CN109282809A - A kind of greenhouse transportation system and transportation resources - Google Patents
A kind of greenhouse transportation system and transportation resources Download PDFInfo
- Publication number
- CN109282809A CN109282809A CN201811066602.1A CN201811066602A CN109282809A CN 109282809 A CN109282809 A CN 109282809A CN 201811066602 A CN201811066602 A CN 201811066602A CN 109282809 A CN109282809 A CN 109282809A
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- China
- Prior art keywords
- transport vehicle
- cargo
- greenhouse
- remote control
- control terminal
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/02—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing wheeled or rolling bodies, e.g. vehicles
- G01G19/03—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing wheeled or rolling bodies, e.g. vehicles for weighing during motion
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- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
It includes: controller, transport vehicle, Crane Rail and at least one remote control terminal that the present invention, which discloses a kind of greenhouse transportation system and transportation resources, the transportation system,；By being wirelessly connected, the Crane Rail is equipped with steering and straight trip information and position identification information for the controller and the remote control terminal, and the controller drives the transport vehicle to travel on the Crane Rail according to the position of the remote control terminal.After the present invention is according to the information for receiving picker's location point, auto-sequencing, according to the capacity of transport vehicle, decision is to go to designated position to carry again after continuously reaching other picking positions or bleeding point unloading.The present invention greatly shortens the time of picking transport, improves work efficiency.
Description
Technical field
The present invention relates to Greenhouse Fruit Picking transport fields, more particularly to a kind of greenhouse transportation system and transportation resources.
Background technique
Most domestic greenhouse is all complete artificial at present, or artificial+trolley mode picked after transport, efficiency
It is more low, it shows, artificial hand is carried again after picking or cart oneself transports, and speed is slow, the solanaceous vegetables such as some tomato cucumber
Picking is all picking in morning, to keep freshness, has adopted directly to install and transport to country fair, therefore has picked haulage time and get over
Fastly, product freshness is better.And it is artificial slow, transport is time for delaying most place, while when greenhouse region is big,
The position of picker cannot be obtained in time, and confusing communication, migration is also to delay picking and haulage time repeatedly.
Summary of the invention
The object of the present invention is to provide a kind of greenhouse transportation systems and transportation resources to mention for reducing haulage time
High working efficiency.
To achieve the above object, the present invention provides following schemes:
A kind of greenhouse transportation system, the transportation system include: controller, transport vehicle, Crane Rail and at least one
A remote control terminal；The controller and the remote control terminal by being wirelessly connected, the Crane Rail be equipped with turn to and
Information of keeping straight on and position identification information, the controller drive the transport vehicle in institute according to the position of the remote control terminal
It states and is travelled on Crane Rail.
Optionally, the transport vehicle includes multiple cargo carrying casees, and weighing and sensing is respectively set in the cargo carrying case
Device.
Optionally, the remote control terminal is provided with button and automatic positioning equipment, triggers the button, then the control
Device receives the position of the remote control terminal.
Optionally, navigation device is provided on the transport vehicle, the navigation device is used to control the fortune of the transport vehicle
Dynamic rail mark.
Optionally, the navigation device packet magnetic sensor；The magnetic sensor is connect with the controller, the row
Track road is magnetic track.
A kind of greenhouse transportation resources, comprising:
Obtain the position for needing to load cargo；
The transport vehicle is driven to go to the position；
When the transport vehicle reaches the position, sending control instruction stops driving the transport vehicle；
Judge whether the cargo loads to finish, obtains the first judging result；
If first judging result indicates that the cargo loading finishes, the transport vehicle is driven to go to next place.
Optionally, the position for needing to load cargo is obtained, is specifically included:
Obtain the multiple positions for needing to load cargo；
Determine the position that transport vehicle described in distance is nearest in multiple positions.
Optionally, judge whether the cargo loads to finish, specifically include:
Judge whether that receiving loading finishes signal, the loading finishes signal by manually inputting.
Optionally, it drives the transport vehicle to go to next place, specifically includes:
Judge whether the transport vehicle is fully loaded with, obtains the second judging result；
If second judging result indicates that the transport vehicle is fully loaded, the transport vehicle is driven to return to bleeding point；
If second judging result indicates the transport vehicle underload, drive the transport vehicle that next cargo is gone to fill
Carry position.
Optionally, judge whether the transport vehicle is fully loaded with, specifically include:
Judge whether the numerical value of each weighing sensor is all larger than setting value.
