CN107861549A - A kind of planting machine and its control method - Google Patents
A kind of planting machine and its control method Download PDFInfo
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- CN107861549A CN107861549A CN201711306447.1A CN201711306447A CN107861549A CN 107861549 A CN107861549 A CN 107861549A CN 201711306447 A CN201711306447 A CN 201711306447A CN 107861549 A CN107861549 A CN 107861549A
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- motion
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000009471 action Effects 0.000 claims abstract description 24
- 230000005540 biological transmission Effects 0.000 claims abstract description 7
- 239000007788 liquid Substances 0.000 claims description 148
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 claims description 86
- 229960004424 carbon dioxide Drugs 0.000 claims description 45
- 238000005286 illumination Methods 0.000 claims description 44
- 229910002092 carbon dioxide Inorganic materials 0.000 claims description 42
- 239000001569 carbon dioxide Substances 0.000 claims description 42
- 239000012530 fluid Substances 0.000 claims description 38
- 235000015097 nutrients Nutrition 0.000 claims description 37
- 239000013589 supplement Substances 0.000 claims description 25
- 238000001802 infusion Methods 0.000 claims description 19
- 230000001351 cycling effect Effects 0.000 claims description 17
- 230000003287 optical effect Effects 0.000 claims description 15
- 238000003306 harvesting Methods 0.000 claims description 11
- 238000012544 monitoring process Methods 0.000 claims description 8
- 230000008859 change Effects 0.000 claims description 5
- 230000001960 triggered effect Effects 0.000 claims description 5
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 3
- 241000790917 Dioxys <bee> Species 0.000 claims description 3
- 230000008901 benefit Effects 0.000 claims description 3
- 229910002090 carbon oxide Inorganic materials 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 238000009423 ventilation Methods 0.000 description 16
- 238000004378 air conditioning Methods 0.000 description 9
- 230000008635 plant growth Effects 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 239000000463 material Substances 0.000 description 6
- 238000005265 energy consumption Methods 0.000 description 5
- 238000010438 heat treatment Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 230000012010 growth Effects 0.000 description 3
- 238000003475 lamination Methods 0.000 description 3
- 230000029553 photosynthesis Effects 0.000 description 3
- 238000010672 photosynthesis Methods 0.000 description 3
- 230000003698 anagen phase Effects 0.000 description 2
- 229910052799 carbon Inorganic materials 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 235000016709 nutrition Nutrition 0.000 description 2
- 230000035764 nutrition Effects 0.000 description 2
- 230000000243 photosynthetic effect Effects 0.000 description 2
- MVWDJLOUEUAWIE-UHFFFAOYSA-N O=C=O.O=C=O Chemical compound O=C=O.O=C=O MVWDJLOUEUAWIE-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000012787 harvest procedure Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 229920000515 polycarbonate Polymers 0.000 description 1
- 239000004417 polycarbonate Substances 0.000 description 1
- 238000007639 printing Methods 0.000 description 1
- 238000005057 refrigeration Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 235000013311 vegetables Nutrition 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
- G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
Abstract
The invention provides a kind of planting machine and its control method, the planting machine includes：Casing, planting machine body, controller, collecting device and at least one mode switch；Planting machine body is arranged in casing；Controller is connected with planting machine body, collecting device, various mode switch；Collecting device, for gathering the first environment parameter in casing, first environment parameter is sent to controller；Each mode switch, for receive triggering conducting state is changed into by off-state when, to controller sending mode open command；Controller determines the running action corresponding with the first environment parameter received, motion determined by the body execution of control planting machine；Storage and at least one mode switch at least one motion correspondingly；When receiving the pattern open command of mode switch transmission, motion, motion determined by the body execution of control planting machine are determined.Therefore, scheme provided by the invention can improve automaticity.
Description
Technical field
The present invention relates to planting technology field, more particularly to a kind of planting machine and its control method.
Background technology
In order to overcome the problems such as land resource is deficient and land utilization ratio is low, seedbed Cultivating techniques obtain in modern agriculture
More and more extensive application is arrived.
At present, the seedbed Cultivating techniques of use are usually that setting plantation space (such as planting greenhouse) is in space is planted
Each planting container is set, then the plant crop such as planting vegetable, flowers in each planting container.Due in planting greenhouse
Space is limited, and to utilize the confined space in planting greenhouse to greatest extent, each planting container is generally used to the side of lamination
Formula is placed.In each planting container that lamination is placed, the plant in the planting container of middle lower floor, which can not receive, fills
The illumination of foot, so as to cause planted photosynthesis of plant insufficient.Therefore, in order that obtaining the plant in each layer planting container
To receive the illumination of abundance, plant personnel needs each planting container placed to lamination of timing to carry out position replacing, with
The plant in each planting container is set to receive enough illumination.In addition, in the different plantation stages, it is also desirable to plant
Plant personnel it is manual position replacing is carried out to each planting container, to meet that plant fixing or the operation in plant harvest stage will
Ask.
Due to, existing mode, need manually to carry out shifting layer operation to each planting container in the generating process of plant,
Therefore, automaticity is relatively low.
The content of the invention
The embodiments of the invention provide a kind of planting machine and its control method, can improve automaticity.
In a first aspect, the embodiments of the invention provide a kind of planting machine, the planting machine includes：
Casing, planting machine body, controller, collecting device and at least one mode switch；
The planting machine body is arranged in the casing；The controller respectively with the planting machine body, described adopt
Collection equipment and at least one mode switch are connected；
The collecting device, for gathering the first environment parameter in the casing, the first environment parameter is sent
To the controller；
Each described mode switch, for when receiving triggering and being changed into conducting state by off-state, to described
Controller sending mode open command；
The controller, for when receiving the first environment parameter that the collecting device is sent, it is determined that and institute
The corresponding running action of first environment parameter is stated, controls motion determined by the planting machine body execution；Store to
A kind of few motion, wherein, at least one motion corresponds with least one mode switch；Receiving
During the pattern open command sent to the mode switch, motion is determined, controls the planting machine body to perform institute
The motion of determination.
Preferably,
The planting machine body includes：Support frame, circular orbit and at least one plantation car；
The circular orbit is arranged on support frame as described above；The circular orbit is connected with the controller；It is described at least
One plantation car is arranged on the circular orbit；
The circular orbit, under the control of the controller, running determined by execution to act；
Each described plantation car, for planting plants, position occurs under the drive of circular orbit running action
Change.
Preferably,
The collecting device is optical sensor, and the first environment parameter is intensity of illumination；
The optical sensor, for gathering the intensity of illumination in the casing, the intensity of illumination is sent to described
Controller；
The controller, for judging whether the intensity of illumination reaches the intensity threshold of setting, if it is, described in control
Rotation speed operation of the circular orbit to set；Otherwise, the circular orbit is controlled to shut down.
Preferably,
The collecting device is temperature sensor, and the first environment parameter is temperature value；
The temperature sensor, for gathering the temperature value in the casing, the temperature value is sent to the control
Device；
The controller, for judging whether the temperature value reaches the temperature threshold of setting, if it is, controlling the ring
Rotation speed operation of the shape track to set；Otherwise, the circular orbit is controlled to shut down.
Preferably,
At least one mode switch includes：Manual mode switch, etc. time circulation liquid feeding mode switch and automatic
At least one of circular flow mode switch is a variety of；
When the mode switch is manual mode switch, corresponding motion is：In plant fixing stage or plant
In the harvest stage, the circular orbit is controlled to rotate each described plantation car to specified location manually；
When the mode switch is waits the time to circulate liquid feeding mode switch, corresponding motion is：Control the ring
Shape track, according to time interval set in advance, each described plantation car is rotated to the liquid feeding position of setting；
When the mode switch is automatic cycling operating mode switch, corresponding motion is：Control the annular
Track cycle operation in the first time period of setting；The circular orbit is controlled to stop fortune in the second time period of setting
Turn.
