CN110214590A

CN110214590A - Three-dimensional vegetable cultivates Intelligent logistics working method

Info

Publication number: CN110214590A
Application number: CN201910540343.XA
Authority: CN
Inventors: 郑吉澍; 高立洪; 刘弘博; 龙翰威; 李萍; 李佩原; 邓顺华; 魏建徽; 赖官建; 高嘉阳
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: CN110214590B

Abstract

The invention proposes a kind of three-dimensional vegetables to cultivate Intelligent logistics working method, including cultivation restocking working method or/and harvesting undercarriage working method；Restocking working method is cultivated the following steps are included: S1, the towed AGV of hiding draws transfer carriage to being colonized line, by on production auxiliary region robot crawl field planting disk to transfer carriage, after the completion of grabbing task, the towed AGV that hides draws transfer carriage to cultivating stand, by automatically grabbing on Pan Ji robot crawl field planting disk to cultivating stand；Undercarriage working method is gathered in the following steps are included: S2, the towed AGV that hides draws transfer carriage to cultivating stand, by automatically grabbing on Pan Ji robot crawl field planting disk to transfer carriage, after the completion of grabbing task, the towed AGV that hides draws transfer carriage to line is gathered in, by production auxiliary region robot crawl field planting disk to harvesting line.The present invention can cultivate vegetables in factory to three-dimensional vegetable and carry out automatic get-on carriage cultivation and undercarriage harvesting processing, realize intelligent automation production.

Description

Three-dimensional vegetable cultivates Intelligent logistics working method

Technical field

The present invention relates to a kind of three-dimensional vegetables to cultivate batch production technical field, cultivates intelligence more particularly to a kind of three-dimensional vegetable It can logistics working method.

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 Body cultivates Intelligent logistics working method.

In order to realize above-mentioned purpose of the invention, the present invention provides a kind of three-dimensional vegetables to cultivate Intelligent logistics work side Method, including cultivation restocking working method or/and harvesting undercarriage working method；

Cultivate restocking working method the following steps are included:

S1, the towed AGV that hides draw transfer carriage to line is colonized, and are extremely transported by production auxiliary region robot crawl field planting disk On frame, after the completion of grabbing task, towed AGV traction transfer carriage of hiding is grabbed to cultivating stand by automatically grabbing Pan Ji robot It takes on field planting disk to cultivating stand；

Gather in undercarriage working method the following steps are included:

S2, the towed AGV that hides draw transfer carriage to cultivating stand, are extremely turned by automatically grabbing Pan Ji robot crawl field planting disk It transports on frame, after the completion of grabbing task, the towed AGV that hides draws transfer carriage to line is gathered in, and is grabbed by producing auxiliary region robot It takes on field planting disk to harvesting line；

In the preferred embodiment of the present invention, step S1 the following steps are included:

S11, control centre send to backpack AGV to restocking cultivating stand target position；Backpack AGV, which is born, to be automatically grabbed Pan Ji robot is cultivated according to the AGV navigation magnetic stripe and terrestrial reference Network Mobility that are laid in three-dimensional vegetable cultivation factory to restocking Frame target position waits transfer carriage to arrive at；

S12, control centre send transfer carriage target position and field planting line target position to the towed AGV that hides；It is latent Towed AGV according to the AGV navigation magnetic stripe and terrestrial reference Network Mobility being laid in three-dimensional vegetable cultivation factory to transfer carriage, to latent After lying prostrate towed AGV latching transfer carriage, towed AGV traction transfer carriage of hiding is moved to field planting line target position；It is fixed wait arrive at Plant line transfer carriage quantity be equal to control centre send transfer carriage await orders quantity when, hide towed AGV no longer to field planting line Convey transfer carriage；

S13, control centre send crawl field planting disk to production auxiliary region robot and are placed on transfer carriage, auxiliary to be produced Robot, area crawl field planting disk is placed in after the completion of transfer carriage task, and towed AGV traction transfer carriage of hiding is moved to restocking Cultivating stand target position；

S14, the field planting disk automatically grabbed on Pan Ji robot crawl transfer carriage is placed in on restocking cultivating stand, to automatic After the completion of grabbing the field planting disk crawl on Disc-taking machine robot crawl transfer carriage, it is fixed that towed AGV traction transfer carriage of hiding is back to Plant line target position；

S15, after towed AGV traction transfer carriage of hiding is back to field planting line target position, hiding for return is towed AGV is detached from the transfer carriage lockked, and the towed AGV that hides of return locks the transfer carriage tethered sliding of crawl task completion to upper Frame cultivating stand target position.