The specific embodiment provided according to the present invention, the invention discloses following technical effects:
After greenhouse transportation system of the invention is according to the information for receiving picker's location point, auto-sequencing, according to fortune
The capacity of defeated vehicle, decision are to go to designated position to carry again after continuously reaching other picking positions or bleeding point unloading.This hair
It the bright time for greatly shortening picking transport, improves work efficiency.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the structure connection figure of greenhouse transportation system of the invention；
Fig. 2 is the flow chart of greenhouse transportation resources of the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide greenhouse transportation system and transportation resources to improve work for reducing haulage time
Make efficiency.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
Fig. 1 is the structure connection figure of greenhouse transportation system of the invention.As shown in Figure 1, the greenhouse transport
System, the transportation system include: controller 1, transport vehicle 2, Crane Rail 3 and at least one remote control terminal 4；Controller 1
With remote control terminal 4 by being wirelessly connected, Crane Rail 3 is equipped with turn to and keep straight on information and position identification information, control
Device 1 drives transport vehicle 2 to travel on Crane Rail 3 according to the position of remote control terminal 4.
Wherein, transport vehicle 2 includes multiple cargo carrying casees, can be set to 3.Moreover, being set respectively in cargo carrying case
Weighing sensor is set, weighing sensor is connect with controller 1.In addition, it is additionally provided with status indicator lamp in each cargo carrying case,
It is used to indicate the state that each cargo carrying case loads cargo.Green light be can loaded state, amber light is full load condition, and red light is super
Load state.
Remote control terminal 4 is provided with button and automatic positioning equipment, and trigger button, then controller 1 receives remote control terminal 4
Position.
Navigation device is provided on transport vehicle 2, navigation device is used to control the motion profile of transport vehicle 2.
Navigation device packet magnetic sensor；Magnetic sensor is connect with controller 1, and Crane Rail 3 is magnetic track.
Fig. 2 is the flow chart of greenhouse transportation resources of the invention.As shown in Fig. 2, the greenhouse transportation resources,
Include:
Step 21: obtaining the position for needing to load cargo.If the position for reprinting cargo is multiple, it is determined that multiple described
The nearest position of transport vehicle described in distance in position.In conjunction with transportation system provided by the invention, when artificial triggering remote control terminal
Button when, controller obtain process control end position, that is, need to load the position of cargo.
Step 22: the transport vehicle being driven to go to the position.Controller is according to the position and transport vehicle for loading cargo
Position determines route information, then transport vehicle is driven to reach the position for loading cargo along route information.
Step 23: when the transport vehicle reaches the position, sending control instruction stops driving the transport vehicle.At this point,
Start to load cargo, obtains loading in real time and finish signal.For example, triggering transport vehicle after this signal can be loaded by people
Loading finishes button, and tipping load finishes signal and is sent to controller.
Step 24: judging whether the cargo loads and finish, obtain the first judging result；Judge whether the cargo loads
It finishes, specifically includes:
Judge whether that receiving loading finishes signal, the loading finishes signal by manually inputting.Input unit can
To be arranged on the transport vehicle, also can be set on the remote control terminal.
Step 25: if first judging result indicates that the cargo loading finishes, driving the transport vehicle to go to next
A place.Wherein, it specifically goes to which place also controller to be needed specifically to be judged, specifically includes:
Step 251: judging whether the transport vehicle is fully loaded with, obtain the second judging result；
Step 252: if second judging result indicates that the transport vehicle is fully loaded, the transport vehicle being driven to return to collection
Point；
Step 253: if second judging result indicates the transport vehicle underload, driving the transport vehicle to go to next
A cargo " loaded " position.
Judge whether the transport vehicle is fully loaded with, specifically include: judging whether the numerical value of each weighing sensor is all larger than setting
Value, wherein setting value is the full value of cargo carrying case, can also be indicated here according to status indicator lamp certainly.If big
In setting value, then illustrate that transport vehicle has been fully loaded with, cargo cannot be reloading with, at this point, status indicator lamp is yellow, then drives institute
It states transport vehicle and returns to bleeding point, conversely, there is the status indicator lamp of green, then the transport vehicle is driven to go to next cargo
" loaded " position.
The embodiment optimal as one: transport vehicle requires to judge whether that goods can also be loaded when each carry
Object, if cannot, directly return bleeding point, or energy then obtains the position for needing to be loaded, if multiple, it is determined that one
Apart from nearest gatehead, then go to load.
Substantially thinking of the invention is: inside large greenhouse, it is understood that there may be multiple artificial picking points (being greater than 5), greenhouse
It is equipped with a transport vehicle 2, when plucker, which is near completion, to pick, the button of a remote control terminal 4 in hitter is put, to control
Device 1 processed reports in, and after transport vehicle 2 receives information, moves to position (the i.e. remote control terminal 4 of photos and sending messages worker
Position), wait worker that product is loaded upper transport vehicle 2, then send product to bleeding point.If there is position is reported in multiple pickings
It sets while being sent to controller 1, then according to nearby principle, be successively moved to nearest location point, wait product placement, put
Cheng Hou, artificial click finish, then enter next location point, and transport vehicle 2 can once receive 3 product cargos simultaneously and put,
After then sending bleeding point back to automatically, then remove next position reporting point.