Preferably,
When the mode switch is waits the time to circulate liquid feeding mode switch,
Further comprise：At least one liquid feeding equipment；
At least one liquid feeding equipment corresponds with least one plantation car；Each described liquid feeding equipment peace
In corresponding plantation car；
The controller, it is further used for being performed both by for each plantation car, is monitoring presently described plantation
When car is rotated to the liquid feeding position of setting, liquid feeding equipment corresponding to presently described plantation car is triggered；
Each described liquid feeding equipment, under the triggering of the controller, car Ensure Liquid liquid to be planted to be corresponding.
Preferably,
Each described liquid feeding equipment includes：Fluid infusion motor, liquid reserve tank, fluid supplement solenoid valve and discharge magnetic valve；
Each described plantation car includes at least one planting tray；
The fluid infusion motor is connected with the controller, the liquid reserve tank and the fluid supplement solenoid valve respectively；
The fluid supplement solenoid valve is connected with the controller and corresponding at least one planting tray respectively；It is described to overflow
Liquid electromagnetic valve is connected with the controller, corresponding at least one planting tray and the liquid reserve tank respectively；
The fluid infusion motor, under the triggering of the controller, the nutrient solution in the liquid reserve tank to be transmitted to institute
State fluid supplement solenoid valve；
The fluid supplement solenoid valve, under the triggering of the controller, the nutrient solution of fluid infusion motor transmission to be passed
At least one planting tray corresponding to transporting to；
The discharge magnetic valve, under the triggering of the controller, at least one planting tray corresponding to reception
The nutrient solution that middle overflow goes out；The nutrient solution received is transmitted to the liquid reserve tank；
The liquid reserve tank, for providing nutrient solution for the fluid infusion motor；Receive the nutrition of the discharge magnetic valve transmission
Liquid.
Preferably,
Further comprise：At least one environment measuring equipment and at least one environment adjusting device；
Each described environment measuring equipment, for gathering the second environment parameter in the casing, second by corresponding to
Ambient parameter is sent to the controller；
The controller, for determining that at least one target environment regulation is set according to the second environment parameter received
It is standby, and the adjustment parameter of each target environment adjustment equipment is determined according to the second environment parameter received,
Identified adjustment parameter is sent to corresponding target environment adjustment equipment；
Each described environment adjusting device, for when receiving the adjustment parameter that the controller is sent, perform with
Regulation corresponding to the adjustment parameter acts.
Preferably,
At least one environment measuring equipment includes gas concentration lwevel detector；At least one environment regulation is set
It is standby to include dioxide bottle and carbon dioxide solenoid valve；Wherein, the dioxide bottle and the carbon dioxide solenoid valve
It is connected；
The gas concentration lwevel detector, for gathering the gas concentration lwevel in the casing；
The controller, for determining that the gas concentration lwevel that the gas concentration lwevel detector collects is less than
When setting concentration, by the first formula, air compensation is calculated；The air compensation is sent to the carbon dioxide solenoid valve；
Wherein, the N characterizes the air compensation；The m characterizes carbon dioxide quality in the default casing；The C
Characterize the gas concentration lwevel；The M characterizes the molecular mass of carbon dioxide；The V characterizes the volume of the casing；It is described
K characterizes concentration constant；
The carbon dioxide solenoid valve, the air compensation is received for basis, using in the dioxide bottle
Carbon dioxide supplements carbon dioxide to the casing.
Second aspect, the embodiments of the invention provide a kind of control method based on any of the above-described planting machine, the party
Method includes：
At least one operation mode is set, wherein, at least one operation mode and at least one motion are one by one
It is corresponding；
Gather the first environment parameter in the casing；
Determine that the running corresponding with the first environment parameter acts using controller, control the planting machine body to hold
Motion determined by row；
When starting any one operation mode, it is determined that motion corresponding to the operation mode started, described in control
Motion determined by the execution of planting machine body.
Preferably,
When the planting machine body includes support frame, circular orbit and at least one plantation car,
Motion determined by the control planting machine body execution, including：
Running action determined by the circular orbit execution is controlled using the controller；
Under the drive of circular orbit running action, shift in position occurs for each described plantation car.
Preferably,
When the first environment parameter is intensity of illumination,
It is described to determine that the running corresponding with the first environment parameter acts using controller, control the planting machine sheet
Motion determined by body execution, including：
Judge whether the intensity of illumination reaches the intensity threshold of setting using the controller, if it is, described in control
Rotation speed operation of the circular orbit to set；Otherwise, the circular orbit is controlled to shut down.
Preferably,
When the first environment parameter is temperature value,
It is described to determine that the running corresponding with the first environment parameter acts using controller, control the planting machine sheet
Motion determined by body execution, including：
Judge whether the temperature value reaches the temperature threshold of setting using the controller, if it is, controlling the ring
Rotation speed operation of the shape track to set；Otherwise, the circular orbit is controlled to shut down.
Preferably,
At least one operation mode includes：Manual mode, etc. time circulation liquid feeding pattern and automatic cycling operating
At least one of pattern is a variety of；
When the operation mode is manual mode, corresponding motion is：In plant fixing stage or plant harvest
In the stage, the circular orbit is controlled to rotate each described plantation car to specified location manually；
When the operation mode is waits the time to circulate liquid feeding pattern, corresponding motion is：Control the circular rails
Road, according to time interval set in advance, each described plantation car is rotated to the liquid feeding position of setting；
When the operation mode is automatic cycling operating pattern, corresponding motion is：Control the circular orbit
The cycle operation in the first time period of setting；The circular orbit is controlled to be shut down in the second time period of setting.
The embodiments of the invention provide a kind of planting machine and its control method, and planting machine body institute is gathered using collecting device
Ambient parameter in casing.Controller is determined and ambient parameter when receiving the ambient parameter that collecting device collects
Corresponding running action, and control motion determined by the execution of planting machine body.Received in each mode switch
When triggering is changed into conducting state by off-state, to controller sending mode open command.Controller is opened in the pattern of receiving
When closing the pattern open command sent, motion is determined in motion set in advance, and control planting machine body to hold
Motion determined by row.By above-mentioned, controller can be according to the ambient parameter or pattern that collecting device collects
The pattern open command sent is switched, determines motion, and controls motion determined by the execution of planting machine body.And
The motion to planting machine body for not needing plant personnel manual is adjusted.Therefore, side provided in an embodiment of the present invention
Case can improve automaticity.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are the present invention
Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
These accompanying drawings obtain other accompanying drawings.
Fig. 1 is a kind of structural representation for planting machine that one embodiment of the invention provides；
Fig. 2 is a kind of structural representation for planting machine that another embodiment of the present invention provides；
Fig. 3 is a kind of front view for planting machine that one embodiment of the invention provides；
Fig. 4 is a kind of structural representation for planting machine including liquid feeding equipment that one embodiment of the invention provides；
Fig. 5 is a kind of structural representation for planting machine including liquid feeding equipment that another embodiment of the invention provides；
Fig. 6 is a kind of planting machine including environment measuring equipment and environment adjusting device that one embodiment of the invention provides
Structural representation；
Fig. 7 is a kind of flow chart of the control method for planting machine that one embodiment of the invention provides；
Fig. 8 is a kind of flow chart of the control method for planting machine that another embodiment of the present invention provides.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, rather than whole embodiments, based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained on the premise of creative work is not made, belongs to the scope of protection of the invention.
