CN110214589A

CN110214589A - The operating circuit of three-dimensional vegetable cultivation the factorial production system

Info

Publication number: CN110214589A
Application number: CN201910540342.5A
Authority: CN
Inventors: 邓顺华; 李萍; 郑吉澍; 高立洪; 李佩原; 魏建徽; 韦秀丽; 龙翰威; 高嘉阳; 王玉海
Original assignee: Chongqing Hexin Intelligent Technology Co ltd; Chongqing Academy of Agricultural Sciences
Current assignee: Chongqing Hexin Intelligent Technology Co ltd; Chongqing Academy of Agricultural Sciences
Priority date: 2019-06-21
Filing date: 2019-06-21
Publication date: 2019-09-10
Anticipated expiration: 2039-06-21
Also published as: CN110214589B

Abstract

The invention proposes a kind of operating circuits of three-dimensional vegetable cultivation the factorial production system, including the A transfer carriage and the B towed AGV that hide being set in three-dimensional vegetable cultivation factory, described A, B are positive integer, and the number of transfer carriage is more than or equal to the number for the towed AGV that hides；It is provided with RF Signal module on each towed AGV that hides, radio frequency card module is provided on each transfer carriage；The signal transmitting and receiving end of RF Signal module is connected with the radiofrequency signal sending and receiving end for towed AGV controller of hiding；RF Signal module incudes the back-signalling that radio frequency card module issues, and realizes docking for hide towed AGV and transfer carriage.The present invention passes through the back-signalling that radio frequency card module sensor label chip module issues, and realizes engaging of the towed AGV with transfer carriage of hiding；And the signal that fixture is acquired according to fixture visual sensor module and fixture proximity sensor module, realize the crawl and placement to field planting disk.

Description

The operating circuit of three-dimensional vegetable cultivation the factorial production system

Technical field

The present invention relates to a kind of three-dimensional vegetables to cultivate batch production technical field, cultivates work more particularly to a kind of three-dimensional vegetable The operating circuit of factory's production system.

Background technique

The developing goal of agricultural crops cultivation is mostly to improve cultivation efficiency, improve the cultivation harvest upper limit and shorten cultivation week This several broad aspect of phase.It is continuously increased recently as the regional density of population, causes the farming pressure in many non-agricultural regions big Width rises, and especially shows that farming area is in short supply per capita, farming efficiency can not be matched with supply and demand condition.Although occurring in recent years Vegetable factory solid cultivation, however, there remains the interventions of a large amount of manpowers, are just able to achieve vegetable factory solid cultivation.

Summary of the invention

The present invention is directed at least solve the technical problems existing in the prior art, it is vertical especially innovatively to propose a kind of vegetables The operating circuit of body cultivation the factorial production system.

In order to realize above-mentioned purpose of the invention, the present invention provides a kind of three-dimensional vegetable cultivation the factorial production systems Operating circuit, including the A transfer carriage and the B towed AGV that hide being set in three-dimensional vegetable cultivation factory, described A, B are Positive integer, and the number of transfer carriage is more than or equal to the number for the towed AGV that hides；

It is provided with RF Signal module on each towed AGV that hides, is provided with radio-frequency card on each transfer carriage Module；The signal transmitting and receiving end of RF Signal module is connected with the radiofrequency signal sending and receiving end for towed AGV controller of hiding；Radio frequency Card module for reading and writing incudes the back-signalling that radio frequency card module issues, and realizes docking for hide towed AGV and transfer carriage；

Further include being provided with fixture on automatically grabbing Pan Ji robot, fixture proximity sensor is installed on the fixture Module and fixture visual sensor module, the fixture approach signal output end and robot controller of fixture proximity sensor module Fixture approach signal input terminal be connected, the image signal output end of fixture visual sensor module and the figure of robot controller Picture signal input part is connected, and automatically grabs Pan Ji robot and is detachably arranged on backpack AGV；And it is set on field planting disk It is equipped with field planting disk number scanning element and vision positioning identification point；Fixture is according to fixture visual sensor module and the close sensing of fixture The signal of device module acquisition, realizes the crawl and placement to field planting disk；

Control centre issues task order, and towed AGV traction transfer carriage of hiding arrives at cultivating stand, and backpack AGV is born It automatically grabs Pan Ji robot and arrives at same cultivating stand, the field planting disk automatically grabbed on Pan Ji robot crawl transfer carriage is placed in On cultivating stand or automatically grab Pan Ji robot crawl cultivating stand on field planting disk be placed on transfer carriage.

In the preferred embodiment of the present invention, it is installed on electrical power control cabinet in three-dimensional vegetable cultivation factory, Power circuit block is installed in the electrical power control cabinet, power circuit block includes: that the L1 phase of three-phase alternating current is opened with load The L1 phase input terminal for closing QS1 is connected, and the L2 phase of three-phase alternating current is connected with the L2 phase input terminal of on-load switch QS1, three-phase alternating current The L3 phase of electricity is connected with the L3 phase input terminal of on-load switch QS1, and the L1 phase output terminal of on-load switch QS1 is with air switch QF1's L1 phase input terminal is connected, and the L2 phase output terminal of on-load switch QS1 is connected with the L2 phase input terminal of air switch QF1, on-load switch The L3 phase output terminal of QS1 is connected with the L3 phase input terminal of air switch QF1；

The L1 phase output terminal of air switch QF1 is connected with the firewire input terminal of circuit breaker Q F2, and the zero curve of circuit breaker Q F2 is defeated Enter end to be connected with the zero curve N of three-phase alternating current, the fire wire output end of circuit breaker Q F2 turns the power firestreak end phase of straight module S1 with handing over Even, the zero line output end of circuit breaker Q F2 is connected with the zero-power line end for turning straight module S1 is handed over；It hands over and turns straight module S1 for alternating current 220V 24V DC voltage is converted to, is the power supply such as interchanger SW1, distribution I/O ET200sp.

And/or further include: the first end of ready light LED1 is connected with the first end of relay K1 output loop, relay The second end of device K1 output loop is connected with the L3 phase output terminal of air switch QF1, the second end of ready light LED1 and three The zero line side N of phase alternating current is connected；When system prepare run when, PLC single-chip microcontroller control relay KA1 input circuit obtain it is electric, after Electric appliance KA1 becomes closed state from normally open, and circuit conducting, ready light LED1 are lighted where ready light LED1, Prompt operator notices that system prepares operation.

And/or further include: the first end of power supply indicator LED2 and the first end of relay KA2 input circuit respectively with sky The L3 phase output terminal of air cock QF1 is connected, the second end of power supply indicator LED2 and the second end point of relay KA2 input circuit It is not connected with the zero line side N of three-phase alternating current；When there is three-phase alternating current input, power supply indicator LED2 is lighted, and prompts operation Personnel pay attention to there is three-phase alternating current input；In addition, relay KA2 output loop is by normally open when having three-phase alternating current input Become closed state, has three-phase alternating current input to system prompt.

