CN104521434A - Automatic rail changing walking chassis of facility leaf vegetable harvesting robot and rail changing method - Google Patents
Automatic rail changing walking chassis of facility leaf vegetable harvesting robot and rail changing method Download PDFInfo
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- CN104521434A CN104521434A CN201510004767.6A CN201510004767A CN104521434A CN 104521434 A CN104521434 A CN 104521434A CN 201510004767 A CN201510004767 A CN 201510004767A CN 104521434 A CN104521434 A CN 104521434A
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Abstract
The invention relates to an automatic rail changing walking chassis of a facility leaf vegetable harvesting robot. According to the technical scheme, the automatic rail changing walking chassis comprises a rail car chassis, a movement mechanism, a steering mechanism, a control mechanism and a storage battery. The movement mechanism is used for driving a rail car to move and stop on rails and driving all walking wheels to rotate and walk in the rail changing process. The steering mechanism is used for controlling all the walking wheels to conduct steering work for determining angles three times in the rail changing process. The control mechanism is used for positioning all the working positions of the rail car, controlling the timing sequence matching of the movement mechanism and the steering mechanism and controlling the displacement in all the movement processes. The automatic rail changing walking chassis can be used for bearing other operation machines to complete conveying work and can move along the rails stably and quickly to precisely stop at a set stopping position at the tail ends of the rails, so that various complex functions of parallel rail changing work and the like are achieved autonomously. The automatic rail changing walking chassis is simple in structure, compact in car body, small in occupied area in the rail changing process, free of other auxiliary facilities, high in degree of automation and capable of conducting full-automatic or remote control greenhouse operation.
Description
Technical field
The present invention relates to field of agricultural robots, especially a kind of facility leaf vegetables is gathered the walking chassis and the method that switches tracks that automatically switches tracks of robot, the walking in greenhouse on parallel orbit and switching tracks.
Technical background
Railcar be a kind of can orbital motion the travel route utilizing track to set, thus reach the object at logistics transportation.Railcar can along programme path automatic running without the need to driving, and can do acceleration and deceleration and braking planning, parking spot is accurate.Compared with other automatical pilot transportation vehicle (AGV), railcar has and controls simple, reliability and the good feature of adaptability.
In industrialized agriculture is produced, greenhouse by solar heat only obtains heat by solar radiation at Cold Winter, can not meet crop growth needs completely, need supplement heating at application warming-up device.In conjunction with the above-mentioned advantage of railcar, can using the warming pipeline in greenhouse as running rail, greenhouse is become automatic control that semi-structure environment is convenient to realize chamber operation robot, reduce the input cost of Work robot, the facility Work robot of therefore walking in-orbit can be widely used in large-scale attached-greenhouse.But, be a bottleneck problem of above-mentioned application in-orbit from switching tracks of walking always.Its main cause mostly adopts parallel orbit in large greenhouse, and in order to improve space availability ratio and reduce input cost, U-shaped joining rails cannot be adopted to switch tracks mode, and can such railcar independently complete the work of switching tracks efficiently and just seem particularly important.
The existing railcar technology that switches tracks mainly concentrates on two kinds of modes: one is that track is overlapped in laying two, i.e. motion backbone and moving sets rail, simultaneously railcar be furnished with two cover wheels and elevator complete railcar respectively in the task of two cover moving on rails to complete the work that switches tracks of railcar; Another way sets up high-altitude orbit in the track end overhead of railcar, direct for railcar lifting mobile to another track will have been put down again the work that switches tracks of railcar with overhead traveling crane.These the two kinds modes that switch tracks all have obvious defect, due to needs servicing unit, add production cost, and the process that switches tracks is comparatively loaded down with trivial details, reduces the efficiency that switches tracks.