As shown in figure 1, the embodiments of the invention provide a kind of planting machine, the planting machine includes：
Casing 101, planting machine body 102, controller 103, collecting device 104 and at least one mode switch 105；
The planting machine body 102 is arranged in the casing 101；The controller 103 respectively with the planting machine sheet
Body 102, the collecting device 104 and at least one mode switch 105 are connected；
The collecting device 104, for gathering the first environment parameter in the casing 101, the first environment is joined
Number is sent to the controller 103；
Each described mode switch 105, for receive triggering conducting state is changed into by off-state when, to institute
State the sending mode open command of controller 103；
The controller 103, for when receiving the first environment parameter that the collecting device 104 is sent, really
The fixed running action corresponding with the first environment parameter, controls the planting machine body 102 to perform identified operating dynamic
Make；At least one motion is stored, wherein, a pair of at least one motion and at least one mode switch 1
Should；When receiving the pattern open command that the mode switch 105 is sent, motion is determined, controls the plantation
Machine body 102 performs identified motion.
Embodiment according to Fig. 1, the ambient parameter in the casing of planting machine body place is gathered using collecting device.Control
Device processed determines the running action corresponding with ambient parameter, and control when receiving the ambient parameter that collecting device collects
Motion determined by planting machine body execution processed.Receive to trigger to be changed into by off-state in each mode switch and lead
During logical state, to controller sending mode open command.Controller receive mode switch transmission pattern open command when,
Motion is determined in motion set in advance, and controls motion determined by the execution of planting machine body.Pass through
Pattern open command above-mentioned to understand, that controller can be sent according to the ambient parameter or mode switch that collecting device collects,
Motion is determined, and controls motion determined by the execution of planting machine body.And manual pair of plant personnel is not needed
The motion of planting machine body is adjusted.Therefore, scheme provided in an embodiment of the present invention can improve automaticity.
In an embodiment of the invention, specific size, shape and the material of casing can be true according to business need
It is fixed.It is determined that the size of casing need to consider the size of planting machine body and the operating space of plant personnel.In order to improve plantation
The illumination rate for each plant planted in machine body, casing top can be used as arch.The material of casing can use printing opacity
The materials such as the preferable glass of rate, polycarbonate.
In an embodiment of the invention, as shown in Fig. 2 the planting machine body 102 can include：Support frame 201, ring
Shape track 202 and at least one plantation car 203；
The circular orbit 202 is arranged on support frame as described above 201；The circular orbit 202 and the phase of controller 103
Even；At least one plantation car 203 is arranged on the circular orbit 202；
The circular orbit 202, under the control of the controller 103, running determined by execution to act；
Each described plantation car 203, for planting plants, is issued in the drive of the running of circular orbit 202 action
Raw shift in position.
In the present embodiment, the material of support frame, shape and size can determine according to business need.It should be noted
, setting support frame to should be taken into account the load of support frame, to ensure that support frame can be consolidated to circular orbit and each
Plantation car is supported.
In the present embodiment, the material of circular orbit, shape and size can determine according to business need.Need to note
Meaning, the circular orbit of selection under the control of the controller, can stable cycle rotation, with drive it is each plantation car with
Shift in position occurs for its cycle rotation.
In the present embodiment, plant car quantity, each plantation car shape, material and size can be according to industry
Business requires to determine.Each plantation car uniformly can be arranged on circular orbit.
Illustrate motion determined by controller control planting machine body execution by taking Fig. 3 as an example below.Fig. 3 is one kind
The front view of planting machine.Fig. 3 includes casing 301, support frame 302, circular orbit 303 and 8 plantation cars 304.Can from Fig. 3
To find out that support frame, circular orbit and 8 plantation cars are arranged in casing.Circular orbit is arranged on support frame, 8 kinds
Car is planted uniformly to be arranged on circular orbit.When motion determined by controller is to turn clockwise, the circular rails
Under the control of the controller, the track A identified along in Fig. 3 direction turns clockwise in road, and each plantation car is in annular
Under the drive of track operation action, shift in position occurs.It is described when motion determined by controller is rotate counterclockwise
Circular orbit under the control of the controller, the track B identified along in Fig. 3 direction rotate counterclockwise, and each plantation car
Under the drive of circular orbit motion, shift in position occurs.
According to above-described embodiment, planting machine body includes support frame, circular orbit and each plantation car.Circular orbit exists
Under the control of controller, motion determined by execution controller, rotate.What each plantation car rotated in circular orbit
Drive lower generation shift in position.Because circular orbit can perform operating running under the control of the controller, and drive each kind
Plant car and shift in position occurs, it is not necessary to which plant personnel artificially adjusts the position of plantation car, therefore automaticity is higher.
In an embodiment of the invention, the specific pattern of collecting device can determine according to business need, and at least may be used
The following two kinds pattern be present：
Pattern one：Optical sensor；
Pattern two：Temperature sensor.
It is directed to above-mentioned pattern one：
In an embodiment of the invention, the collecting device 104 is optical sensor, and the first environment parameter is light
According to intensity；
The optical sensor, for gathering the intensity of illumination in the casing 101, the intensity of illumination is sent to institute
State controller 103；
The controller 103, for judging whether the intensity of illumination reaches the intensity threshold of setting, if it is, control
The circular orbit 202 is with the rotation speed operation of setting；Otherwise, the circular orbit 202 is controlled to shut down.
In the present embodiment, the pattern of optical sensor and placement location in casing can be according to business needs
It is determined that.For example optical sensor is placed on to the top of casing, optical sensor is adopted with reducing the plant planted in plantation car
Collect the influence of intensity of illumination, so as to improve the accuracy of optical sensor collection intensity of illumination.
In the present embodiment, intensity threshold can determine according to business need.Such as can be according to day and night illumination
The change of intensity sets intensity threshold.When intensity of illumination reaches the intensity threshold of setting, illustrate to be in daytime, then control ring
Rotating speed cycle operation of the shape track to set, so that each plantation car may loop to the top up to circular orbit, so that
The illumination of abundance can be got by obtaining the plant in each plantation car.When intensity of illumination is not up to the intensity threshold set,
Illustrate to be in night, then control circular orbit to shut down.Because the illumination at night can not meet the photosynthesis of plant, do not deposit
In each plantation car by the uneven situation of illumination.In addition, in order to save energy consumption, the intensity threshold set is not up in intensity of illumination
During value, control circular orbit shuts down.
It is directed to above-mentioned pattern two：
In an embodiment of the invention, the collecting device 104 is temperature sensor, and the first environment parameter is temperature
Angle value；
The temperature sensor, for gathering the temperature value in the casing 101, the temperature value is sent to the control
Device 103 processed；
The controller 103, for judging whether the temperature value reaches the temperature threshold of setting, if it is, control institute
Circular orbit 202 is stated with the rotation speed operation of setting；Otherwise, the circular orbit 202 is controlled to shut down.
In the present embodiment, the pattern of temperature sensor and placement location in casing can be according to business needs
It is determined that.For example temperature sensor is placed on to the middle part of a side wall of casing.
In the present embodiment, temperature threshold can determine according to business need.Such as can be according to day and night temperature
Change design temperature threshold value.When the temperature value collected reaches the temperature threshold of setting, illustrate to be in daytime, then control ring
Rotating speed cycle operation of the shape track to set, so as to the top up to circular orbit is may loop in each plantation car, so as to
So that the plant in each plantation car can get the illumination of abundance.The temperature threshold set is not up in the temperature collected
During value, illustrate to be in night, then control circular orbit to shut down.Because the illumination at night can not meet the photosynthetic work of plant
With, in the absence of it is each plantation car by the uneven situation of illumination, in addition, in order to save energy consumption, be not up in the temperature collected
During the temperature threshold of setting, control circular orbit shuts down.
According to above-described embodiment, controller can be adopted according to the intensity of illumination or temperature sensor that optical sensor collects
The temperature value collected, control circular orbit is with the rotation speed operation that sets or shuts down.With in intensity of illumination or temperature value satisfaction
It is required that when, the plant in each plantation car is rotated to the top of circular orbit, to cause plant in each plantation car
Enough illumination can be got.When intensity of illumination or temperature value are unsatisfactory for requiring, control circular orbit shuts down, with drop
Low energy consumption.