And/or further include: the firewire input terminal of circuit breaker Q F3 is connected with the L2 phase output terminal of air switch QF1, breaker The fire wire output end of QF3 is connected with the zero line of M radiator fan in parallel, the zero line side and three of M radiator fan in parallel The zero line side N of phase alternating current is connected, and the ground terminal of M radiator fan in parallel is connected with the earth PE；It realizes to electrical power control cabinet It is inside aerated processing, reduces the temperature in electrical power control cabinet, guarantees that electrical power control cabinet operates normally.

In the preferred embodiment of the present invention, further includes: the firewire input terminal and air switch of circuit breaker Q F4 The L3 phase output terminal of QF1 is connected, and the zero curve input terminal of circuit breaker Q F4 is connected with the zero line side N of three-phase alternating current, circuit breaker Q F4 Fire wire output end be connected with the zero line of socket CZ1, the zero line output end of circuit breaker Q F4 and the zero curve line end phase of socket CZ1 Even, the ground terminal of socket CZ1 is connected with the earth PE；First kind electrical equipment is inserted on Three-hole socket, is set for first kind electricity consumption Available electricity, and circuit breaker Q F4, in electrical equipment or line failure, automatic cut-off loop plays the role of protection.

In the preferred embodiment of the present invention, further includes: the firewire input terminal and air switch of circuit breaker Q F5 The L2 phase output terminal of QF1 is connected, and the fire wire output end of circuit breaker Q F5 is connected with the voltage input first end of transformer T1, transformation The voltage input second end of device T1 is connected with the zero line side N of three-phase alternating current.Transformer T1 is supplied to the second class electrical equipment to be become Piezoelectricity pressure, the operating voltage suitable for the second class electrical equipment.

In the preferred embodiment of the present invention, RF Signal module includes: radio-frequency card dual-mode antenna and couple The antenna end of unit is connected, and the signal output end of coupling unit is connected with the signal input part of attenuation units, the letter of attenuation units Number output end is connected with the signal input part of balance/imbalance conversion second unit, the letter of balance/imbalance conversion second unit Number output end is connected with the reception of wireless signals end of rf chip；The coupled unit of radio-frequency card dual-mode antenna received signal Attenuation units are transferred to after signal is coupled, the signal of input is decayed to preset signals frequency by attenuation units, then pass through and balance/ The single-ended signal of input is converted to the identification of differential signal input radio frequency transceiving chip by imbalance conversion second unit；

The signal input part phase of the wireless signal transmitting terminal of rf chip and balance/imbalance conversion first unit Even, the signal output end of balance/imbalance conversion second unit is connected with the signal input part of power amplification unit, power amplification The signal output end of unit is connected with the signal input part of unit is followed, and follows the signal output end and low-pass filter unit of unit Signal input part be connected, the signal output end of low-pass filter unit and the signal input part of high pass filter unit, high-pass filtering The signal output end of unit is connected with the signal input part of coupling unit；Rf chip is by the differential signal of transmission through flat Weighing apparatus/imbalance conversion first unit is converted to single-ended signal input power amplifying unit, by the signal input after power amplification with With unit, the noise of output signal output is reduced, then controls the signal of output through high pass filter unit and low-pass filter unit Within the preset frequency range, it is sent after coupled unit coupling by radio-frequency card dual-mode antenna；

Power supply unit includes: that the voltage input end of the first power supply subelement is connected with+12V power supply, the first power supply subelement Voltage output end be connected with the voltage input end of second source subelement, the voltage input end and third of second source subelement The voltage input end of power supply subelement is connected, and+12V the power supply of input is converted to stable+12V power supply by the first power supply subelement + 12V the supply voltage for stablizing input is converted to+5V supply voltage and exported by voltage output, second source subelement, third power supply + 5V the supply voltage of input is converted to the output of+3.3V supply voltage by subelement；The voltage output end of first power supply subelement is also With the power voltage input terminal of power amplification unit and the power voltage input terminal of unit is followed to be connected, respectively power amplification list Member and follow unit to provide stable+12V supply voltage；The voltage input end of second source subelement also with balance/imbalance The voltage input end for converting first unit is connected with the power voltage input terminal of balance/imbalance conversion second unit, respectively Balance/imbalance conversion first unit and balance/imbalance conversion second unit provide stable+5V supply voltage, third electricity The voltage output end of source subelement is connected with the power voltage terminal of rf chip, for rf chip provide it is stable+ 3.3V supply voltage.Realization sends and receivees radiofrequency signal, and performance is stablized.

In the preferred embodiment of the present invention, radio frequency card module includes: the first end difference of label dual-mode antenna The first input end for generating unit with the first input end of modulation unit, the first input end of demodulating unit and power supply is connected, and marks The second end for signing dual-mode antenna generates list with the second input terminal of modulation unit, the second input terminal of demodulating unit and power supply respectively Second input terminal of member is connected；Power supply generates unit and turns electromagnetic wave signal received by label antenna by rectification, boosting It is changed to DC voltage；Demodulating unit is using envelope detection mode to input label after received electromagnetic wave signal progress demodulation process Controller；Modulation unit is modulated processing to received electromagnetic wave signal using backscatter circuit；

The wireless signal output end of demodulating unit is connected with the wireless signal input terminal of label controller, label controller Wireless signal output end is connected with the wireless signal input terminal of modulation unit；

The supply voltage output end that power supply generates unit is connected with the power voltage input terminal of power supply voltage regulation unit, and power supply is steady First supply voltage output end of pressure unit is connected with the power voltage input terminal of label controller, and the second of power supply voltage regulation unit Supply voltage output end is connected with the power voltage input terminal of tag ram, the third power supply voltage output of power supply voltage regulation unit End is connected with the power voltage input terminal of power initiation reset unit, and power supply voltage regulation unit is respectively that label controller, label are deposited Reservoir and power initiation reset unit provide stable supply voltage input；The reset output terminal and mark of power initiation reset unit The reset signal input terminal of sign controller is connected, and power initiation reset signal provides reset letter for the starting work of label controller Number.Label chip module realizes that the signal issued to radio frequency card module incudes, and stable receives what radio frequency card module issued Inductive signal, and stable back-signalling is issued to radio frequency card module.

In the preferred embodiment of the present invention, fixture proximity sensor module includes: fixture proximity sensor Signal output end is connected with the signal input part of signal amplification unit, the signal output end and voltage follower of signal amplification unit Signal input part be connected, the signal output end of voltage follower is connected with the signal input part of signal comparing unit, signal ratio It is connected compared with the signal output end of unit with the approach signal input terminal for towed controller of hiding；The acquisition of fixture proximity sensor Signal is after signal amplification unit amplifies, by the noise of voltage follow unit removal input, most afterwards through signal comparing unit ratio Compared with the signal and predeterminated voltage signal magnitude of input acquisition, if the signal of acquisition input is less than or equal to predeterminated voltage signal, Signal then is sent to robot controller, shows that the fixture of fixture proximity sensor detection meets fixture at a distance from being colonized between disk Clamping field planting disk distance；

Further include:+5V supply voltage is connected with the power voltage input terminal of power supply unit, and the supply voltage of power supply unit is defeated Outlet respectively with the power voltage input terminal of fixture proximity sensor, the power voltage input terminal of signal amplification unit, voltage with It is connected with the power voltage input terminal of unit with the power voltage input terminal of signal comparing unit, power supply unit is by+the 5V of input Supply voltage be converted to stablize output+5V supply voltage, respectively fixture proximity sensor, signal amplification unit, voltage with Stable+5V supply voltage input is provided with unit and signal comparing unit.Fixture proximity sensor module is installed on fixture Be conducive to detect fixture and be colonized whether disk grabs proper, the connection circuit signal stabilization of fixture proximity sensor module, reduction Interference.