In the preferred embodiment of the present invention, step S2 the following steps are included:

S21, control centre send to backpack AGV to undercarriage cultivating stand target position；Backpack AGV, which is born, to be automatically grabbed Pan Ji robot is cultivated according to the AGV navigation magnetic stripe and terrestrial reference Network Mobility that are laid in three-dimensional vegetable cultivation factory to undercarriage Frame target position waits transfer carriage to arrive at；

S22, control centre to the towed AGV of hiding send transfer carriage target position, to undercarriage cultivating stand target position with And harvesting line target position；Towed AGV hide according to the AGV navigation magnetic stripe and terrestrial reference being laid in three-dimensional vegetable cultivation factory Network Mobility is to transfer carriage, after the towed AGV that hides locks transfer carriage, towed AGV traction transfer carriage of hiding be moved to Undercarriage cultivating stand target position；It is waited for wait arrive at the transfer carriage for being equal to control centre's transmission to the transfer carriage quantity at undercarriage cultivating stand When fate amount, the towed AGV that hides is no longer to convey transfer carriage at undercarriage cultivating stand；

S23, control centre is placed on transfer carriage to Pan Ji robot transmission crawl field planting disk is automatically grabbed, to grab automatically Disc-taking machine robot crawl field planting disk is placed in after the completion of transfer carriage task, and towed AGV traction transfer carriage of hiding is moved to receipts Secant target position；

S24, after towed AGV traction transfer carriage of hiding is moved to harvesting line target position, the towed AGV that hides is detached from The transfer carriage of latching, the towed AGV that hides lock the transfer carriage tethered sliding of crawl task completion to undercarriage cultivating stand target Position；

S25, production auxiliary region robot grab the field planting disk on transfer carriage and are placed on field planting line, auxiliary region machine to be produced After the completion of device people grabs the field planting disk crawl on transfer carriage, towed AGV traction transfer carriage of hiding is moved to restocking cultivating stand Target position.

In the preferred embodiment of the present invention, the field planting disk automatically grabbed on Pan Ji robot crawl transfer carriage is put Be placed in the working method of cultivating stand the following steps are included:

S111, the towed AGV that hides stop after reaching the cultivating stand where automatically grabbing Pan Ji robot, the latent traction Formula AGV is No. A towed AGV that hides, and the transfer carriage of No. A towed AGV traction of hiding is A transfer carriage, which is No. A Cultivating stand；Bear automatically grab Pan Ji robot backpack AGV be A backpack AGV；

Waiting automatically grabs Pan Ji robot and L field planting disk on A transfer carriage is placed in A cultivating stand；The L is Positive integer, and L field planting disk can be placed in two field planting grooves, the number for the field planting disk placed in each transfer carriage is identical Number, number l*L, the l are the quantity of every row cultivating stand or the quantity of each column cultivating stand；

S112, another towed AGV that hides reach solid cultivation area, which is No. B latent The transfer carriage of towed AGV, No. B towed AGV traction of hiding are B transfer carriage, and No. B towed AGV that hides is parked in AGV waiting Position waits the field planting disk on A transfer carriage to be taken；

After L field planting disk on S113, A transfer carriage is placed on A cultivating stand, No. A towed AGV traction of hiding A transfer carriage is moved to beside the cultivating stand adjacent with A cultivating stand, and the cultivating stand adjacent with A cultivating stand is No. B cultivation Frame；The rotation of A cultivating stand promotes the height of next field planting groove for not placing field planting disk and the field planting groove for just placing field planting disk Height is consistent；A cultivating stand is arrived to No. B towed AGV that hides；

After S114, No. A towed AGV that hides stop well, A backpack AGV is mobile to B cultivating stand；To A backpack AGV stops；

S115, automatically grabbing disk machine, successively L field planting disk of crawl is placed on B cultivating stand altogether from A transfer carriage；A Towed AGV traction A transfer carriage of number hiding is moved to beside the cultivating stand adjacent with B cultivating stand, adjacent with B cultivating stand Cultivating stand be C cultivating stand；B cultivating stand rotation, promoted it is next do not place field planting disk field planting groove height with just put The height for setting the field planting groove of field planting disk is consistent；B cultivating stand is arrived to No. B towed AGV that hides；