In an embodiment of the invention, at least one mode switch 105 can include manual mode switch, etc. when
Between circulate at least one of liquid feeding mode switch and automatic cycling operating mode switch or a variety of；
When the mode switch 105 is manual mode switch, corresponding motion is：In plant fixing stage or plant
Thing harvests the stage, controls the circular orbit to rotate each described plantation car to specified location manually；
When the mode switch 105 is waits the time to circulate liquid feeding mode switch, corresponding motion is：Described in control
Circular orbit, according to time interval set in advance, each described plantation car is rotated to the liquid feeding position of setting；
When the mode switch 105 is automatic cycling operating mode switch, corresponding motion is：Control the ring
Shape track cycle operation in the first time period of setting；The circular orbit is controlled to stop fortune in the second time period of setting
Turn.
In the present embodiment, at least one mode switch include but is not limited to manual mode switch, etc. the time circulation liquid feeding
At least one of mode switch and automatic cycling operating mode switch are a variety of.
When mode switch is manual mode switch, in the plant fixing stage, manual mode switch can be triggered by disconnecting
State is changed into conducting state.Then selection needs to be colonized the plantation car of seedling in each plantation car, controls institute manually successively
Each plantation car of selection is rotated to specified location (for example rotating to the lowest position of circular orbit).Then will be in
The plantation car of specified location removes planting machine body, to carry out seedling field planting to the plantation car.After treating seedling field planting, by this
Plantation car is moved into planting machine body.Control next control car to rotate to specified location manually again, and repeat above-mentioned small
Seedling is colonized process, until selected each plantation car seedling field planting is completed.Craft can also be triggered in the plant harvest stage
Mode switch is changed into conducting state by off-state.Selection needs the plantation car harvested, every selected by control manually successively
One plantation car is rotated to specified location (for example rotating to the lowest position of circular orbit), is then harvested and is in specific bit
Plant in the plantation car shifting put.After treating plant harvest, then next plantation car is controlled to rotate to specified location manually, and
Above-mentioned plant harvest process is repeated, until the plant in selected each plantation car harvests completion.
When mode switch is waits the time to circulate liquid feeding mode switch, according to the time interval of setting, each is planted
Car is rotated to the liquid feeding position of setting., then, successively will be selected at interval of 5 minutes for example the time interval set is 5 minute
Plantation car is rotated to the liquid feeding position of setting (for example rotating to the lowest position of circular orbit), so that each plantation car
Can be in the steady Ensure Liquid liquid in the liquid feeding position of setting.
When mode switch is automatic cycling operating mode switch, first time period and second the time end can basis
Business need determines.For example first time period is early 8 points to 8 points of evening, second time period for 01 minute 8 points of evening to it is early 7 points 59 minutes.Then
Circular orbit cycle operation in early 8 points of first time period to 8 points of evening, circular orbit was 01 minute to early 78 points of second time period evening
Point shuts down in 59 minutes.So that the plant in each plantation car can reach the upper of circular orbit in first time period
Portion, photosynthesis is carried out to obtain enough illumination.Because illumination is weaker in second time period, it is impossible to meet the photosynthetic work of plant
With, therefore circular orbit stops operating, so as to reduce energy consumption.
According to above-described embodiment, at least one mode switch include but is not limited to manual mode switch, etc. the time circulation plus
At least one of liquid mode switch and automatic cycling operating mode switch are a variety of.Can be according to the different growth steps of plant
Section, starts different mode switch, so that circular orbit performs different operations, therefore industry in plant different growth phases
It is engaged in strong applicability.
In an embodiment of the invention, as shown in figure 4, being to wait the time to circulate liquid feeding pattern in the mode switch 105
During switch,
Planting machine may further include：At least one liquid feeding equipment 401；
At least one liquid feeding equipment 401 corresponds with least one plantation car 203；Each described liquid feeding
Equipment 401 is arranged in corresponding plantation car 203；
The controller 103, it is further used for being performed both by for each plantation car 203, is monitoring current institute
When stating plantation car 203 rotation to the liquid feeding position set, liquid feeding equipment 401 corresponding to presently described plantation car 203 is triggered；
Each described liquid feeding equipment 401, under the triggering of the controller 103, adding for corresponding plantation car 203
Liquid.
In the present embodiment, due to the battalion that can expend in growth course in plantation car of plant in each plantation car
Nutrient solution, in order to ensure that amount of the nutrient solution in each plantation car always can meet that the growth of plant is required, it is necessary to timing
Nutrient solution in plantation car is supplemented.
In the present embodiment, when controller monitoring rotates to liquid feeding position to each plantation car, current plantation is controlled
Liquid feeding equipment corresponding to car carries out liquid feeding to current plantation car, expends the nutrient solution of falling by plant to supplement in current plantation car.
Due to carrying out liquid feeding in the liquid feeding position of setting, therefore what can be stablized carries out liquid feeding to plantation car.
In the present embodiment, when each plantation parking stall is in liquid feeding position, controller then controls corresponding liquid feeding equipment
To plant car liquid feeding.When plantation car leaves liquid feeding position, controller then controls corresponding liquid feeding equipment to stop adding for plantation car
Liquid.
According to above-described embodiment, one liquid feeding equipment of installation corresponding to each plantation car.In controller monitoring to plantation
When car is rotated to liquid feeding position, each liquid feeding equipment is controlled as corresponding plantation car liquid feeding.Due to liquid feeding equipment can be utilized
Automatic is plantation car liquid feeding, without the manual liquid feeding of plant personnel, therefore can substantially reduce human cost.
In an embodiment of the invention, as shown in figure 5, each described liquid feeding equipment 301 can include fluid infusion motor
501st, liquid reserve tank 502, fluid supplement solenoid valve 503 and discharge magnetic valve 504；
Each described plantation car 203 includes at least one planting tray 2031；
The fluid infusion motor 501 respectively with the controller 103, the liquid reserve tank 502 and the fluid supplement solenoid valve 503
It is connected；
The fluid supplement solenoid valve 503 is connected with the controller 103 and corresponding at least one planting tray 2031 respectively；
The discharge magnetic valve 504 respectively with the controller 103, corresponding at least one planting tray 2031 and the liquid storage
Case 502 is connected；
The fluid infusion motor 501, under the triggering of the controller 103, by the nutrient solution in the liquid reserve tank 502
Transmit to the fluid supplement solenoid valve 503；
The fluid supplement solenoid valve 503, under the triggering of the controller 103, the fluid infusion motor 501 to be transmitted
Nutrient solution is transmitted to corresponding at least one planting tray 2031；
The discharge magnetic valve 504, it is described at least one corresponding to reception under the triggering of the controller 103
The nutrient solution that overflow goes out in planting tray 2031；The nutrient solution received is transmitted to the liquid reserve tank 502；
The liquid reserve tank 502, for providing nutrient solution for the fluid infusion motor 501；The discharge magnetic valve 504 is received to pass
Defeated nutrient solution.
In the present embodiment, the pattern of fluid infusion motor, liquid reserve tank, fluid supplement solenoid valve and discharge magnetic valve can basis
Business need determines.For example fluid infusion motor can be with submersible motor, in liquid reserve tank.
In the present embodiment, because the amount for the nutrient solution that each planting tray is transferred to by fluid supplement solenoid valve is likely larger than
Maximum nutrient solution saturation in planting tray.In order that unnecessary nutrient solution is not overflowed in plantation car, then overflow electromagnetism is utilized
Valve transmits unnecessary nutrient solution into liquid reserve tank, to reduce the wastage of nutrient solution.
According to above-described embodiment, when plantation car rotates to liquid feeding position, the fluid infusion electricity in controller control liquid feeding equipment
Machine, liquid reserve tank, fluid supplement solenoid valve are each planting tray Additional nutrient solution in corresponding plantation car.It is more than planting tray in liquid volume added
During the maximum capacity of middle nutrient solution, the nutrient solution for being gone out overflow using the discharge magnetic valve in liquid feeding equipment is transmitted to liquid reserve tank
In, to reduce the wastage of nutrient solution.
