property--Inventions Section, 30th
january 2009, OSIM, Bucharest
Nicolescu, A.; Petre, M.; Dobre, M.; Enciu, G.; & Ivan, M.
(2009a), Conceptual model of a modular robotic system for
mushroom's controlled cultivation and integrated processing,
Proceedings of The 20th International DAAAM SYMPOSIUM, 25-28th November
2009
Nicolescu, A.; Enciu, G.; Dobrescu, T.; Ivan, M.; & Dobre, M.
(2009b), Virtual prototyping individual units of a modular robotic
system for mushroom controlled cultivation and integrated processing,
Proceedings of The 20th International DAAAM SYMPOSIUM, 25-28th November
2009
Nicolescu, A. (2010). Industrial Robots Implemented into Robotic
Manufacturing Systems (work in progress in Romanian), EDP Publishing
House, Bucharest, Romania