Owing to mainly comprising sowing, results and the operation such as logistics transportation in greenhouse, therefore work tool coordinates with walking chassis and should have high-adaptability and high operating efficiency, the chassis but current shortage can efficiently independently switch tracks and structure is simply walked.In the urgent need to inventing a kind of portable construction, simple to operate, adaptability is high and can the autonomous efficient parallel walking chassis switched tracks, realize carrying Work machine and complete transport, can stablize fast along orbital motion, accurately rest in desired location, independently complete the parallel objects such as work that switch tracks, improve greenhouse transport and operating efficiency, reduce production cost, tool is of great significance.
Summary of the invention
The present invention is directed to the defect of prior art, solve that walking in-orbit switches tracks that mode complexity, cost are high, automatically switch tracks walking chassis and the method that switches tracks that the problem of the poor efficiency that switches tracks and a kind of facility leaf vegetables of inventing gather robot, this walking chassis has carrying Work machine and completes transport, can stablize fast along orbital motion, accurately rest in desired location, independently complete the parallel multiple complex functions such as work that switch tracks.
The technical scheme that the walking chassis that automatically switches tracks that a kind of facility leaf vegetables of the present invention gathers robot adopts: comprise railcar chassis, motion, steering mechanism, controlling organization and accumulator.Described railcar chassis is used for fixing and supporting movement mechanism, steering mechanism, controlling organization and accumulator; Described motion is used for driving and control railcar on the one hand and moves in orbit and stop, and carries out the rotation and the walking that drive each road wheel when switching tracks motion after being used for railcar lower railway on the other hand; Steering mechanism is used for controlling the rotation that each road wheel carries out determining for twice angle after railcar lower railway, and control after railcar moves to another track each road wheel again turn to work; Controlling organization is used for each operating position of positioning track car, the cooperation controlling each composition institution staff moment and the displacement controlled in each motion process.
Described motion comprises road wheel, road wheel fixed mount, drive unit, set bolt and locking nut.Described road wheel fixed mount is universal wheel swivel mount, road wheel fixed mount top is the framework of cylindrical mesa and hollow, four road wheel fixed mounts are fixed on four angles on railcar chassis respectively by set bolt and locking nut, are called road wheel fixed mount 1-4; Described road wheel adopts bilateral rail wheel, and road wheel is fixedly placed in the centre of road wheel fixed mount respectively, is called road wheel 1-4; Described drive unit is made up of drive motors, synchronizing wheel, Timing Belt, bearing and power transmission shaft; Described drive motors selects 12V DC speed-reducing, and drive motors is placed in motor fixing frame upper frame; Described synchronizing wheel one is placed on the power take-off of drive motors, and another is placed in the side of power transmission shaft in motion; Described Timing Belt tensioning connects two synchronizing wheels; Described bearing is placed in road wheel fixed mount both sides, coordinates to be fixed on by road wheel in road wheel fixed mount and to transmit power for it with power transmission shaft.The present invention adopts four motorized wheels, therefore each road wheel fixed mount and road wheel are all equipped with a set of such drive unit.
Described steering mechanism comprises ball-screw platform, spindle motor, shaft coupling, assembly pulley, steel wire rope and steel cable clamp.Described ball-screw platform is fixedly placed in upper center position, railcar chassis, slide block is fixed two lengthened plates; Described spindle motor is fixedly placed in ball-screw platform one end, is connected with ball-screw platform by shaft coupling; Described assembly pulley is double pulley, is made up of pulley, pulley fixed frame, set bolt, hold-down nut; Described pulley fixed frame is fixedly placed in corresponding position on railcar chassis by hold-down screw, and wherein inside road wheel, each correspondence fixes one group of assembly pulley, and ball-screw platform is often held and fixed one group of assembly pulley, is called assembly pulley 1-6; Described pulley is separately fixed at the two-layer of pulley fixed frame by set bolt and hold-down nut, is called pulley A1-A6, pulley B1-B6 (upper strata is A, and lower floor is B); Described steel wire rope one end is fixedly connected on road wheel fixed mount Upper cylindrical platform side and after opposite side, walk around corresponding pulley respectively again, the other end is connected on ball-screw platform top shoe lengthened plate, steel wire rope is called A1-4, B1-4 (upper strata is A, and lower floor is B); Described steel cable clamp by two steel wire ropes before walking around assembly pulley 5,6 fixing and only by steel cable around assembly pulley 5,6.