In an embodiment of the invention, as shown in fig. 6, planting machine may further include：At least one environment measuring
Equipment 601 and at least one environment adjusting device 602；
Each described environment measuring equipment 601, will be corresponding for gathering the second environment parameter in the casing 101
Second environment parameter send to the controller 103；
The controller 103, it is further used for determining at least one target according to the second environment parameter received
Environment adjusting device 602, and determine that each described target environment regulation is set according to the second environment parameter received
Standby 602 adjustment parameter, identified adjustment parameter is sent to corresponding target environment adjustment equipment 602；
Each described environment adjusting device 602, for when receiving the adjustment parameter that the controller 103 is sent,
Perform regulation action corresponding with the adjustment parameter.
In the present embodiment, at least one environment measuring equipment can include but is not limited to gas concentration lwevel detector,
At least one of temperature sensor and humidity sensor are a variety of.At least one environment adjusting device includes but is not limited to two
In carbonoxide ancillary equipment (including dioxide bottle and carbon dioxide solenoid valve), ventilation blower, humidifier and air-conditioning extremely
Few one or more.
In the present embodiment, humidity sensor is included at least one environment measuring equipment, and at least one environment is adjusted
When equipment includes ventilation blower and humidifier, humidity sensor, for gathering the humidity value in casing.Controller, for judging
Whether humidity value is more than any one numerical value in the first numerical intervals of default settings, if it is judged that humidity value is more than first
Any one numerical value in numerical intervals, ventilation is determined according to humidity value, and ventilation is sent to ventilation blower；Otherwise, continue
Any one numerical value whether humidity value is less than in the first numerical intervals is judged, if it is judged that humidity value is less than the first numerical value area
Between in any one numerical value, humidification amount is determined according to humidity value, humidification amount is sent to humidifier.Ventilation blower, for connecing
When receiving ventilation, casing is aerated according to ventilation.Humidifier, for when receiving humidification amount, according to humidification amount
Casing is humidified.
Such as first numerical intervals be [50%, 85%], controller judge the humidity value that collects positioned at [50%,
When in 85%], illustrate that the humidity value in casing is normal, controller does not have to control humidifier or ventilation blower performs operating.Controlling
When the humidity value that device is judged to collect is less than 50%, then ventilation blower is controlled to open, so that the humidity value in casing maintains
In [50%, 85%].When the humidity value that controller is judged to collect is more than 85%, then humidifier is controlled to open, so as to
So that the humidity value in casing is maintained in [50%, 85%].
In the present embodiment, temperature sensor is included at least one environment measuring equipment, and at least one environment is adjusted
When equipment includes air-conditioning, temperature sensor, for gathering the temperature value in casing.Controller, for judging whether temperature value is big
Any one numerical value in the second value section of default settings, if it is judged that temperature value is more than in second value section
Any one numerical value, refrigerating capacity is determined according to temperature value, refrigerating capacity is sent to air-conditioning；Otherwise, continue whether judge temperature value
Less than any one numerical value in second value section, if it is judged that temperature value is less than any one in second value section
Numerical value, heating capacity is determined according to temperature value, heating capacity is sent to air-conditioning.Air-conditioning, for receiving refrigerating capacity or heating capacity
When, casing is freezed or heated according to refrigerating capacity or heating capacity.
For example second value section is [20,30], it is located in the temperature value that controller is judged to collect in [20,30]
When, illustrate that the temperature value in casing is normal, controller does not have to control air-conditioning and performs operating.In the temperature that controller is judged to collect
When angle value is less than 20, then control control air-conditioning opens heating mode, so that the temperature value in casing maintains [20,30]
In.When the temperature value that controller is judged to collect is more than 30, then air-conditioning is controlled to open refrigeration mode, so that in casing
Temperature value maintain in [20,30].
In the present embodiment, the set location of environment measuring equipment and environment adjusting device in casing can basis
Business need determines.For example as shown in figure 3, include gas concentration lwevel detector 305, temperature sensor 306, wet in figure 3
Spend sensor 307, ventilation blower 308, carbon dioxide solenoid valve 309, dioxide bottle 310, humidifier 311 and air-conditioning 312.
According to above-described embodiment, the environment in the casing that controller is collected by least one environment measuring equipment is joined
Number, determines at least one target environment adjustment equipment.And determine adjustment parameter corresponding to each target environment adjustment equipment.Often
One target environment adjustment equipment performs regulation action corresponding with adjustment parameter when receiving adjustment parameter.With using respectively
Individual environment adjusting device maintains the ambient condition in casing, so that the environment in casing meets plant growth to greatest extent
It is required that.
In an embodiment of the invention, at least one environment measuring equipment 601 detects including gas concentration lwevel
Device；At least one environment adjusting device 602 includes dioxide bottle and carbon dioxide solenoid valve；Wherein, the dioxy
Change carbon gas cylinder with the carbon dioxide solenoid valve to be connected；
The gas concentration lwevel detector, for gathering the gas concentration lwevel in the casing 101；
The controller 103, the gas concentration lwevel collected for determining the gas concentration lwevel detector
During less than setting concentration, by formula (1), air compensation is calculated；The air compensation is sent to the carbon dioxide solenoid valve；
Wherein, the N characterizes the air compensation；The m characterizes carbon dioxide quality in the default casing；The C
Characterize the gas concentration lwevel；The M characterizes the molecular mass of carbon dioxide；The V characterizes the volume of the casing；It is described
K characterizes concentration constant；
The carbon dioxide solenoid valve, the air compensation is received for basis, using in the dioxide bottle
Carbon dioxide supplements carbon dioxide to the casing.
In the present embodiment, controller determine the gas concentration lwevel that gas concentration lwevel detector collects be more than or
Equal to setting concentration when, then illustrate that the gas concentration lwevel in casing meets plant growth requirement.Dioxy is determined in controller
When changing the gas concentration lwevel that collects of concentration of carbon detector and being less than setting concentration, then illustrate gas concentration lwevel in casing not
Meet plant growth requirement, it is necessary to calculate the air compensation of required carbon dioxide by formula (1).Air compensation is being calculated
When, carbon dioxide solenoid valve is opened, to provide carbon dioxide using the dioxide bottle being connected with carbon dioxide solenoid valve.
In the present embodiment, the concentration of setting can determine according to business need, such as 800ml/L.
According to above-described embodiment, determine that the gas concentration lwevel that gas concentration lwevel detector collects is small in controller
When concentration is set, air compensation is calculated using the carbon dioxide concentration collected, and according to air compensation, utilize dioxide bottle
In carbon dioxide to the casing supplement carbon dioxide.When being less than setting concentration due to the gas concentration lwevel in casing,
Carbon dioxide in casing is supplemented, therefore the gas concentration lwevel in casing can be maintained to meet plant growth requirement.
As shown in fig. 7, the embodiments of the invention provide a kind of control method based on any planting machine in above-mentioned, should
Method includes：
Step 701：At least one operation mode is set, wherein, at least one operation mode operates with least one
Action corresponds；
Step 702：Gather the first environment parameter in the casing；
Step 703：Determine that the running corresponding with the first environment parameter acts using controller, control the plantation
Motion determined by the execution of machine body；
Step 704：When starting any one operation mode, it is determined that motion corresponding to the operation mode started,
Control motion determined by the planting machine body execution.
Embodiment according to Fig. 7, the ambient parameter in casing is gathered, the environment with collecting is determined using controller
The corresponding running action of parameter, and control motion determined by the execution of planting machine body.Starting any one operating
During pattern, it is determined that motion corresponding to the operation mode started, and it is dynamic to control planting machine body to perform identified operating
Make., can be according to the ambient parameter or the pattern of startup that collecting device collects, really using controller by said process
Motion is made, and controls motion determined by the execution of planting machine body.And do not need plant personnel it is manual to kind
The motion of plant machine body is adjusted.Therefore, scheme provided in an embodiment of the present invention can improve automaticity.