It in the preferred embodiment of the present invention, further include the irrigation being arranged on each cultivation bed on cultivating stand Test point, and the irrigation proximity sensor being set on cultivating stand are irrigated the irrigation signal output end of proximity sensor and are planted The irrigation signal input part for training frame controller is connected, and the proximity sensor of irrigating is for detecting the detection of the irrigation on cultivation bed Point detects irrigation test point when irrigating proximity sensor, and cultivation bed is just aligned irrigation water water outlet, cultivating stand controller to It irrigates water solenoid valve and sends control command, control is irrigated water solenoid valve and opened, and nutrient solution is perfused into cultivation bed.

It in the preferred embodiment of the present invention, further include the benchmaring point being set in some cultivation bed, with And be set on cultivating stand and seek datum mark proximity sensor, seek signal output end and the cultivating stand control of datum mark proximity sensor The datum mark signal input part of seeking of device processed is connected, and the datum mark proximity sensor of seeking is for detecting the benchmaring on cultivation bed Point detects benchmaring point when seeking datum mark proximity sensor, then cultivating stand controller, which counts, resets, if it is close to seek datum mark Sensor detects benchmaring point again, then to hydraulic turbine transmission order control, it stops operating cultivating stand controller.

It in the preferred embodiment of the present invention, further include the count detection point being set on each cultivation bed, with And it is set to the counting proximity sensor on cultivating stand, count the count signal output end and cultivating stand controller of proximity sensor Count signal input terminal be connected, the proximity sensor that counts is used to detect count detection point on cultivation bed, when counting connects Nearly sensor detects count detection point, counts proximity sensor to the transmission of cultivating stand controller plus 1 order, if counting close to biography The sum of sensor is sent to cultivating stand controller plus 1 order is equal to default count threshold, then cultivating stand controller is sent out to the hydraulic turbine Order of losing one's life controls it and stops operating.

In conclusion by adopting the above-described technical solution, the present invention incudes radio frequency card mold by RF Signal module The back-signalling that block issues realizes that the towed AGV that hides engages with the interface of transfer carriage；And fixture is according to fixture visual sensing The signal of device module and the acquisition of fixture proximity sensor module realizes that the crawl and placement to field planting disk, final realization are intelligent Control.

Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description Obviously, or practice through the invention is recognized.

Detailed description of the invention

Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures Obviously and it is readily appreciated that, in which:

Fig. 1 is power circuit block circuit connection diagram of the present invention.

Fig. 2 is RF Signal module of the present invention and radio-frequency card modular circuit connection signal block diagram.

Fig. 3 is present clip proximity sensor modular circuit connection signal block diagram.

Fig. 4 is the structural schematic diagram for being colonized disk.

Fig. 5 is the structural schematic diagram for being colonized another visual angle of disk.

Fig. 6 is the structural schematic diagram of planting cup.

Fig. 7 is the structural schematic diagram of fixture.

Fig. 8 is the dorsal view of fixture.

Fig. 9 is fixture and the mounting structure schematic diagram for automatically grabbing Pan Ji robot.

Figure 10 is the structural schematic diagram of transfer carriage (except baffle).

Figure 11 is the bottom view of transfer carriage.

Figure 12 is the structural schematic diagram of towed AGV of hiding.

Figure 13 is the structural schematic diagram for being colonized disk and transfer carriage.

Specific embodiment

The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached The embodiment of figure description is exemplary, and for explaining only the invention, and is not considered as limiting the invention.

The invention discloses a kind of operating circuits of three-dimensional vegetable cultivation the factorial production system, including are set to vegetables and stand A transfer carriage and the B towed AGV that hide in body cultivation factory, described A, B are positive integer, and the number of transfer carriage is greater than Or the number equal to the towed AGV that hides；

In the preferred embodiment of the present invention, it is installed on electrical power control cabinet in three-dimensional vegetable cultivation factory district, It is installed on power circuit block in the electrical power control cabinet, as shown in Figure 1, power circuit block includes: three-phase alternating current L1 phase is connected with the L1 phase input terminal of on-load switch QS1, the L2 phase and the L2 phase input terminal phase of on-load switch QS1 of three-phase alternating current Even, the L3 phase of three-phase alternating current is connected with the L3 phase input terminal of on-load switch QS1, the L1 phase output terminal and sky of on-load switch QS1 The L1 phase input terminal of air cock QF1 is connected, the L2 phase input terminal phase of the L2 phase output terminal and air switch QF1 of on-load switch QS1 Even, the L3 phase output terminal of on-load switch QS1 is connected with the L3 phase input terminal of air switch QF1；

The L1 phase output terminal of air switch QF1 is connected with the firewire input terminal of circuit breaker Q F2, and the zero curve of circuit breaker Q F2 is defeated Enter end to be connected with the zero curve N of three-phase alternating current, the fire wire output end of circuit breaker Q F2 turns the power firestreak end phase of straight module S1 with handing over Even, the zero line output end of circuit breaker Q F2 is connected with the zero-power line end for turning straight module S1 is handed over；

And/or further include: the first end of ready light LED1 is connected with the first end of relay K1 output loop, relay The second end of device K1 output loop is connected with the L3 phase output terminal of air switch QF1, the second end of ready light LED1 and three The zero line side N of phase alternating current is connected；

And/or further include: the first end of power supply indicator LED2 and the first end of relay KA2 input circuit respectively with sky The L3 phase output terminal of air cock QF1 is connected, the second end of power supply indicator LED2 and the second end point of relay KA2 input circuit It is not connected with the zero line side N of three-phase alternating current；

And/or further include: the firewire input terminal of circuit breaker Q F3 is connected with the L2 phase output terminal of air switch QF1, breaker The fire wire output end of QF3 is connected with the zero line of M radiator fan in parallel, the zero line side and three of M radiator fan in parallel The zero line side N of phase alternating current is connected, and the ground terminal of M radiator fan in parallel is connected with the earth PE.

In the preferred embodiment of the present invention, further includes: the firewire input terminal and air switch of circuit breaker Q F4 The L3 phase output terminal of QF1 is connected, and the zero curve input terminal of circuit breaker Q F4 is connected with the zero line side N of three-phase alternating current, circuit breaker Q F4 Fire wire output end be connected with the zero line of socket CZ1, the zero line output end of circuit breaker Q F4 and the zero curve line end phase of socket CZ1 Even, the ground terminal of socket CZ1 is connected with the earth PE.

In the preferred embodiment of the present invention, further includes: the firewire input terminal and air switch of circuit breaker Q F5 The L2 phase output terminal of QF1 is connected, and the fire wire output end of circuit breaker Q F5 is connected with the voltage input first end of transformer T1, transformation The voltage input second end of device T1 is connected with the zero line side N of three-phase alternating current.