In described steering mechanism, the annexation of all parts is: steel wire rope A1 one end connected row travelling wheel fixed mount 1, and walk around pulley A1 and pulley A6, the other end is connected to ball-screw platform; Steel wire pull line A2 one end connected row travelling wheel fixed mount 2, walks around pulley A2, and the other end is connected on steel wire rope A1 by steel cable clamp; Steel wire pull line A3 one end connected row travelling wheel fixed mount 3, walk around pulley A3 and pulley A5, the other end is connected to ball-screw platform; Steel wire pull line A4 one end connected row travelling wheel fixed mount 4, walk around pulley A4, the other end is connected on steel wire rope A3 by steel cable clamp.The all parts of corresponding B series also adopts above-mentioned method of attachment.
Described controlling organization comprises proximity switch, single-chip microcomputer, electric machine controller, radio communication device and ground metal.Described proximity switch is placed in railcar chassis right middle section; Described ground metal to be placed under railcar required parking spot and railcar twice rotation after rail and to need the centre position, right side corresponding to parking spot vehicle body; Described single-chip microcomputer, drive motor controller and radio communication device are all placed in the control cabinet on railcar chassis, complete the controlled in wireless of each mechanism of railcar and automatically switching tracks of railcar.
A kind of facility leaf vegetables of the present invention gather robot automatically switch tracks walking chassis the method that switches tracks, comprise the steps:
1) first time turns to: under railcar, after rail, proximity switch transmits a signal to single-chip microcomputer after ground metal being detected, controls each drive motors and quits work; Control system controls ball-screw platform slide block again to away from spindle motor one end motion, and complete road wheel by steel wire rope and pulley and rotate, each road wheel need rotate to the tangency location of road wheel plane and center chassis and the road wheel line of centres;
2) railcar turns around: first time turns to rear control system to be rotated forward by the drive motors of motor controller controls road wheel 1, road wheel 4 correspondence, the drive motors reversion of road wheel 2, road wheel 3 correspondence is until after car body rotates 180 °, proximity switch detects opposite side ground metal, signal is sent to single-chip microcomputer, controls each drive motors and quit work;
3) second time turns to: control system controls ball-screw platform slide block again to away from spindle motor one end motion, and complete road wheel by steel wire rope and pulley and rotate, each road wheel need rotate to and relatively descend rail angular turn 90 °;
4) parallelly to switch tracks: control system is rotated forward by the drive motors of motor controller controls road wheel 1, road wheel 3 correspondence, the drive motors reversion of road wheel 2, road wheel 4 correspondence, railcar advances to the ground metal that proximity switch detects another track, and control system controls each drive motors and stops;
5) counter steer: control system controls ball-screw platform slide block to close to spindle motor one end motion, and complete road wheel by steel wire rope and pulley and rotate, each road wheel needs half-twist to return to normal operation position;
6) rail in railcar: control system is by each drive motors motion of motor controller controls, and the upper rail of railcar advance, completes the work of switching tracks.
A kind of facility leaf vegetables of the present invention gather robot automatically switch tracks walking chassis and the method tool of switching tracks have the following advantages:
1) the present invention can be carried leaf vegetables and to be gathered robot or other chamber facility work tools, and the leaf vegetables completed based on greenhouse track is gathered or other agronomy operations;
2) frame for movement of the present invention is simple, and car body is compact, and the work floor space that switches tracks is little, does not need other auxiliary equipment;
3) automaticity of the present invention is high, can carry out full automatic greenhouse track operation or Remote control.