In an embodiment of the invention, support frame, circular orbit and at least one are included in the planting machine body
When planting car,
In flow chart shown in above-mentioned Fig. 7 the involved control planting machine body perform determined by motion can be with
Including：
Running action determined by the circular orbit execution is controlled using the controller；
Under the drive of circular orbit running action, shift in position occurs for each described plantation car.
In invention one embodiment, when the first environment parameter is intensity of illumination,
Step 703 determines the fortune corresponding with the first environment parameter using controller in flow chart shown in above-mentioned Fig. 7
Act, control the planting machine body perform determined by motion, can include：
Judge whether the intensity of illumination reaches the intensity threshold of setting using the controller, if it is, described in control
Rotation speed operation of the circular orbit to set；Otherwise, the circular orbit is controlled to shut down.
In invention one embodiment, when the first environment parameter is temperature value,
Step 703 determines the fortune corresponding with the first environment parameter using controller in flow chart shown in above-mentioned Fig. 7
Act, control motion determined by the planting machine body execution, including：
Judge whether the temperature value reaches the temperature threshold of setting using the controller, if it is, controlling the ring
Rotation speed operation of the shape track to set；Otherwise, the circular orbit is controlled to shut down.
In an embodiment of the invention, at least one operation mode involved in flow chart shown in above-mentioned Fig. 7 can be with
Including manual mode, etc. the time circulation at least one of liquid feeding pattern and automatic cycling operating pattern or a variety of；
When the operation mode is manual mode, corresponding motion is：In plant fixing stage or plant harvest
In the stage, the circular orbit is controlled to rotate each described plantation car to specified location manually；
When the operation mode is waits the time to circulate liquid feeding pattern, corresponding motion is：Control the circular rails
Road, according to time interval set in advance, each described plantation car is rotated to the liquid feeding position of setting；
When the operation mode is automatic cycling operating pattern, corresponding motion is：Control the circular orbit
The cycle operation in the first time period of setting；The circular orbit is controlled to be shut down in the second time period of setting.
In an embodiment of the invention, it is to wait the time to circulate liquid feeding mode switch, and planting machine in the mode switch
When further comprising at least one liquid feeding equipment,
Further comprise：
The location of each described plantation car using the controller monitoring；
Monitor it is presently described plantation car rotate to the liquid feeding position of setting when, using it is presently described plantation car corresponding to
Liquid feeding equipment is presently described plantation car liquid feeding.
In an embodiment of the invention, at least one environment measuring equipment and at least one are further comprised in planting machine
During individual environment adjusting device,
Further comprise：
The second environment parameter in the casing is gathered using environment measuring equipment each described；
Determine that at least one target environment regulation is set according to the second environment parameter received using the controller
It is standby, and determine according to the second environment parameter received the adjustment parameter of each target environment adjustment equipment；
Each described target environment adjustment equipment is controlled to perform regulation action corresponding with the adjustment parameter.
In an embodiment of the invention, gas concentration lwevel detector is included at least one environment measuring equipment
And at least one environment adjusting device is when including dioxide bottle and carbon dioxide solenoid valve,
The second environment parameter gathered using environment measuring equipment each described in the casing, including：
The gas concentration lwevel in the casing is gathered using the gas concentration lwevel detector；
The second environment parameter that the basis receives determines the regulation of each target environment adjustment equipment
Parameter, including：
When determining that the gas concentration lwevel that the gas concentration lwevel detector collects is less than setting concentration, pass through
Formula (1), calculate air compensation；
Wherein, the N characterizes the air compensation；The m characterizes carbon dioxide quality in the default casing；The C
Characterize the gas concentration lwevel；The M characterizes the molecular mass of carbon dioxide；The V characterizes the volume of the casing；It is described
K characterizes concentration constant；
According to the air compensation is received, the carbon dioxide solenoid valve is controlled to utilize two in the dioxide bottle
Carbonoxide supplements carbon dioxide to the casing.
Below by taking the planting machine (wherein collecting device is optical sensor) shown in Fig. 3 as an example.Expansion explanation planting machine
Control method, as shown in figure 8, the control method of the planting machine may include steps of：
Step 801：Using controller, at least one operation mode is set, wherein, at least one operation mode respectively with extremely
A few kind mode switch and at least one motion correspond, and perform step 802 and step 814.
In this step, the operation mode of setting include manual mode, etc. time circulation liquid feeding pattern and automatic cycle
Operational mode.Wherein, manual mode corresponds to manual mode switch, and corresponding motion is：In plant fixing stage or plant
In the harvest stage, circular orbit is controlled to rotate each plantation car to specified location manually.It is corresponding Deng time circulation liquid feeding pattern
Liquid feeding mode switch is circulated Deng the time, corresponding motion is：Circular orbit is controlled, according to time interval " 5 set in advance
Minute ", each plantation car is rotated to the liquid feeding position of setting.Automatic cycling operating pattern corresponds to automatic cycling operating pattern
Switch, corresponding motion are：Circular orbit is controlled in the interior cycle operation of first time period " early to evening " of setting at 8 points at 8 points；
Control circular orbit shuts down in the second time period " 01 minute 8 points of evening to early 7 points 59 minutes " of setting.
Step 802：The luminous intensity in casing is gathered using optical sensor.
Step 803：Judge whether to start any one operation mode using controller, if it is, step 807 is performed, it is no
Then, step 804 is performed.
In this step, when judging to start any one operation mode, step 807 is performed.
Step 804：Judge whether intensity of illumination reaches the intensity threshold of setting using controller, if it is, performing step
805, otherwise, perform step 806.
Step 805：Using rotation speed operation of the controller control circular orbit to set, step 802 is performed.
Step 806：Shut down using controller control circular orbit, perform step 802.
Step 807：The operation mode for judging to start is any operation mode, if manual mode, performs step
808；If waiting the time to circulate liquid feeding pattern, step 809 is performed；If automatic cycling operating pattern, step 811 is performed.
In this step, the time circulation liquid feeding pattern such as judge to start, perform step 809.
Step 808：Control circular orbit rotates each plantation car to specified location manually successively.
Step 809：Control circular orbit, according to time interval set in advance, successively by each plantation car rotate to
The liquid feeding position of setting.
In this step, the time interval set is 5 minute, then at interval of 5 minutes, successively revolves selected plantation car
The liquid feeding position (for example rotating to the lowest position of circular orbit) of setting is gone to, so that each plantation car can be
The steady Ensure Liquid liquid in liquid feeding position of setting.
Step 810：It is performed both by for each plantation car, rotates adding to setting to current plantation car in controller monitoring
When liquid level is put, liquid feeding equipment corresponding to triggering is current plantation car Ensure Liquid liquid.
In this step, liquid feeding equipment is when receiving triggering, fluid infusion motor, liquid storage in controller control liquid feeding equipment
Case, fluid supplement solenoid valve are each planting tray Additional nutrient solution in corresponding plantation car.It is more than nutrition in planting tray in liquid volume added
During the maximum capacity of liquid, the nutrient solution for being gone out overflow using the discharge magnetic valve in liquid feeding equipment is transmitted into liquid reserve tank, with
Reduce the wastage of nutrient solution.
Step 811：Judge whether current time is located in first time period using controller, if it is, performing step
812；Otherwise, step 813 is performed.
Step 812：Annular orbital cycle is controlled to operate.
Step 813：Control circular orbit shuts down.
Step 814：The ambient parameter in casing is gathered using at least one environment measuring equipment.
In this step, environment measuring equipment includes gas concentration lwevel detector, temperature sensor and humidity sensor
Device.The gas concentration lwevel in casing is gathered using gas concentration lwevel detector, is gathered using temperature sensor in casing
Temperature value, the humidity in casing is gathered using humidity sensor.