In the preferred embodiment of the present invention, as shown in Fig. 2, RF Signal module includes: radio-frequency card transmitting-receiving Antenna is connected with the antenna end of coupling unit, and the signal output end of coupling unit is connected with the signal input part of attenuation units, declines Subtract the signal output end of unit to be connected with the signal input part of balance/imbalance conversion second unit, balance/imbalance converts the The signal output end of Unit two is connected with the reception of wireless signals end of rf chip；Radio-frequency card dual-mode antenna received signal Coupled unit is transferred to attenuation units after coupling signal, the signal of input is decayed to preset signals frequency by attenuation units, Second unit is converted by balance/imbalance again, the single-ended signal of input is converted into the knowledge of differential signal input radio frequency transceiving chip Not；

Power supply unit includes: that the voltage input end of the first power supply subelement is connected with+12V power supply, the first power supply subelement Voltage output end be connected with the voltage input end of second source subelement, the voltage input end and third of second source subelement The voltage input end of power supply subelement is connected, and+12V the power supply of input is converted to stable+12V power supply by the first power supply subelement + 12V the supply voltage for stablizing input is converted to+5V supply voltage and exported by voltage output, second source subelement, third power supply + 5V the supply voltage of input is converted to the output of+3.3V supply voltage by subelement；The voltage output end of first power supply subelement is also With the power voltage input terminal of power amplification unit and the power voltage input terminal of unit is followed to be connected, respectively power amplification list Member and follow unit to provide stable+12V supply voltage；The voltage input end of second source subelement also with balance/imbalance The voltage input end for converting first unit is connected with the power voltage input terminal of balance/imbalance conversion second unit, respectively Balance/imbalance conversion first unit and balance/imbalance conversion second unit provide stable+5V supply voltage, third electricity The voltage output end of source subelement is connected with the power voltage terminal of rf chip, for rf chip provide it is stable+ 3.3V supply voltage.

The supply voltage output end that power supply generates unit is connected with the power voltage input terminal of power supply voltage regulation unit, and power supply is steady First supply voltage output end of pressure unit is connected with the power voltage input terminal of label controller, and the second of power supply voltage regulation unit Supply voltage output end is connected with the power voltage input terminal of tag ram, the third power supply voltage output of power supply voltage regulation unit End is connected with the power voltage input terminal of power initiation reset unit, and power supply voltage regulation unit is respectively that label controller, label are deposited Reservoir and power initiation reset unit provide stable supply voltage input；The reset output terminal and mark of power initiation reset unit The reset signal input terminal of sign controller is connected, and power initiation reset signal provides reset letter for the starting work of label controller Number.

In the preferred embodiment of the present invention, as shown in figure 3, fixture proximity sensor module includes: that fixture connects The nearly signal output end of sensor is connected with the signal input part of signal amplification unit, the signal output end of signal amplification unit and The signal input part of voltage follower is connected, the signal input part phase of the signal output end and signal comparing unit of voltage follower Even, the signal output end of signal comparing unit is connected with the approach signal input terminal for towed controller of hiding；Fixture is close to be passed The signal of sensor acquisition is after signal amplification unit amplifies, by the noise of voltage follow unit removal input, most afterwards through signal Comparing unit compares the signal and predeterminated voltage signal magnitude that input acquires, and presets if the signal of acquisition input is less than or equal to Voltage signal, then to robot controller send signal, show fixture proximity sensor detection fixture and field planting disk between away from It is colonized with a distance from disk from fixture clamping is met；

Further include:+5V supply voltage is connected with the power voltage input terminal of power supply unit, and the supply voltage of power supply unit is defeated Outlet respectively with the power voltage input terminal of fixture proximity sensor, the power voltage input terminal of signal amplification unit, voltage with It is connected with the power voltage input terminal of unit with the power voltage input terminal of signal comparing unit, power supply unit is by+the 5V of input Supply voltage be converted to stablize output+5V supply voltage, respectively fixture proximity sensor, signal amplification unit, voltage with Stable+5V supply voltage input is provided with unit and signal comparing unit.

It in the preferred embodiment of the present invention, further include the irrigation being arranged on each cultivation bed on cultivating stand Test point, and the irrigation proximity sensor being set on cultivating stand are irrigated the irrigation signal output end of proximity sensor and are planted The irrigation signal input part for training frame controller is connected, and the proximity sensor of irrigating is for detecting the detection of the irrigation on cultivation bed Point detects irrigation test point when irrigating proximity sensor, and cultivation bed is just aligned irrigation water water outlet, cultivating stand controller to It irrigates water solenoid valve and sends control command, control is irrigated water solenoid valve and opened, and nutrient solution is perfused into cultivation bed；In this embodiment party In formula, cultivating stand can be used number of patent application 2018102672209, a kind of entitled rotating type stereo cultivation system and The cultivating stand of stereo rotary also can be used in cultivating stand in control method.It in the present embodiment, further include setting Mr. Yu Benchmaring point in a cultivation bed, and be set on cultivating stand and seek datum mark proximity sensor, datum mark is sought close to biography The signal output end of sensor is connected with the datum mark signal input part of seeking of cultivating stand controller, described to seek datum mark proximity sensor For detecting the point of the benchmaring on cultivation bed, benchmaring point, then cultivating stand control are detected when seeking datum mark proximity sensor Device processed, which counts, to reset, if seek datum mark proximity sensor detects benchmaring point again, cultivating stand controller is to the hydraulic turbine Sending order control, it stops operating.It and further include the count detection point being set on each cultivation bed, and be set to cultivation The counting proximity sensor on frame is trained, the count signal output end of proximity sensor and the count signal of cultivating stand controller are counted Input terminal is connected, and the proximity sensor that counts is used to detect the count detection point on cultivation bed, examines when counting proximity sensor Count detection point is measured, counts proximity sensor to the transmission of cultivating stand controller plus 1 order, if counting proximity sensor to cultivation The sum of frame controller is sent plus 1 order is equal to default count threshold, then cultivating stand controller sends order control to the hydraulic turbine It stops operating.

The present invention also provides the working methods of three-dimensional vegetable cultivation the factorial production system operating circuit, including following step It is rapid:

S1, control centre issue task order, and towed AGV traction transfer carriage of hiding arrives at cultivating stand, backpack AGV back The negative Pan Ji robot that automatically grabs arrives at same cultivating stand；

S2, the field planting disk automatically grabbed on Pan Ji robot crawl transfer carriage are placed on cultivating stand or automatically grab disk Field planting disk on machine robot crawl cultivating stand is placed on transfer carriage.