Accompanying drawing explanation
Fig. 1 be greenhouse of the present invention parallel orbit automatically switch tracks walking chassis structural scheme of mechanism;
Fig. 2 be automatically switch tracks walking chassis front view;
Fig. 3 be automatically switch tracks walking chassis left view;
Fig. 4 be automatically switch tracks walking chassis upward view;
In figure: 1, railcar chassis 2, ball-screw platform 3, spindle motor 4, control cabinet 5, road wheel fixed mount 16, road wheel 17, road wheel fixed mount 28, road wheel 29, accumulator 10, road wheel fixed mount 411, road wheel 412, bearing 13, road wheel fixed mount 314, road wheel 315, synchronizing wheel 16, drive motors 17, power transmission shaft 18, Timing Belt 19, proximity switch 20, locking nut 21, pulley fixed frame 22, steel wire rope A123, pulley A124, pulley A225, steel wire rope A226, pulley A627, steel cable clamp 28, steel wire rope A329, pulley A330, pulley A431, steel wire rope A432, pulley A5
Embodiment
Below in conjunction with accompanying drawing, patent of the present invention is further detailed.A kind of facility leaf vegetables of the present invention gather robot automatically switch tracks walking chassis, as shown in Figure 1,2,3, 4.Described motion comprises road wheel, road wheel fixed mount, drive unit, set bolt and locking nut (20).Described road wheel fixed mount is universal wheel swivel mount, road wheel fixed mount top is the framework of cylindrical mesa and hollow, four road wheel fixed mounts are fixed on four angles on railcar chassis (1) respectively by set bolt and locking nut (20), are called road wheel fixed mount 1-4; Described road wheel adopts bilateral rail wheel, and road wheel is fixedly placed in the centre of road wheel fixed mount respectively, is called road wheel 1-4; Described drive unit is made up of drive motors (16), synchronizing wheel (15), Timing Belt (18), bearing (12) and power transmission shaft (17); Described drive motors (16) selects 12V DC speed-reducing, and drive motors (16) is placed in motor fixing frame upper frame; Described synchronizing wheel (15) one is placed on the power take-off of drive motors (16), and another is placed in the side of power transmission shaft in motion (17); Described Timing Belt (18) tensioning connects two synchronizing wheels (15); Described bearing (12) is placed in road wheel fixed mount both sides, coordinates to be fixed on by road wheel in road wheel fixed mount and to transmit power for it with power transmission shaft (17).The present invention adopts the independent drive system of four-wheel, therefore each road wheel fixed mount and road wheel are all equipped with a set of such drive unit.
Described steering mechanism comprises ball-screw platform (2), spindle motor (3), shaft coupling, assembly pulley, steel wire rope and steel cable clamp (27).Described ball-screw platform (2) is fixedly placed in railcar chassis (1) upper center position, slide block is fixed two lengthened plates; Described spindle motor (3) is fixedly placed in ball-screw platform (2) one end, is connected with ball-screw platform (2) by shaft coupling; Described assembly pulley is double pulley, is made up of pulley, pulley fixed frame (21), set bolt, hold-down nut; Described pulley fixed frame (21) is fixedly placed in upper corresponding position, railcar chassis (1) by hold-down screw, wherein inside road wheel, each correspondence fixes one group of assembly pulley, ball-screw platform (2) is often held and is fixed one group of assembly pulley, is called assembly pulley 1-6; Described pulley is separately fixed at the two-layer of pulley fixed frame (21) by set bolt and hold-down nut, is called pulley A1-A6, pulley B1-B6 (upper strata is A, and lower floor is B); Described steel wire rope one end is fixedly connected on road wheel fixed mount Upper cylindrical platform side and after opposite side, walk around corresponding pulley respectively again, the other end is connected on ball-screw platform (2) top shoe lengthened plate, and steel wire rope is called A1-4, B1-4; Described steel cable clamp (27) by two steel wire ropes before walking around assembly pulley 5,6 fixing and only by steel cable around assembly pulley 5,6.