Step 815：Determined using controller according to the ambient parameter collected at least one environment adjusting device
At least one target environment adjustment equipment is determined, and determines that each mark environment regulation is set according to the ambient parameter collected
Standby adjustment parameter.
In this step, it is determined that collecting temperature value and gas concentration lwevel is normal, and the humidity value collected is big
In the first numerical intervals be [50%, 85%] in any one numerical value, it is determined that ventilation blower is target environment adjustment equipment.And
Humidity value according to collecting determines the ventilation of ventilation blower.
Step 816：Each target environment adjustment equipment performs corresponding with adjustment parameter when receiving ambient parameter
Regulation acts.
In this step, ventilation blower is opened, there is provided identified ventilation in step 815, so that the humidity drop in casing
It is low to arrive in [50%, 85%], to meet the growth requirement of each plant in casing.
In summary, each embodiment of the present invention can at least realize following beneficial effect：
1st, in embodiments of the present invention, the ambient parameter in casing where gathering planting machine body using collecting device.Control
Device processed determines the running action corresponding with ambient parameter, and control when receiving the ambient parameter that collecting device collects
Motion determined by planting machine body execution processed.Receive to trigger to be changed into by off-state in each mode switch and lead
During logical state, to controller sending mode open command.Controller receive mode switch transmission pattern open command when,
Motion is determined in motion set in advance, and controls motion determined by the execution of planting machine body.Pass through
Pattern open command above-mentioned to understand, that controller can be sent according to the ambient parameter or mode switch that collecting device collects,
Motion is determined, and controls motion determined by the execution of planting machine body.And manual pair of plant personnel is not needed
The motion of planting machine body is adjusted.Therefore, scheme provided in an embodiment of the present invention can improve automaticity.
2nd, in embodiments of the present invention, planting machine body includes support frame, circular orbit and each plantation car.Circular rails
Road under the control of the controller, motion determined by execution controller, rotates.Each plantation car turns in circular orbit
Shift in position occurs under dynamic drive.Because circular orbit can perform operating running under the control of the controller, and drive each
Shift in position occurs for individual plantation car, it is not necessary to which plant personnel artificially adjusts the position of plantation car, therefore automaticity is higher.
3rd, in embodiments of the present invention, controller can be according to the intensity of illumination or TEMP that optical sensor collects
The temperature value that device collects, control circular orbit is with the rotation speed operation that sets or shuts down.With in intensity of illumination or temperature value
When satisfaction requires, the plant in each plantation car is set to rotate to the top of circular orbit, to cause in each plantation car
Plant can get enough illumination.When intensity of illumination or temperature value are unsatisfactory for requiring, control circular orbit shuts down,
To reduce energy consumption.
4th, in embodiments of the present invention, at least one mode switch include but is not limited to manual mode switch, etc. the time follow
At least one of ring liquid feeding mode switch and automatic cycling operating mode switch are a variety of.Can be according to the difference life of plant
In the long stage, start different mode switch, so that circular orbit performs different operations in plant different growth phases, because
This business is with strong applicability.
5th, in embodiments of the present invention, one liquid feeding equipment of installation corresponding to each plantation car.Arrived in controller monitoring
When plantation car is rotated to liquid feeding position, each liquid feeding equipment is controlled as corresponding plantation car liquid feeding.Due to liquid feeding can be utilized
Equipment is automatically plantation car liquid feeding, without the manual liquid feeding of plant personnel, therefore can substantially reduce human cost.
6th, in embodiments of the present invention, when plantation car rotates to liquid feeding position, the benefit in controller control liquid feeding equipment
Liquid motor, liquid reserve tank, fluid supplement solenoid valve are each planting tray Additional nutrient solution in corresponding plantation car.It is more than kind in liquid volume added
When planting the maximum capacity of nutrient solution in disk, the nutrient solution for being gone out overflow using the discharge magnetic valve in liquid feeding equipment is transmitted to storage
In liquid case, to reduce the wastage of nutrient solution.
7th, in embodiments of the present invention, the environment in the casing that controller is collected by least one environment measuring equipment
Parameter, determine at least one target environment adjustment equipment.And determine adjustment parameter corresponding to each target environment adjustment equipment.
Each target environment adjustment equipment performs regulation action corresponding with adjustment parameter when receiving adjustment parameter.To utilize
Each environment adjusting device maintains the ambient condition in casing, so that the environment in casing meets plant growth to greatest extent
Requirement.
8th, in embodiments of the present invention, the dense carbon dioxide that gas concentration lwevel detector collects is determined in controller
When degree is less than setting concentration, air compensation is calculated using the carbon dioxide concentration collected, and according to air compensation, utilize carbon dioxide
Carbon dioxide in gas cylinder supplements carbon dioxide to the casing.Because the gas concentration lwevel in casing is less than setting concentration
When, the carbon dioxide in casing is supplemented, therefore the gas concentration lwevel in casing can be maintained to meet plant growth and wanted
Ask.
9th, in embodiments of the present invention, the ambient parameter in casing is gathered, the environment with collecting is determined using controller
The corresponding running action of parameter, and control motion determined by the execution of planting machine body.Starting any one operating
During pattern, it is determined that motion corresponding to the operation mode started, and it is dynamic to control planting machine body to perform identified operating
Make., can be according to the ambient parameter or the pattern of startup that collecting device collects, really using controller by said process
Motion is made, and controls motion determined by the execution of planting machine body.And do not need plant personnel it is manual to kind
The motion of plant machine body is adjusted.Therefore, scheme provided in an embodiment of the present invention can improve automaticity.
It should be noted that herein, such as first and second etc relational terms are used merely to an entity
Or operation makes a distinction with another entity or operation, and not necessarily require or imply and exist between these entities or operation
Any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant be intended to it is non-
It is exclusive to include, so that process, method, article or equipment including a series of elements not only include those key elements,
But also the other element including being not expressly set out, or also include solid by this process, method, article or equipment
Some key elements.In the absence of more restrictions, the key element limited by sentence " including one ", is not arranged
Except other identical factor in the process including the key element, method, article or equipment being also present.
One of ordinary skill in the art will appreciate that：Realizing all or part of step of above method embodiment can pass through
Programmed instruction related hardware is completed, and foregoing program can be stored in computer-readable storage medium, the program
Upon execution, the step of execution includes above method embodiment；And foregoing storage medium includes：ROM, RAM, magnetic disc or light
Disk etc. is various can be with the medium of store program codes.
It is last it should be noted that：Presently preferred embodiments of the present invention is the foregoing is only, is merely to illustrate the skill of the present invention
Art scheme, is not intended to limit the scope of the present invention.Any modification for being made within the spirit and principles of the invention,
Equivalent substitution, improvement etc., are all contained in protection scope of the present invention.
Claims (10)
- A kind of 1. planting machine, it is characterised in that including：Casing, planting machine body, controller, collecting device and at least one mode switch；The planting machine body is arranged in the casing；The controller is set with the planting machine body, the collection respectively Standby and described at least one mode switch is connected；The collecting device, for gathering the first environment parameter in the casing, the first environment parameter is sent to institute State controller；Each described mode switch, for receive triggering conducting state is changed into by off-state when, to the control Device sending mode open command；The controller, for when receiving the first environment parameter that the collecting device is sent, it is determined that with described the The corresponding running action of one ambient parameter, controls motion determined by the planting machine body execution；Storage at least one Kind motion, wherein, at least one motion corresponds with least one mode switch；Receiving When stating the pattern open command of mode switch transmission, motion is determined, controls the planting machine body to perform and is determined Motion.
- 2. planting machine according to claim 1, it is characterised in thatThe planting machine body includes：Support frame, circular orbit and at least one plantation car；The circular orbit is arranged on support frame as described above；The circular orbit is connected with the controller；It is described at least one Car is planted to be arranged on the circular orbit；The circular orbit, under the control of the controller, running determined by execution to act；Each described plantation car, for planting plants, shift in position occurs under the drive of circular orbit running action.