After S116, No. A towed AGV that hides stop well, A backpack AGV is mobile to C cultivating stand；To A backpack AGV stops；Automatically grabbing disk machine, successively L field planting disk of crawl is placed on C cultivating stand altogether from A transfer carriage；

After L field planting disk on S117, A transfer carriage is placed on C cultivating stand, No. A towed AGV traction of hiding A transfer carriage is moved to beside the cultivating stand adjacent with C cultivating stand, and the cultivating stand adjacent with C cultivating stand is No. D cultivation Frame；The rotation of C cultivating stand promotes the height of next field planting groove for not placing field planting disk and the field planting groove for just placing field planting disk Height is consistent；C cultivating stand is arrived to No. B towed AGV that hides；

After S118, No. A towed AGV that hides stop well, A backpack AGV is mobile to D cultivating stand；To A backpack AGV stops；

S119, automatically grabbing disk machine, successively L field planting disk of crawl is placed on D cultivating stand altogether from A transfer carriage；According to Secondary circulation, until the field planting disk on A transfer carriage has been crawled；

After S120, A transfer carriage are taken sky, No. A towed AGV that hides returns to production auxiliary region with A transfer carriage；

S121 automatically grabs disk machine and is moved at A cultivating stand, waits No. B towed AGV traction B transfer carriage of hiding It reaches at A cultivating stand；After No. B towed AGV traction B transfer carriage of hiding leaves AGV waiting position, No. C towed AGV that hides Traction C transfer carriage is parked in AGV and waits position, and the field planting disk on B transfer carriage is waited to be taken；

S122, after No. B towed AGV traction B transfer carriage of hiding reaches A cultivating stand, No. B towed AGV weight of hiding The work of the multiple No. A towed AGV that hides, until the field planting disk on B transfer carriage is taken；

S123 stops conveying to cultivating stand and turns after all field planting groove restockings on the cultivating stand after restocking complete field planting disk Transport frame.

In the preferred embodiment of the present invention, the field planting disk automatically grabbed on Pan Ji robot crawl cultivating stand is put Be placed in the working method of transfer carriage the following steps are included:

Waiting automatically grabs Pan Ji robot and L field planting disk on A cultivating stand is placed in A transfer carriage；The L is Positive integer, and L field planting disk can be placed in two field planting grooves, the number for the field planting disk placed in each transfer carriage is identical Number, number l*L, the l are the quantity of every row cultivating stand or the quantity of each column cultivating stand；

S112, another towed AGV that hides reach solid cultivation area, which is No. B latent The transfer carriage of towed AGV, No. B towed AGV traction of hiding are B transfer carriage, and No. B towed AGV that hides is parked in AGV waiting Position waits the field planting disk on A transfer carriage to be filled；

After L field planting disk on S113, A cultivating stand is placed on A transfer carriage, No. A towed AGV traction of hiding A transfer carriage is moved to beside the cultivating stand adjacent with A cultivating stand, and the cultivating stand adjacent with A cultivating stand is No. B cultivation Frame；The rotation of A cultivating stand promotes the height of next field planting groove for not placing field planting disk and the field planting groove for just placing field planting disk Height is consistent；A cultivating stand is arrived to No. B towed AGV that hides；

S115, automatically grabbing disk machine, successively L field planting disk of crawl is placed on A transfer carriage altogether from B cultivating stand；A Towed AGV traction A transfer carriage of number hiding is moved to beside the cultivating stand adjacent with B cultivating stand, adjacent with B cultivating stand Cultivating stand be C cultivating stand；B cultivating stand rotation, promoted it is next do not place field planting disk field planting groove height with just put The height for setting the field planting groove of field planting disk is consistent；B cultivating stand is arrived to No. B towed AGV that hides；

After S116, No. A towed AGV that hides stop well, A backpack AGV is mobile to C cultivating stand；To A backpack AGV stops；Automatically grabbing disk machine, successively L field planting disk of crawl is placed on A transfer carriage altogether from C cultivating stand；

After L field planting disk on S117, C cultivating stand is placed on A transfer carriage, No. A towed AGV traction of hiding A transfer carriage is moved to beside the cultivating stand adjacent with C cultivating stand, and the cultivating stand adjacent with C cultivating stand is No. D cultivation Frame；The rotation of C cultivating stand promotes the height of next field planting groove for not placing field planting disk and the field planting groove for just placing field planting disk Height is consistent；C cultivating stand is arrived to No. B towed AGV that hides；