In described steering mechanism, the annexation of all parts is: steel wire rope A1 (22) one end connected row travelling wheel fixed mount 1 (5), walk around pulley A1 (23) and pulley A6 (26), the other end is connected to ball-screw platform (2); Steel wire pull line A2 (25) one end connected row travelling wheel fixed mount 2 (7), walks around pulley A2 (24), and the other end is connected on steel wire rope A1 (23) by steel cable clamp (27); Steel wire pull line A3 (28) one end connected row travelling wheel fixed mount 3 (13), walk around pulley A3 (29) and pulley A5 (32), the other end is connected to ball-screw platform (2); Steel wire pull line A4 (31) one end connected row travelling wheel fixed mount 4 (10), walks around pulley A4 (30), and the other end is connected on steel wire rope A3 (28) by steel cable clamp (27).The all parts of corresponding B series also adopts above-mentioned method of attachment.
Described controlling organization comprises proximity switch (19), single-chip microcomputer, electric machine controller, radio communication device and ground metal.Described proximity switch (19) is placed in railcar chassis (1) right middle section; Described ground metal to be placed under railcar required parking spot and railcar twice rotation after rail and to need the centre position, right side corresponding to parking spot vehicle body; Described single-chip microcomputer, drive motor controller and radio communication device are all placed in the control cabinet (4) on railcar chassis (1), complete the controlled in wireless of each mechanism of railcar and automatically switching tracks of railcar.
A kind of facility leaf vegetables of the present invention gather robot automatically switch tracks walking chassis the method that switches tracks, comprise the steps:
1) first time turns to: transmit a signal to single-chip microcomputer after proximity switch (19) detects ground metal after rail under railcar, control each drive motors (16) and quit work; Control system controls ball-screw platform (2) slide block again to away from spindle motor (3) end motion, complete road wheel by steel wire rope and pulley to rotate, each road wheel need rotate to the tangency location of road wheel plane and center chassis and the road wheel line of centres;
2) railcar turns around: first time turns to rear control system to be rotated forward by the drive motors (16) of motor controller controls road wheel 1 (6), road wheel 4 (11) correspondence, drive motors (16) reversion that road wheel 2 (8), road wheel 3 (14) are corresponding is until after car body rotates 180 °, proximity switch (19) detects opposite side ground metal, signal is sent to single-chip microcomputer, controls each drive motors (16) and quit work;
3) second time turns to: control system controls ball-screw platform (2) slide block again to away from spindle motor (3) end motion, complete road wheel by steel wire rope and pulley to rotate, each road wheel need rotate to and relatively descend rail angular turn 90 °;
4) parallelly to switch tracks: control system is rotated forward by motor controller controls road wheel 1 (6), drive motors (16) that road wheel 3 (14) is corresponding, drive motors (16) reversion that road wheel 2 (8), road wheel 4 (11) are corresponding, railcar advances to the ground metal that proximity switch (19) detects another track, and control system controls each drive motors (16) and stops;
5) counter steer: control system controls ball-screw platform (2) slide block to close to spindle motor (3) end motion, and complete road wheel by steel wire rope and pulley and rotate, each road wheel needs half-twist to return to normal operation position;
6) rail in railcar: control system is by each drive motors of motor controller controls (16) motion, and the upper rail of railcar advance, completes the work of switching tracks.