- 3. planting machine according to claim 2, it is characterised in thatThe collecting device is optical sensor, and the first environment parameter is intensity of illumination；The optical sensor, for gathering the intensity of illumination in the casing, the intensity of illumination is sent to the control Device；The controller, for judging whether the intensity of illumination reaches the intensity threshold of setting, if it is, controlling the annular Rotation speed operation of the track to set；Otherwise, the circular orbit is controlled to shut down；Or,The collecting device is temperature sensor, and the first environment parameter is temperature value；The temperature sensor, for gathering the temperature value in the casing, the temperature value is sent to the controller；The controller, for judging whether the temperature value reaches the temperature threshold of setting, if it is, controlling the circular rails Rotation speed operation of the road to set；Otherwise, the circular orbit is controlled to shut down；And/orAt least one mode switch includes：Manual mode switch, etc. time circulation liquid feeding mode switch and automatic cycle At least one of operational mode switch is a variety of；When the mode switch is manual mode switch, corresponding motion is：In plant fixing stage or plant harvest In the stage, the circular orbit is controlled to rotate each described plantation car to specified location manually；When the mode switch is waits the time to circulate liquid feeding mode switch, corresponding motion is：Control the circular rails Road, according to time interval set in advance, each described plantation car is rotated to the liquid feeding position of setting；When the mode switch is automatic cycling operating mode switch, corresponding motion is：Control the circular orbit The cycle operation in the first time period of setting；The circular orbit is controlled to be shut down in the second time period of setting.
- 4. planting machine according to claim 3, it is characterised in thatWhen the mode switch is waits the time to circulate liquid feeding mode switch,Further comprise：At least one liquid feeding equipment；At least one liquid feeding equipment corresponds with least one plantation car；Each described liquid feeding equipment is arranged on In corresponding plantation car；The controller, it is further used for being performed both by for each plantation car, is monitoring presently described plantation car rotation When going to the liquid feeding position of setting, liquid feeding equipment corresponding to presently described plantation car is triggered；Each described liquid feeding equipment, under the triggering of the controller, car Ensure Liquid liquid to be planted to be corresponding.
- 5. planting machine according to claim 4, it is characterised in thatEach described liquid feeding equipment includes：Fluid infusion motor, liquid reserve tank, fluid supplement solenoid valve and discharge magnetic valve；Each described plantation car includes at least one planting tray；The fluid infusion motor is connected with the controller, the liquid reserve tank and the fluid supplement solenoid valve respectively；The fluid supplement solenoid valve is connected with the controller and corresponding at least one planting tray respectively；The discharge electricity Magnet valve is connected with the controller, corresponding at least one planting tray and the liquid reserve tank respectively；The fluid infusion motor, under the triggering of the controller, the nutrient solution in the liquid reserve tank to be transmitted to the benefit Liquid electromagnetic valve；The fluid supplement solenoid valve, under the triggering of the controller, by the nutrient solution that the fluid infusion motor transmits transmit to Corresponding at least one planting tray；The discharge magnetic valve, under the triggering of the controller, being overflow at least one planting tray corresponding to reception The nutrient solution of outflow；The nutrient solution received is transmitted to the liquid reserve tank；The liquid reserve tank, for providing nutrient solution for the fluid infusion motor；Receive the nutrient solution of the discharge magnetic valve transmission.
- 6. planting machine according to claim 1, it is characterised in thatFurther comprise：At least one environment measuring equipment and at least one environment adjusting device；Each described environment measuring equipment, for gathering the second environment parameter in the casing, by corresponding second environment Parameter is sent to the controller；The controller, for determining at least one target environment adjustment equipment according to the second environment parameter received, And the adjustment parameter of each target environment adjustment equipment is determined according to the second environment parameter received, by institute The adjustment parameter of determination is sent to corresponding target environment adjustment equipment；Each described environment adjusting device, for when receiving the adjustment parameter that the controller is sent, perform with it is described Regulation corresponding to adjustment parameter acts.
- 7. planting machine according to claim 6, it is characterised in thatAt least one environment measuring equipment includes gas concentration lwevel detector；At least one environment adjusting device bag Include dioxide bottle and carbon dioxide solenoid valve；Wherein, the dioxide bottle is connected with the carbon dioxide solenoid valve；The gas concentration lwevel detector, for gathering the gas concentration lwevel in the casing；The controller, for determining that the gas concentration lwevel that the gas concentration lwevel detector collects is less than setting During concentration, by the first formula, air compensation is calculated；The air compensation is sent to the carbon dioxide solenoid valve；First formula includes：<mrow> <mi>N</mi> <mo>=</mo> <mfrac> <mrow> <mi>m</mi> <mo>-</mo> <mi>C</mi> <mo>&times;</mo> <mi>M</mi> <mo>&times;</mo> <mi>V</mi> <mo>&times;</mo> <mi>k</mi> </mrow> <mi>V</mi> </mfrac> </mrow>Wherein, the N characterizes the air compensation；The m characterizes carbon dioxide quality in the default casing；The C is characterized The gas concentration lwevel；The M characterizes the molecular mass of carbon dioxide；The V characterizes the volume of the casing；The k tables Levy concentration constant；The carbon dioxide solenoid valve, for according to the air compensation is received, utilizing the dioxy in the dioxide bottle Change carbon and carbon dioxide is supplemented to the casing.
- A kind of 8. control method based on any planting machine in claim 1 to 7, it is characterised in that including：At least one operation mode is set, wherein, at least one operation mode corresponds with least one motion；Gather the first environment parameter in the casing；Determine that the running corresponding with the first environment parameter acts using controller, control the planting machine body to perform institute The motion of determination；When starting any one operation mode, it is determined that motion corresponding to the operation mode started, controls the plantation Motion determined by the execution of machine body.
- 9. according to the method for claim 8, it is characterised in thatWhen the planting machine body includes support frame, circular orbit and at least one plantation car,Motion determined by the control planting machine body execution, including：Running action determined by the circular orbit execution is controlled using the controller；Under the drive of circular orbit running action, shift in position occurs for each described plantation car.
- 10. according to the method for claim 9, it is characterised in thatWhen the first environment parameter is intensity of illumination,It is described to determine that the running corresponding with the first environment parameter acts using controller, control the planting machine body to hold Motion determined by row, including：Judge whether the intensity of illumination reaches the intensity threshold of setting using the controller, if it is, controlling the annular Rotation speed operation of the track to set；Otherwise, the circular orbit is controlled to shut down；Or,When the first environment parameter is temperature value,It is described to determine that the running corresponding with the first environment parameter acts using controller, control the planting machine body to hold Motion determined by row, including：Judge whether the temperature value reaches the temperature threshold of setting using the controller, if it is, controlling the circular rails Rotation speed operation of the road to set；Otherwise, the circular orbit is controlled to shut down；And/orAt least one operation mode includes：Manual mode, etc. time circulation liquid feeding pattern and automatic cycling operating pattern At least one of or it is a variety of；When the operation mode is manual mode, corresponding motion is：In plant fixing stage or plant harvest stage, The circular orbit is controlled to rotate each described plantation car to specified location manually；When the operation mode is waits the time to circulate liquid feeding pattern, corresponding motion is：Control the circular orbit, root According to time interval set in advance, each described plantation car is rotated to the liquid feeding position of setting；When the operation mode is automatic cycling operating pattern, corresponding motion is：The circular orbit is controlled to set Cycle operation in fixed first time period；The circular orbit is controlled to be shut down in the second time period of setting.
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| CN201711306447.1A CN107861549A (en) | 2017-12-11 | 2017-12-11 | A kind of planting machine and its control method |
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| CN101940135A (en) * | 2010-09-15 | 2011-01-12 | 戴文育 | Vertical rotary stereo type multi-layer planting greenhouse |
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Application publication date: 20180330 |