S119, automatically grabbing disk machine, successively L field planting disk of crawl is placed on A cultivating stand altogether from D cultivating stand；According to Secondary circulation, until the field planting disk on A transfer carriage is filled；

After S120, A transfer carriage are filled, No. A towed AGV that hides returns to production auxiliary region with A transfer carriage；

S121 automatically grabs disk machine and is moved at A cultivating stand, waits No. B towed AGV traction B transfer carriage of hiding It reaches at A cultivating stand；After No. B towed AGV traction B transfer carriage of hiding leaves AGV waiting position, No. C towed AGV that hides Traction C transfer carriage is parked in AGV and waits position, and the field planting disk on B transfer carriage is waited to be filled；

S122, after No. B towed AGV traction B transfer carriage of hiding reaches A cultivating stand, No. B towed AGV weight of hiding The work of the multiple No. A towed AGV that hides, until the field planting disk on B transfer carriage is filled；

S123 stops conveying to cultivating stand and turns after all field planting groove undercarriages on the cultivating stand after undercarriage complete field planting disk Transport frame.

In the preferred embodiment of the present invention, transfer carriage includes M layers, and every layer is placed N number of field planting disk；Transfer carriage from Low to high to be followed successively by first layer~M layers, each layer is followed successively by the 1st field planting disk~N by lowest part to highest point and is colonized disk；

It automatically grabs Pan Ji robot or produces the working method packet of the field planting disk on auxiliary region robot crawl transfer carriage Include following steps:

S411, robot take the field planting disk of lowest part on M layer away；Robot takes the field planting disk of lowest part on M layer away Afterwards, it is left N-1 field planting disk on M layer and slides to lower；The 2nd field planting disk i.e. on M layer slides into the 1st field planting disk on M layer Position, the 3rd field planting disk on M layer slides into the position of the 2nd field planting disk on M layer, and the on M layer the 4th, which is colonized disk, slides into The 3rd on M layer is colonized the position ... ... of disk, and the N field planting disk on M layer slides into the position of the field planting disk of the N-1 on M layer It sets；

S412, robot take the field planting disk of lowest part on M layer away again；Robot takes the field planting disk of lowest part on M layer away Afterwards, it is left N-2 field planting disk on M layer and slides to lower；The 3rd field planting disk i.e. on M layer slides into the 1st field planting disk on M layer Position, the 4th field planting disk on M layer slides into the position of the 2nd field planting disk on M layer, and the on M layer the 5th, which is colonized disk, slides into The 3rd on M layer is colonized the position ... ... of disk, and the N field planting disk on M layer slides into the position of the field planting disk of the N-2 on M layer It sets；

S413, robot take the field planting disk of lowest part on M layer away again；Robot takes the field planting disk of lowest part on M layer away Afterwards, it is left N-3 field planting disk on M layer and slides to lower；The 4th field planting disk i.e. on M layer slides into the 1st field planting disk on M layer Position, the 5th field planting disk on M layer slides into the position of the 2nd field planting disk on M layer, and the on M layer the 6th, which is colonized disk, slides into The 3rd on M layer is colonized the position ... ... of disk, and the N field planting disk on M layer slides into the position of the field planting disk of the N-3 on M layer It sets；

S414, until robot has taken the field planting disk of lowest part on M layer away；

S415, after robot has taken the field planting disk of lowest part on M layer away, the fixture that robot executes on end is being grabbed Be colonized at the position of disk on M layer reduces default first height straight down, and robot starts to take away lowest part on M-1 layer It is colonized disk, robot takes the field planting disk that the field planting disk method of lowest part and robot on M-1 layer take lowest part on M layer away away Method is identical ... ..., until robot has taken all field planting disks on transfer carriage away.