It in the preferred embodiment of the present invention, further include that the field planting disk being colonized on line is transported to cultivation in step S1 Training frame on working method, by the field planting disk on cultivating stand be transported to gather in line on working method and will be on a cultivating stand Field planting disk is transported to one of working method on another cultivating stand or any combination:

By be colonized line on field planting disk be transported to the working method on cultivating stand the following steps are included:

S11, control centre inquire whether hide towed AGV, transfer carriage are in idle mode:

If having only existed towed AGV and transfer carriage of hiding is in idle mode, control centre is to the free time The towed AGV that hides sends the target position of idle transfer carriage, is colonized the target position of line and the target position of cultivating stand, empty Spare time hides AGV navigation magnetic stripe that towed AGV is laid with according to ground and ground marker navigation to idle transfer carriage target position；Free time is latent Lie prostrate the target that towed AGV draws AGV navigation magnetic stripe and ground marker navigation extremely field planting line that idle transfer carriage is laid with according to ground again Position；The free time towed AGV that hides draws the AGV that the transfer carriage equipped with field planting disk is laid with according to ground again and navigates magnetic stripe and terrestrial reference Navigate to the target position of cultivating stand；

If transfer carriage is all in operating mode, transfer carriage work is waited to complete after idle mode, it is latent to the free time Towed AGV, which is sent, draws idle transfer carriage order；

Have that one or more hides towed AGV and multiple transfer carriages are in idle mode if it exists, or there are more A towed AGV and transfer carriage of hiding is in idle mode, then control centre determines that the free time hides towed AGV, free time Transfer carriage, field planting line and cultivation rack position, and calculate distance and transfer carriage position of the towed position AGV of hiding to transhipment rack position It sets to the distance of field planting line position and field planting line position to the sum of the distance for cultivating rack position, using short line track as latent Lie prostrate the driving trace of towed AGV；

S12, it is no in idle mode that control centre's inquiry automatically grabs disk machine:

At least one automatically grabs disk machine and is in idle mode if it exists, then control centre sends to idle backpack AGV The target position of cultivating stand, AGV navigation magnetic stripe that idle backpack AGV is laid with according to ground and ground marker navigation to cultivating stand mesh Cursor position；

If automatically grabbing disk machine is all in operating mode, waiting automatically grabs the work of disk machine and completes in idle mode Afterwards, the target position that disk machine sends cultivating stand is automatically grabbed to the free time；

By the field planting disk on cultivating stand be transported to harvesting line on working method the following steps are included:

If having only existed towed AGV and transfer carriage of hiding is in idle mode, control centre is to the free time The towed AGV that hides sends the target position of idle transfer carriage, gathers in the target position of line and the target position of cultivating stand, empty Spare time hides AGV navigation magnetic stripe that towed AGV is laid with according to ground and ground marker navigation to idle transfer carriage target position；Free time is latent Lie prostrate the target that towed AGV draws AGV navigation magnetic stripe that idle transfer carriage is laid with according to ground and ground marker navigation to cultivating stand again Position；The free time towed AGV that hides draws the AGV that the transfer carriage equipped with field planting disk is laid with according to ground again and navigates magnetic stripe and terrestrial reference Navigate to the target position of harvesting line；

Have that one or more hides towed AGV and multiple transfer carriages are in idle mode if it exists, or there are more A towed AGV and transfer carriage of hiding is in idle mode, then control centre determines that the free time hides towed AGV, free time Transfer carriage, harvesting line and cultivation rack position, and calculate distance and transfer carriage position of the towed position AGV of hiding to transhipment rack position It sets to the distance of cultivation rack position and cultivation rack position to the sum of the distance for gathering in line position, using short line track as latent Lie prostrate the driving trace of towed AGV；

Field planting disk on one cultivating stand is transported to the working method on another cultivating stand the following steps are included:

If having only existed towed AGV and transfer carriage of hiding is in idle mode, control centre is to the free time The towed AGV that hides sends target position, the target position of cultivating stand and the target of another cultivating stand of idle transfer carriage Position, the free time AGV that towed AGV is laid with according to ground that hides navigate magnetic stripe and ground marker navigation to idle transfer carriage target position It sets；The free time towed AGV that hides draws AGV navigation magnetic stripe that idle transfer carriage is laid with according to ground and ground marker navigation to cultivating again The target position of frame；The free time towed AGV that hides draws the AGV navigation magnetic that the transfer carriage equipped with field planting disk is laid with according to ground again Item and ground marker navigation are to the target position of another cultivating stand；

Have that one or more hides towed AGV and multiple transfer carriages are in idle mode if it exists, or there are more A towed AGV and transfer carriage of hiding is in idle mode, then control centre determines that the free time hides towed AGV, free time Transfer carriage, cultivating stand and another cultivation rack position, and calculate the towed position AGV of hiding to the distance for transporting rack position and turn The distance and cultivation rack position for transporting rack position to cultivation rack position cultivate the sum of the distance of rack position to another, by shortest path Driving trace of the journey track as the towed AGV that hides；

At least one automatically grabs disk machine and is in idle mode if it exists, then control centre sends to idle backpack AGV The target position of cultivating stand and the target position of another cultivating stand, the AGV navigation magnetic that idle backpack AGV is laid with according to ground Item and ground marker navigation are to the target position of cultivating stand；After the completion of task, idle backpack AGV is led according to the AGV that ground is laid with Magnetic stripe and ground marker navigation navigate to the target position of another cultivating stand；

If automatically grabbing disk machine is all in operating mode, waiting automatically grabs the work of disk machine and completes in idle mode Afterwards, the target position that disk machine sends cultivating stand is automatically grabbed to the free time.

In the preferred embodiment of the present invention, in step S11 when the towed AGV that hides arrives at transfer carriage, packet Include following steps:

S111, the towed AGV that hides are moved to bottom of trailing wheel, and towed AGV controller of hiding is sent out to radio frequency card module Control command is sent, control radio frequency card module is sent out searching signal, and slowly moves in bottom of trailing wheel towards different directions, Find label chip module position；

S112, when label chip module receives the searching signal of radio frequency card module transmission, then label chip module is to penetrating Frequency card module send stop motion back-signalling, after radio frequency card module receives stop motion back-signalling, radio frequency card module to Towed AGV controller of hiding sends stop motion signal, and the towed AGV that hides stops movement；

S113, towed AGV controller of hiding is issued to buckle structure stretches out buckle order, and transfer carriage is clasped lock by buckle Tightly.

In the preferred embodiment of the present invention, when field planting disk being grabbed from cultivating stand in step S2, cultivating stand Working method the following steps are included:

S21, cultivating stand controller send control signal to hydraulic turbine water source solenoid valve, and control hydraulic turbine water source solenoid valve is beaten It opens, the driving hydraulic turbine drives all cultivation bed rotations；

S22, cultivation bed rotate always, benchmaring point are detected until seeking datum mark proximity sensor, by the cultivation bed As No. 0 cultivation bed, cultivating stand controller sends control signal to hydraulic turbine water source solenoid valve, controls hydraulic turbine water source solenoid valve It closes, corresponding cultivation bed stops rotating, and resets to counting；

S23, disk machine crawl field planting disk is automatically grabbed, left；

After S24, cultivating stand controller receive the feedback signal for automatically grabbing the transmission of disk machine, cultivating stand controller is to water wheels Machine water source solenoid valve sends control signal, and control hydraulic turbine water source solenoid valve is opened, all cultivation bed rotations；

S25, counting proximity sensor often detect a count detection point, and count is incremented for cultivating stand controller；

S26, cultivating stand controller count down to 2, and cultivating stand controller sends control signal, control to hydraulic turbine water source solenoid valve Hydraulic turbine water source processed solenoid valve is closed, and corresponding cultivation bed stops rotating, and waiting automatically grabs disk machine crawl field planting disk；

S27, circulation step S23 are walked to step S26, until the pre-designed several threshold values of counting arrival or seek datum mark close to sensing Device detects that No. 0 cultivation bed, cultivating stand controller send control signal, control hydraulic turbine water source electricity to hydraulic turbine water source solenoid valve Magnet valve is closed, and stop rotating cultivation bed accordingly.