After greenhouse transportation system of the invention is according to the information for receiving picker's location point, auto-sequencing, according to fortune
The capacity of defeated vehicle, decision are to go to designated position to carry again after continuously reaching other picking positions or bleeding point unloading.This hair
It the bright time for greatly shortening picking transport, improves work efficiency.
Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said
It is bright to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, foundation
Thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification is not
It is interpreted as limitation of the present invention.
Claims (10)
1. a kind of greenhouse transportation system, which is characterized in that the transportation system includes: controller, transport vehicle, Crane Rail
With at least one remote control terminal；The controller and the remote control terminal are set on the Crane Rail by being wirelessly connected
There are steering and straight trip information and position identification information, the controller drives the fortune according to the position of the remote control terminal
Defeated vehicle travels on the Crane Rail.
2. greenhouse transportation system according to claim 1, which is characterized in that the transport vehicle includes that multiple cargos are held
Case is carried, weighing sensor is respectively set in the cargo carrying case.
3. greenhouse transportation system according to claim 1, which is characterized in that the remote control terminal is provided with button
And automatic positioning equipment, the button is triggered, then the controller receives the position of the remote control terminal.
4. greenhouse transportation system according to claim 1, which is characterized in that be provided with navigation dress on the transport vehicle
It sets, the navigation device is used to control the motion profile of the transport vehicle.
5. greenhouse transportation system according to claim 4, which is characterized in that the navigation device packet magnetic transducing
Device；The magnetic sensor is connect with the controller, and the Crane Rail is magnetic track.
6. a kind of greenhouse transportation resources characterized by comprising
Obtain the position for needing to load cargo；
The transport vehicle is driven to go to the position；
When the transport vehicle reaches the position, sending control instruction stops driving the transport vehicle；
Judge whether the cargo loads to finish, obtains the first judging result；
If first judging result indicates that the cargo loading finishes, the transport vehicle is driven to go to next place.
7. greenhouse transportation resources according to claim 6, which is characterized in that the position for needing to load cargo is obtained,
It specifically includes:
Obtain the multiple positions for needing to load cargo；
Determine the position that transport vehicle described in distance is nearest in multiple positions.
8. greenhouse transportation resources according to claim 6, which is characterized in that judge whether the cargo has loaded
Finish, specifically include:
Judge whether that receiving loading finishes signal, the loading finishes signal by manually inputting.
9. greenhouse transportation resources according to claim 6, which is characterized in that drive the transport vehicle to go to next
Place specifically includes:
Judge whether the transport vehicle is fully loaded with, obtains the second judging result；
If second judging result indicates that the transport vehicle is fully loaded, the transport vehicle is driven to return to bleeding point；
If second judging result indicates the transport vehicle underload, drive the transport vehicle that next cargo is gone to load position
It sets.
10. greenhouse transportation resources according to claim 6, which is characterized in that judge whether the transport vehicle is fully loaded with,
It specifically includes:
Judge whether the numerical value of each weighing sensor is all larger than setting value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811066602.1A CN109282809A (en) | 2018-09-13 | 2018-09-13 | A kind of greenhouse transportation system and transportation resources |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811066602.1A CN109282809A (en) | 2018-09-13 | 2018-09-13 | A kind of greenhouse transportation system and transportation resources |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109282809A true CN109282809A (en) | 2019-01-29 |
Family
ID=65181051
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811066602.1A Pending CN109282809A (en) | 2018-09-13 | 2018-09-13 | A kind of greenhouse transportation system and transportation resources |
Country Status (1)
| Country | Link |
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| CN (1) | CN109282809A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110865534A (en) * | 2019-11-15 | 2020-03-06 | 合肥工业大学 | Intelligent following system with improved Kalman filtering for navigation positioning |
| CN113532605A (en) * | 2021-07-21 | 2021-10-22 | 广东韶钢松山股份有限公司 | Goods weighing method, device and system and storage medium |
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Patent Citations (7)
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| US20100030608A1 (en) * | 2008-07-29 | 2010-02-04 | Jason Kaminsky | System and method for a carbon calculator including carbon offsets |
| KR20120040952A (en) * | 2010-10-20 | 2012-04-30 | 서애영 | Transportation device for greenhouse |
| CN103153497A (en) * | 2010-10-22 | 2013-06-12 | 西门子Vai金属科技有限责任公司 | Transporting system, transporting carriage and method for transporting metal coils |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110865534A (en) * | 2019-11-15 | 2020-03-06 | 合肥工业大学 | Intelligent following system with improved Kalman filtering for navigation positioning |
| CN113532605A (en) * | 2021-07-21 | 2021-10-22 | 广东韶钢松山股份有限公司 | Goods weighing method, device and system and storage medium |
| CN113532605B (en) * | 2021-07-21 | 2023-12-05 | 广东韶钢松山股份有限公司 | Cargo weighing method, device, system and storage medium |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190129 |
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| RJ01 | Rejection of invention patent application after publication |