It automatically grabs Pan Ji robot or produces the working method packet for the field planting disk that auxiliary region robot is placed on transfer carriage Include following steps:

Field planting disk is placed in highest point on M layer by S411, robot；Field planting disk is placed in highest point on M layer by robot Afterwards, the field planting disk on M layer slides to lower；Field planting disk i.e. on M layer slides into the position of the 1st field planting disk on M layer；

Field planting disk is placed in highest point on M layer again by S412, robot；Field planting disk is placed in highest on M layer by robot Behind place, the field planting disk on M layer slides to lower；Field planting disk i.e. on M layer slides into the position of the 2nd field planting disk on M layer；

Field planting disk is placed in highest point on M layer again by S413, robot；Robot place again field planting disk on M layer most After eminence, the field planting disk on M layer slides to lower；Field planting disk i.e. on M layer slides into the position of the 3rd field planting disk on M layer；

S414, until field planting disk is placed in highest point on M layer, when no longer going to lower is sliding by robot；

S415, robot execute the fixture on end and reduce straight down in advance at the position of field planting disk on placing M layer If the first height, robot starts to place field planting disk in highest point on M-1 layer, and field planting disk is placed on M-1 layer by robot The method of highest point and robot placement field planting disk are identical in the method for highest point on M layer ... ..., until robot is placed completely Until all field planting disks on transfer carriage.

In the preferred embodiment of the present invention, Pan Ji robot or the crawl of production auxiliary region robot are automatically grabbed Be colonized disk method the following steps are included:

S1, original state: robot first resets to starting point before grabbing each field planting disk；

S2 is just positioned: visual sensor module alignment is waited grabbing in the middle part of field planting disk by robot work；

S3, identification positioning: deviation data is transmitted to by the identification positioning identifier in the middle part of visual sensor module identification field planting disk Robot；

S4 adjusts posture: if just positioning, there are error, robot adjusts posture, the fork on fixture being directed at field planting Disk forks slot；

S5, fork extension: fork extension enters field planting disk and forks slot, proximity sensor detects stop after field planting disk before It stretches；

S6, lift field planting disk: robot lifts fixture straight up, and field planting disk is lifted out cultivation bed or transhipment Frame；

S7 is transported to field planting disk on transfer carriage or cultivation bed；Extract fixture fork out；

S8, robot return to original state；And start to carry out the grasping movement of next field planting disk.

In the preferred embodiment of the present invention, when the charging work method of hide towed AGV or backpack AGV The following steps are included:

S711, the remaining battery power that control centre receives towed AGV or backpack AGV transmission of hiding are less than default Battery capacity, then control centre sends charge position target position to the towed AGV or backpack AGV that hides, and hide towed AGV Or backpack AGV is moved to charge position；

S712, after the towed AGV or backpack AGV that hides is moved to charge position, control centre sends to charge position and controls Signal starts as towed AGV or the backpack AGV wireless charging of hiding；

S713, after charging complete, the remaining battery power after the towed AGV or backpack AGV that hides is charged is sent out Give control centre；If the remaining battery power after charging is less than or equal to preset charged electricity, control centre issues police It accuses, which needs replacing.

It in the preferred embodiment of the present invention, further include control centre to the towed AGV or backpack AGV that hides Battery altering position target position is sent, after the towed AGV or backpack AGV that hides is moved to battery altering position, traction of hiding Formula AGV or backpack AGV sends replacement cell commands to control centre, replaces battery by maintenance man.

In conclusion by adopting the above-described technical solution, the present invention can to three-dimensional vegetable cultivate factory in vegetables into The cultivation of row automatic get-on carriage and undercarriage harvesting processing, realize intelligent automation production.

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 schematic process flow diagram of the present invention.

Fig. 2 is circuit connection schematic block diagram of the present invention.

Fig. 3 is logistics system framework schematic block diagram of the present invention.

Fig. 4 is present invention production auxiliary region robot workspace schematic diagram.

Fig. 5 is transfer carriage storage area schematic diagram of the present invention.

Fig. 6 is the charging zone AGV charging pile schematic diagram of the present invention.

Fig. 7 is that the charging zone AGV AGV navigation magnetic stripe and terrestrial reference of the present invention are laid with schematic diagram.

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 present invention provides a kind of three-dimensional vegetables to cultivate Intelligent logistics working method, as shown in Figure 1, including cultivation restocking work Make method or/and harvesting undercarriage working method；

Cultivate restocking working method the following steps are included:

S1, the towed AGV that hides draw transfer carriage to line is colonized, and are extremely transported by production auxiliary region robot crawl field planting disk On frame, after the completion of grabbing task, towed AGV traction transfer carriage of hiding is grabbed to cultivating stand by automatically grabbing Pan Ji robot It takes on field planting disk to cultivating stand；In the present embodiment, number of patent application 2018102672209 can be used in cultivating stand, invention Cultivating stand in a kind of entitled rotating type stereo cultivation system and control method, also can be used the cultivation of stereo rotary Frame.