In the preferred embodiment of the present invention, when field planting disk being placed in cultivating stand in step S2, cultivating stand Working method the following steps are included:

S23, disk machine placement field planting disk is automatically grabbed in cultivation bed, leave；

S26, cultivating stand controller count down to 2, and cultivating stand controller sends control signal, control to hydraulic turbine water source solenoid valve Hydraulic turbine water source processed solenoid valve is closed, and corresponding cultivation bed stops rotating, and waiting automatically grabs disk machine and places field planting disk；

In the preferred embodiment of the present invention, it automatically grabs the crawl of Pan Ji robot and places the work of field planting disk Method the following steps are included:

S41, robot controller control fixture visual sensor module acquire the position wait grab field planting disk；It is leaned on to fixture Closely when grabbing field planting disk position, robot controller control fixture and the clip groove being colonized on disk are maintained at same horizontal line On；

S42, robot controller control fixture are moved along clip groove, when robot controller receives fixture close to sensing The approach signal that device module is sent, robot controller control fixture are no longer moved along clip groove, and fixture has clamped field planting at this time Disk, robot controller control fixture remove field planting disk；The grasping movement of field planting disk is completed at this time；

S43, robot controller control fixture visual sensor module acquire the position of field planting disk to be placed；It is put to fixture When being placed in field planting disk position to be placed, robot controller control fixture is moved along far from clip groove axis direction, and robot The signal that controller receives the transmission of fixture proximity sensor module is far from field planting disk signal；It is taken out completely to fixture from clip groove Out；The placement movement of field planting disk is completed at this time.

Wherein, as shown in figures 4-6, the outer profile for being colonized disk 1 is rectangle to the structure for being colonized disk, is offered on field planting disk 1 The planting hole 101 of rectangular array distribution, planting hole 101 is the bellmouth extended downwardly, the diameter of planting hole 101 on to Under be gradually reduced, the shape that the stem of such structure and vegetables is gradually spread upwards from root is adapted, conducive to the growth of vegetables, Matching is placed with planting cup 15 in each planting hole 101, and the through-hole extended out for vegetables root is offered on planting cup 15, Planting matrix is held in planting cup 15, vegetable cultivation is in planting cup, and there are two bilateral symmetries in the bottom setting for being colonized disk 1 Fixture slot 4.In present embodiment, the edge of field planting disk 1 is downwardly extending flange 102, is distributed at the back side of field planting disk 1 There is the reinforcing rib 5 of the external groove sidevall of several hole walls for connecting planting holes 101, flange 102 and fixture slot 4, in fixture slot 4 Reinforcing rib 5 is provided on cell wall.The longitudinal section of fixture slot 4 can be the various shapes such as rectangle, circle, preferably isosceles ladder Shape can prevent from relatively rotating between the fixture 2 in field planting disk 1 and Fig. 7, and the both ends of fixture slot 4 all extend to field planting The edge of disk 1, fixture slot 4 with field planting the short side direction of disk 1 it is parallel, field planting disk 1 four, edge corner be provided with The positioning short slot 103 that the shape of block 304 in Figure 10 matches.No matter equal in longitudinal direction or short side direction it is colonized disk 1 For bilateral symmetry, and fixture slot 4 penetrates through entire field planting disk 1, and such structure has following advantage: not having to examine when in use Consider the placing direction of field planting 1 two long sides of disk, versatility is good.The edge of field planting disk 1 is provided with field planting disk number scanning element 104 With vision positioning identification point 105, obtained convenient for the scanning field planting disk number scanning element 104 of fixture visual sensor module 6 in Fig. 8 It is colonized disk number information, and field planting disk is positioned according to vision positioning identification point 105 convenient for fixture.

As shown in figs. 7-9, fixture 2 includes fixed plate 201, is respectively arranged in the left and right ends of fixed plate 201 in level The yoke 202 for extending forward on direction and matching with the fixture slot 4 in Fig. 4, length and the fixture slot 4 of yoke 202 Equal length, and the width of 202 front end of yoke is gradually reduced from back to front, thickness is gradually thinned from back to front, the yoke of fixture Front end size reduction is smoothly pitched convenient for yoke into fixture slot.It is respectively arranged in the left and right ends on 201 top of fixed plate in water Square upwards pressure arm 204 that extends forward, two pressure arms 204 are located at corresponding 202 top of yoke, and with corresponding yoke Vertical distance between 202 is slightly larger than the thickness for being colonized disk 1, when yoke 202 is inserted into the fixture slot 4 of field planting disk 1, two Pressure arm 204 limits the field planting movement of disk 1 from top, prevents the field planting inclination of disk 1 from sliding.It is fixed in the middle part of the rear side of fixed plate 201 For with automatically grab Pan Ji robot 13 or assist the ring flange 203 that connect of production district robot 13, as shown in figure 9, fixture 2 The mechanical arm front end for automatically grabbing Pan Ji robot 13 or assisting production district robot 13 is fixed on by ring flange 203, Fixture visual sensor module 6 and fixture proximity sensor module 7 are provided in fixed plate 201.

As shown in Figure 10~13, transfer carriage 3 includes braced frame 301, and braced frame 301 is the frame of rectangular parallelepiped structure, It is arranged at intervals with several layers field planting disk in braced frame 301 and places layer frame 302, it includes setting in parallel that field planting disk, which places layer frame 302, The right fixed strip 302a and left fixed strip 302b set, left fixed strip 302b are higher than right fixed strip 302a, in right fixed strip 302a and Be connected between left fixed strip 302b for carry field planting disk 1 field planting disk guide rail 302c, automatically grab Pan Ji robot 13 or Auxiliary production district robot 13 by fixture 2 from left side will be colonized disk 1 be put into transfer carriage 3 when, field planting disk 1 can be snapped down to automatically by Block 304 or previous field planting disk 1 block, and are piled until the field planting disk of same layer places layer frame 302；Disk will be colonized from right side 1 from transfer carriage 3 when taking out, and the remaining field planting disk 1 of same layer can be snapped down to automatically by block 304 or previous on transfer carriage 3 Field planting disk 1 blocks, until the field planting disk 1 of same layer is all taken out on transfer carriage 3, automatically grabs Pan Ji robot 13 or auxiliary Production district robot 13 need to only be removed or placed into field planting disk 1 from a position, easy to operate, high-efficient, automatically grab disk machine machine Device people 13 assists the height of the mechanical arm of production district robot 13 that can adjust, and the field planting disk that can adapt to different layers is placed Layer frame 302.In the present embodiment, field planting disk guide rail is provided at the both ends and middle part of right fixed strip 302a and left fixed strip 302b 302c, and guide rail 302c is symmetrical set, and is placed on field planting disk 1 when field planting disk is placed in layer frame 302 and is able to maintain balance, It is respectively arranged with baffle 303 at the both ends of right fixed strip 302a and left fixed strip 302b, baffle 303 is fixed on braced frame 301 On, the equal length of the distance between two block baffles 303 and field planting disk 1, the width that field planting disk places layer frame 302 is field planting disk 1 The integral multiple of width, avoids the wasting of resources, in present embodiment, four layers of field planting disk is arranged at intervals in braced frame 301 and are put Layer frame 302 is set, the width that field planting disk places layer frame 302 is three times for being colonized 1 width of disk, and transfer carriage 3 can once transport 12 A field planting disk 1 improves transfer efficiency, is respectively arranged with the block 304 of L shape in the left and right ends of right fixed strip 302a, and two The horizontal segment of the L shape of block 304 is towards opposite side.An angle is respectively arranged in the left and right ends of left fixed strip 302b Adjusting block 8, the both ends of left fixed strip 302b are separately fixed at the upper end of corresponding angle-regulating block 8, open on angle-regulating block 8 Equipped with upper and lower spaced adjustment hole 801, left fixed strip 302b is fixed on support frame by passing through the fastener of adjustment hole 801 On frame 301.The lower part of braced frame 301 is provided with water dish 9, water dish 9 is located at lowest level field planting disk and places layer frame 302 Lower section.Universal wheel 10 is installed in the supporting leg bottom of braced frame 301.It is provided with and can move up and down in the towed AGV14 that hides Trip 14a and RF Signal module 14b, in braced frame 301 lower section of water dish 9 be provided with for trip 14a The interface 11 of docking and the radio frequency card module 12 identified for RF Signal module 14b.

Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this The range of invention is defined by the claims and their equivalents.

Claims

1. a kind of operating circuit of three-dimensional vegetable cultivation the factorial production system, which is characterized in that including being set to three-dimensional vegetable A transfer carriage and B in cultivation factory are hidden towed AGV, and described A, B are positive integer, and the number of transfer carriage be greater than or Person is equal to the number for the towed AGV that hides；

It is provided with RF Signal module on each towed AGV that hides, radio frequency card module is provided on each transfer carriage； The signal transmitting and receiving end of RF Signal module is connected with the radiofrequency signal sending and receiving end for towed AGV controller of hiding；Radio-frequency card is read Writing module incudes the back-signalling that radio frequency card module issues, and realizes docking for hide towed AGV and transfer carriage；

Further include being provided with fixture on automatically grabbing Pan Ji robot, fixture proximity sensor module is installed on the fixture With fixture visual sensor module, the fixture approach signal output end of fixture proximity sensor module and the folder of robot controller Have approach signal input terminal to be connected, the image signal output end of fixture visual sensor module and the image of robot controller are believed Number input terminal is connected, and automatically grabs Pan Ji robot and is detachably arranged on backpack AGV；And it is provided on field planting disk It is colonized disk number scanning element and vision positioning identification point；Fixture is according to fixture visual sensor module and fixture proximity sensor mould The signal of block acquisition, realizes the crawl and placement to field planting disk；

Control centre issues task order, and towed AGV traction transfer carriage of hiding arrives at cultivating stand, and backpack AGV is born automatically It grabs Disc-taking machine robot and arrives at same cultivating stand, the field planting disk automatically grabbed on Pan Ji robot crawl transfer carriage is placed in cultivation On frame or automatically grab Pan Ji robot crawl cultivating stand on field planting disk be placed on transfer carriage.

2. the operating circuit of three-dimensional vegetable cultivation the factorial production system according to claim 1, which is characterized in that in vegetable It is installed on electrical power control cabinet in dish solid cultivation factory, power circuit block, power supply electricity are installed in the electrical power control cabinet Road module includes: that the L1 phase of three-phase alternating current is connected with the L1 phase input terminal of on-load switch QS1, the L2 phase of three-phase alternating current and negative The L2 phase input terminal of lotus switch QS1 is connected, and the L3 phase of three-phase alternating current is connected with the L3 phase input terminal of on-load switch QS1, load The L1 phase output terminal of switch QS1 is connected with the L1 phase input terminal of air switch QF1, the L2 phase output terminal and sky of on-load switch QS1 The L2 phase input terminal of air cock QF1 is connected, the L3 phase input terminal phase of the L3 phase output terminal and air switch QF1 of on-load switch QS1 Even；

The L1 phase output terminal of air switch QF1 is connected with the firewire input terminal of circuit breaker Q F2, the zero curve input terminal of circuit breaker Q F2 It is connected with the zero curve N of three-phase alternating current, the fire wire output end of circuit breaker Q F2 is connected with the power firestreak end for turning straight module S1 is handed over, The zero line output end of circuit breaker Q F2 is connected with the zero-power line end for turning straight module S1 is handed over；

And/or further include: the first end of ready light LED1 is connected with the first end of relay K1 output loop, relay K1 The second end of output loop is connected with the L3 phase output terminal of air switch QF1, and the second end of ready light LED1 intersects with three The zero line side N of galvanic electricity is connected；

And/or further include: the first end of power supply indicator LED2 and the first end of relay KA2 input circuit are opened with air respectively The L3 phase output terminal for closing QF1 is connected, the second end of the second end of power supply indicator LED2 and relay KA2 input circuit respectively with The zero line side N of three-phase alternating current is connected；

And/or further include: the firewire input terminal of circuit breaker Q F3 is connected with the L2 phase output terminal of air switch QF1, circuit breaker Q F3 Fire wire output end be connected with the zero line of M radiator fan in parallel, the zero line side of M radiator fan in parallel intersects with three The zero line side N of galvanic electricity is connected, and the ground terminal of M radiator fan in parallel is connected with the earth PE.

3. the operating circuit of three-dimensional vegetable cultivation the factorial production system according to claim 2, which is characterized in that also wrap Include: the firewire input terminal of circuit breaker Q F4 is connected with the L3 phase output terminal of air switch QF1, the zero curve input terminal of circuit breaker Q F4 with The zero line side N of three-phase alternating current is connected, and the fire wire output end of circuit breaker Q F4 is connected with the zero line of socket CZ1, circuit breaker Q F4 Zero line output end be connected with the zero line side of socket CZ1, the ground terminal of socket CZ1 is connected with the earth PE.

4. the operating circuit of three-dimensional vegetable cultivation the factorial production system according to claim 2, which is characterized in that also wrap Include: the firewire input terminal of circuit breaker Q F5 is connected with the L2 phase output terminal of air switch QF1, the fire wire output end of circuit breaker Q F5 with The voltage input first end of transformer T1 is connected, the voltage input second end and the zero line side N phase of three-phase alternating current of transformer T1 Even.