Claims (2)
1. the technical scheme that the walking chassis that automatically switches tracks that a facility leaf vegetables gathers robot adopts: comprise railcar chassis, motion, steering mechanism, controlling organization and accumulator;
Described motion comprises road wheel, road wheel fixed mount, drive unit, set bolt and locking nut; Described road wheel fixed mount is universal wheel swivel mount, road wheel fixed mount top is the framework of cylindrical mesa and hollow, four road wheel fixed mounts are fixed on four angles on railcar chassis respectively by set bolt and locking nut, are called road wheel fixed mount 1-4; Described road wheel adopts bilateral rail wheel, and road wheel is fixedly placed in the centre of road wheel fixed mount respectively, is called road wheel 1-4; Described drive unit is made up of drive motors, synchronizing wheel, Timing Belt, bearing and power transmission shaft; Described drive motors selects 12V DC speed-reducing, and drive motors is placed in motor fixing frame upper frame; Described synchronizing wheel one is placed on the power take-off of drive motors, and another is placed in the side of power transmission shaft in motion; Described Timing Belt tensioning connects two synchronizing wheels; Described bearing is placed in road wheel fixed mount both sides, coordinates to be fixed on by road wheel in road wheel fixed mount and to transmit power for it with power transmission shaft; The present invention adopts four motorized wheels, therefore each road wheel fixed mount and road wheel are all equipped with a set of such drive unit;
Described steering mechanism comprises ball-screw platform, spindle motor, shaft coupling, assembly pulley, steel wire rope and steel cable clamp; Described ball-screw platform is fixedly placed in upper center position, railcar chassis, slide block is fixed two lengthened plates; Described spindle motor is fixedly placed in ball-screw platform one end, is connected with ball-screw platform by shaft coupling; Described assembly pulley is double pulley, is made up of pulley, pulley fixed frame, set bolt, hold-down nut; Described pulley fixed frame is fixedly placed in corresponding position on railcar chassis by hold-down screw, and wherein inside road wheel, each correspondence fixes one group of assembly pulley, and ball-screw platform is often held and fixed one group of assembly pulley, is called assembly pulley 1-6; Described pulley is separately fixed at the two-layer of pulley fixed frame by set bolt and hold-down nut, is called pulley A1-A6, pulley B1-B6 (upper strata is A, and lower floor is B); Described steel wire rope one end is fixedly connected on road wheel fixed mount Upper cylindrical platform side and after opposite side, walk around corresponding pulley respectively again, the other end is connected on ball-screw platform top shoe lengthened plate, steel wire rope is called A1-4, B1-4 (upper strata is A, and lower floor is B); Described steel cable clamp by two steel wire ropes before walking around assembly pulley 5,6 fixing and only by steel cable around assembly pulley 5,6;
In described steering mechanism, the annexation of all parts is: steel wire rope A1 one end connected row travelling wheel fixed mount 1, and walk around pulley A1 and pulley A6, the other end is connected to ball-screw platform; Steel wire pull line A2 one end connected row travelling wheel fixed mount 2, walks around pulley A2, and the other end is connected on steel wire rope A1 by steel cable clamp; Steel wire pull line A3 one end connected row travelling wheel fixed mount 3, walk around pulley A3 and pulley A5, the other end is connected to ball-screw platform; Steel wire pull line A4 one end connected row travelling wheel fixed mount 4, walks around pulley A4, and the other end is connected on steel wire rope A3 by steel cable clamp; The all parts of corresponding B series also adopts above-mentioned method of attachment;
Described controlling organization comprises proximity switch, single-chip microcomputer, electric machine controller, radio communication device and ground metal; Described proximity switch is placed in railcar chassis right middle section; Described ground metal to be placed under railcar required parking spot and railcar twice rotation after rail and to need the centre position, right side corresponding to parking spot vehicle body; Described single-chip microcomputer, drive motor controller and radio communication device are all placed in the control cabinet on railcar chassis, complete the controlled in wireless of each mechanism of railcar and automatically switching tracks of railcar.