Gather in undercarriage working method the following steps are included:

As shown in figure 3, (1) server (control centre) is the control axis of logistics system, coordinate that logistics system is all to be set Standby cooperating, function mainly have:

1) it plans the path AGV, sends the target point that AGV is moved to AGV dispatching desk.

2) sequence of planning robot's execution movement is sent according to the executive condition of robot motion to robot controller The movement number of robot.

3) monitoring robot state, including movement execute performance (executed, be carrying out, etc. pending), off-line Alarm, urgent-stop alarm etc..

4) time of planning cultivating stand rotation and sequence, it is ensured that cultivating stand cooperates the work for automatically grabbing disk machine.

5) it handles, store, management creation data, having complete database function.

6) window of human-computer interaction, user check data, operation equipment, input production plan.

(2) AGV dispatching desk is responsible for the work of backpack AGV and the towed AGV that hides, and function mainly has:

1) the AGV target point that server is sent is received, specific AGV is controlled and is moved to target point.

2) traffic control was being crossed by the running position of each AGV of real-time detection and operating status, automatic judgement AGV Priority pass determines in journey, enables smoothly to pass through, avoids traffic jam.

3) AGV state, warning message are monitored, reminds user to take in AGV derailing, low battery, experience barrier alarm Measure.

4) drafting, with showing AGV motion path, the position of every AGV of real-time display.

5) user can carry out phase according to maintenance time automatically prompting user in system flexible setting AGV trolley maintenance parameters The attended operation answered.

6) dispatching desk connection local area network (WIFI), can all AGV wireless telecommunications.

(3) the towed AGV that hides hide towed AGV production auxiliary region and solid cultivation area between transport transfer carriage.

(4) backpack AGV

Backpack AGV bears as the walking mechanism for automatically grabbing disk machine and automatically grabs Pan Ji robot in solid cultivation It is moved in area, and can precisely be parked in the side of each cultivating stand.

(5) Major Function of PLC has:

1) the specifically rotation of control cultivating stand, irrigation nutrient solution.

2) start and stop of specific control field planting line end.

3) start and stop of specific control harvesting line starting point.

4) as the communication path between server and robot, processing, the data and instruction of transfer between the two.

(6) robot controller:

1) machine of server calls store robot motion programs, speed parameter etc., 2) control robot motion, 3) is received Device human action number, controls robot, 4) robot has executed after movement to server feedback, and 5) supervisory-controlled robot state, 6) show Field display robot warning message.

(7) auxiliary region robot is produced

1) production auxiliary region robot is mounted on the starting point of the end Board harvesting line of field planting line, its Major Function has: It is taken on field planting disk to material frame from field planting line end；Take field planting disk to the starting point of harvesting line from transfer carriage.

(8) be colonized line: vegetable seedling carries out on field planting line from the process that seedlings nursing plate moves on to field planting disk, field planting bundle of lines field planting Disk is sent to field planting line end and gets on transfer carriage for robot.

(9) gather in line: robot from transfer carriage take field planting disk be put into harvesting line starting point after, harvesting vegetables, cleaning field planting Disk all carries out on harvesting line.

(10) vertical rotary stereo cultivating stand (cultivating stand): vertical rotary stereo cultivating stand provides nutrient solution, life for vegetables Long place, and rotation makes the uniform light of vegetables.

As shown in figure 4,1) production auxiliary region only has 1 production auxiliary region robot, field planting line end and harvesting line are taken into account Starting point can take field planting disk from field planting line but also field planting disk is put on harvesting line starting point.

2) 3 transfer carriages are had altogether and load onto field planting disk/unload field planting panel, all in robot working range, and each are turned Transport rack-mounted upper field planting disk/unload field planting panel and be all laid with AGV navigation magnetic stripe and terrestrial reference, the towed AGV that hides can accurately stop to Each transfer carriage loads onto field planting disk/unload field planting panel.

3) safety barrier range includes field planting disk end, harvesting line starting point, loads onto field planting disk/unload field planting panel, machine Device people's controller.There is a fan automatically-controlled door in the position that each transfer carriage of face loads onto field planting disk/unload field planting panel on safety barrier, When the towed AGV that hides is passed in and out with transfer carriage, automatically-controlled door automatic shutter.

As shown in figure 5,1) transfer carriage settlement has 6 transfer carriage storage positions altogether, every one group of 2 transfer carriages.