5. the operating circuit of three-dimensional vegetable cultivation the factorial production system according to claim 1, which is characterized in that radio frequency Card module for reading and writing includes: that radio-frequency card dual-mode antenna is connected with the antenna end of coupling unit, the signal output end of coupling unit with decline The signal input part for subtracting unit is connected, and the signal of the signal output end and balance/imbalance conversion second unit of attenuation units is defeated Enter end to be connected, balance/imbalance converts the reception of wireless signals end phase of the signal output end and rf chip of second unit Even；The coupled unit of radio-frequency card dual-mode antenna received signal is transferred to attenuation units after coupling signal, attenuation units will be defeated The signal entered decays to preset signals frequency, then converts second unit by balance/imbalance and convert the single-ended signal of input For the identification of differential signal input radio frequency transceiving chip；

The wireless signal transmitting terminal of rf chip is connected with the signal input part of balance/imbalance conversion first unit, puts down Weighing apparatus/imbalance conversion second unit signal output end is connected with the signal input part of power amplification unit, power amplification unit Signal output end be connected with the signal input part of unit is followed, follow the signal output end of unit and the letter of low-pass filter unit Number input terminal is connected, the signal output end of low-pass filter unit and the signal input part of high pass filter unit, high pass filter unit Signal output end be connected with the signal input part of coupling unit；Rf chip by the differential signal of transmission through balance/no Balance conversion first unit is converted to single-ended signal input power amplifying unit, and the signal input after power amplification is followed list Member reduces the noise of output signal output, then controls the signal of output pre- through high pass filter unit and low-pass filter unit If in frequency range, being sent after coupled unit coupling by radio-frequency card dual-mode antenna；

Power supply unit includes: that the voltage input end of the first power supply subelement is connected with+12V power supply, the electricity of the first power supply subelement Pressure output end is connected with the voltage input end of second source subelement, the voltage input end and third power supply of second source subelement The voltage input end of subelement is connected, and+12V the power supply of input is converted to stable+12V supply voltage by the first power supply subelement + 12V the supply voltage for stablizing input is converted to+5V supply voltage and exported by output, second source subelement, and third power supply is single + 5V the supply voltage of input is converted to the output of+3.3V supply voltage by member；The voltage output end of first power supply subelement also with function The power voltage input terminal of rate amplifying unit with follow the power voltage input terminal of unit to be connected, respectively power amplification unit and Unit is followed to provide stable+12V supply voltage；The voltage input end of second source subelement is also converted with balance/imbalance The voltage input end of first unit is connected with the power voltage input terminal of balance/imbalance conversion second unit, respectively balance/ Imbalance conversion first unit and balance/imbalance conversion second unit provide stable+5V supply voltage, and third power supply is single The voltage output end of member is connected with the power voltage terminal of rf chip, and stable+3.3V electricity is provided for rf chip Source voltage.

6. the operating circuit of three-dimensional vegetable cultivation the factorial production system according to claim 1, which is characterized in that radio frequency Card module includes: first end the first input with the first input end of modulation unit, demodulating unit respectively of label dual-mode antenna The first input end for generating unit with power supply is held to be connected, the second end of label dual-mode antenna is inputted with the second of modulation unit respectively It holds, the second input terminal of demodulating unit is connected with the second input terminal that power supply generates unit；Power supply generates unit for label antenna Received electromagnetic wave signal is DC voltage by rectification, boost conversion；Demodulating unit is docked using envelope detection mode The electromagnetic wave signal of receipts carries out input label controller after demodulation process；Modulation unit is using backscatter circuit to received electricity Magnetostatic wave signal is modulated processing；

The wireless signal output end of demodulating unit is connected with the wireless signal input terminal of label controller, label controller it is wireless Signal output end is connected with the wireless signal input terminal of modulation unit；

The supply voltage output end that power supply generates unit is connected with the power voltage input terminal of power supply voltage regulation unit, power supply pressure stabilizing list First supply voltage output end of member is connected with the power voltage input terminal of label controller, the second source of power supply voltage regulation unit Voltage output end is connected with the power voltage input terminal of tag ram, the third power supply voltage output end of power supply voltage regulation unit with The power voltage input terminal of power initiation reset unit is connected, and power supply voltage regulation unit is respectively label controller, tag ram Stable supply voltage input is provided with power initiation reset unit；The reset output terminal of power initiation reset unit and label control The reset signal input terminal of device processed is connected, and power initiation reset signal provides reset signal for the starting work of label controller.

7. the operating circuit of three-dimensional vegetable cultivation the factorial production system according to claim 1, which is characterized in that fixture Proximity sensor module includes: that the signal output end of fixture proximity sensor is connected with the signal input part of signal amplification unit, The signal output end of signal amplification unit is connected with the signal input part of voltage follower, the signal output end of voltage follower with The signal input part of signal comparing unit is connected, and the signal output end of signal comparing unit is close with towed controller of hiding Signal input part is connected；The signal of fixture proximity sensor acquisition passes through voltage follow unit after signal amplification unit amplifies The noise of input is removed, most compares the signal and predeterminated voltage signal magnitude of input acquisition through signal comparing unit afterwards, if acquisition The signal of input is less than or equal to predeterminated voltage signal, then sends signal to robot controller, shows fixture close to sensing The fixture of device detection meets fixture clamping field planting disk distance at a distance from being colonized between disk；

Further include:+5V supply voltage is connected with the power voltage input terminal of power supply unit, the supply voltage output end of power supply unit Respectively with the power voltage input terminal of fixture proximity sensor, the power voltage input terminal of signal amplification unit, voltage follow list The power voltage input terminal of member is connected with the power voltage input terminal of signal comparing unit, and power supply unit is by+5V the power supply of input Voltage is converted to the+5V supply voltage for stablizing output, respectively fixture proximity sensor, signal amplification unit, voltage follow list Member and signal comparing unit provide stable+5V supply voltage input.

8. the operating circuit of three-dimensional vegetable cultivation the factorial production system according to claim 1, which is characterized in that also wrap The irrigation test point being arranged on each cultivation bed on cultivating stand is included, and the close sensing of the irrigation being set on cultivating stand Device, the irrigation signal output end for irrigating proximity sensor are connected with the irrigation signal input part of cultivating stand controller, the irrigation Proximity sensor is used to detect the irrigation test point on cultivation bed, detects irrigation test point when irrigating proximity sensor, cultivates Slot is just aligned irrigation water water outlet, and cultivating stand controller sends control command to water solenoid valve is irrigated, and controls irrigation water electromagnetism Valve is opened, and nutrient solution is perfused into cultivation bed.

9. the operating circuit of three-dimensional vegetable cultivation the factorial production system according to claim 8, which is characterized in that also wrap The benchmaring point being set in some cultivation bed is included, and is set on cultivating stand and seeks datum mark proximity sensor, seeks base The signal output end of proximity sensor is connected with the datum mark signal input part of seeking of cultivating stand controller on schedule, described to seek datum mark Proximity sensor is used to detect the benchmaring point on cultivation bed, detects benchmaring point when seeking datum mark proximity sensor, Then cultivating stand controller, which counts, resets, if seek datum mark proximity sensor detects benchmaring point, cultivating stand control again To hydraulic turbine transmission order control, it stops operating device.

10. the operating circuit of three-dimensional vegetable cultivation the factorial production system according to claim 8, which is characterized in that also It is connect including the count detection point being set on each cultivation bed, and the counting proximity sensor being set on cultivating stand, counting The nearly count signal output end of sensor is connected with the count signal input terminal of cultivating stand controller, the counting proximity sensor For detecting the point of the count detection on cultivation bed, count detection point is detected when counting proximity sensor, counts proximity sensor It is sent to cultivating stand controller plus 1 orders, be equal to if counting the sum of proximity sensor is sent to cultivating stand controller plus 1 order Default count threshold, then to hydraulic turbine transmission order control, it stops operating cultivating stand controller.