2. a kind of greenhouse parallel orbit method that switches tracks of small rail car that can automatically switch tracks according to claim 1, comprises the steps:
1) first time turns to: under railcar, after rail, proximity switch transmits a signal to single-chip microcomputer after ground metal being detected, controls each drive motors and quits work; Control system controls ball-screw platform slide block again to away from spindle motor one end motion, and complete road wheel by steel wire rope and pulley and rotate, each road wheel need rotate to the tangency location of road wheel plane and center chassis and the road wheel line of centres;
2) railcar turns around: first time turns to rear control system to be rotated forward by the drive motors of motor controller controls road wheel 1, road wheel 4 correspondence, the drive motors reversion of road wheel 2, road wheel 3 correspondence is until after car body rotates 180 °, proximity switch detects opposite side ground metal, signal is sent to single-chip microcomputer, controls each drive motors and quit work;
3) second time turns to: control system controls ball-screw platform slide block again to away from spindle motor one end motion, and complete road wheel by steel wire rope and pulley and rotate, each road wheel need rotate to and relatively descend rail angular turn 90 °;
4) parallelly to switch tracks: control system is rotated forward by the drive motors of motor controller controls road wheel 1, road wheel 3 correspondence, the drive motors reversion of road wheel 2, road wheel 4 correspondence, railcar advances to the ground metal that proximity switch detects another track, and control system controls each drive motors and stops;
5) counter steer: control system controls ball-screw platform slide block to close to spindle motor one end motion, and complete road wheel by steel wire rope and pulley and rotate, each road wheel needs half-twist to return to normal operation position;
6) rail in railcar: control system is by each drive motors motion of motor controller controls, and the upper rail of railcar advance, completes the work of switching tracks.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510004767.6A CN104521434B (en) | 2015-01-06 | 2015-01-06 | A kind of facility leaf vegetables gather automatically switch tracks walking chassis and the method that switches tracks of robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510004767.6A CN104521434B (en) | 2015-01-06 | 2015-01-06 | A kind of facility leaf vegetables gather automatically switch tracks walking chassis and the method that switches tracks of robot |
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| Publication Number | Publication Date |
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| CN104521434A true CN104521434A (en) | 2015-04-22 |
| CN104521434B CN104521434B (en) | 2016-05-04 |
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| CN201510004767.6A Expired - Fee Related CN104521434B (en) | 2015-01-06 | 2015-01-06 | A kind of facility leaf vegetables gather automatically switch tracks walking chassis and the method that switches tracks of robot |
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Cited By (8)
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| CN105467892A (en) * | 2015-12-08 | 2016-04-06 | 山东农业大学 | An automatic working vehicle based on a groove monorail inside a greenhouse and a control method thereof |
| CN106171651A (en) * | 2016-07-10 | 2016-12-07 | 上海大学 | A kind of robot for agricultural greenhouse booth goes through transition system automatically |
| CN106882193A (en) * | 2017-01-25 | 2017-06-23 | 张彩芬 | A kind of intelligent greenhouse induction system |
| CN108029297A (en) * | 2018-01-12 | 2018-05-15 | 台州市智诚工业设计有限公司 | A kind of small-sized quick agriculture seeding plough |
| CN110637800A (en) * | 2019-10-08 | 2020-01-03 | 广西壹零壹农业有限公司 | Automatic medicine spraying system |
| CN111186462A (en) * | 2020-02-24 | 2020-05-22 | 沈阳农业大学 | Rail transfer device for greenhouse rail car |
| CN111722631A (en) * | 2020-06-30 | 2020-09-29 | 苏州大学 | Autonomous mobile chassis, multi-span greenhouse chassis rail changing method and storage medium |
| CN111758711A (en) * | 2020-08-13 | 2020-10-13 | 丁一 | Pesticide sprays track robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111186462A (en) * | 2020-02-24 | 2020-05-22 | 沈阳农业大学 | Rail transfer device for greenhouse rail car |
| CN111722631A (en) * | 2020-06-30 | 2020-09-29 | 苏州大学 | Autonomous mobile chassis, multi-span greenhouse chassis rail changing method and storage medium |
| CN111758711A (en) * | 2020-08-13 | 2020-10-13 | 丁一 | Pesticide sprays track robot |
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