2) AGV navigation magnetic stripe is routed to each transfer carriage storage position, and each transfer carriage storage position arranges AGV terrestrial reference, hides Towed AGV can accurately reach each transfer carriage storage position.

3) each transfer carriage storage position installation proximity sensor detects transfer carriage, and signal is uploaded to server, manages platform Whether there is or not transfer carriages for each transfer carriage storage position of real-time display.

4) there is the radio frequency card module for towed AGV identification of hiding on each transfer carriage, when some transfer carriage storage position Proximity sensor does not detect transfer carriage but the towed AGV that hides but detects transfer carriage, management platform alarm.

As shown in Figures 6 and 7, the towed AGV mono- that 1) hides shares 2 charge positions, 1 storage position.It is towed due to hiding AGV power is small, battery capacity is big, charging rate is fast (being full of in 1 hour), so 3 towed AGV that hide have matched 2 and filled Electric stake.When some in charge position hide towed AGV it is fully charged after, be moved to storage position, the AGV of storage position is moved to charging Position.

2) backpack AGV only has one, so only having matched a backpack AGV charge position.

3) AGV navigation magnetic stripe and terrestrial reference have been routed in each AGV charge position, and AGV can be accurately parked in charge position certainly Dynamic charging.

The present invention provides a kind of three-dimensional vegetables to cultivate Intelligent logistics work system, including three-dimensional vegetable cultivates factory, A production auxiliary region and B solid cultivation area are provided in three-dimensional vegetable cultivation factory, described A, B are positive integer；

C item field planting line, D item harvesting line and E platform production auxiliary region robot are provided in each production auxiliary region, Described C, D, E are positive integer；F cultivating stand is provided in each solid cultivation area, the F is positive integer；

And the AGV navigation magnetic stripe and terrestrial reference network, G platform being layed in three-dimensional vegetable cultivation factory are hidden towed AGV and H platform backpack AGV is walked on AGV navigation magnetic stripe and terrestrial reference network, and described G, H are positive integer；Every backpack AGV Top, which is equipped with, removably automatically grabs Pan Ji robot；

It further include I transfer carriage, the I is the positive integer more than or equal to G, towed AGV traction transfer carriage of hiding Walking is navigated on magnetic stripe and terrestrial reference network in AGV；In the present embodiment, the value of A~E is 1, and cultivating stand is put as 22 rows, Every row 5 amounts to 110 cultivating stands, G 3, H 1, I 4.Wherein, Pan Ji robot and production auxiliary region machine are automatically grabbed The artificial mutually isostructural robot of device.

When cultivating restocking, the towed AGV that hides draws transfer carriage to line is colonized, by the crawl field planting of production auxiliary region robot On disk to transfer carriage, after the completion of grabbing task, towed AGV traction transfer carriage of hiding is to cultivating stand, by automatically grabbing disk machine On robot crawl field planting disk to cultivating stand；

When gathering in undercarriage, the towed AGV that hides draws transfer carriage to cultivating stand, is determined by automatically grabbing the crawl of Pan Ji robot It plants on disk to transfer carriage, after the completion of grabbing task, the towed AGV that hides draws transfer carriage to line is gathered in, by producing auxiliary region On robot crawl field planting disk to harvesting line.It realizes robotic operation, reduces human cost.

In the preferred embodiment of the present invention, field planting line includes field planting transmission line main body, is transmitted in the field planting Line end is nearby provided with field planting line the first proximity sensor module and field planting the second proximity sensor of line module, is colonized line first The approach signal output end of proximity sensor module is connected with field planting the first approach signal input terminal of field planting lane controller, is colonized Field planting the second approach signal input terminal phase of the approach signal output end of line the second proximity sensor module and field planting lane controller Even；It is colonized line the first proximity sensor module and is greater than field planting the second proximity sensor of line module at a distance from field planting line end With field planting line end at a distance from, and be colonized line the first proximity sensor module be colonized line end at a distance from be less than or Person is equal to the length of field planting disk；

When being colonized near disk arrival field planting line end, field planting the first proximity sensor of line module detects field planting Disk, field planting lane controller control field planting transmission belt slow down, detect field planting disk when being colonized the second proximity sensor of line module, be colonized Lane controller control field planting transmission belt is slowed down, is stopped, and field planting disk stops after touching baffle；Determine when field planting lane controller receives The signal that the first proximity sensor of line module detects field planting disk is planted, and is colonized lane controller and receives field planting line second simultaneously again Proximity sensor module detects that the signal of field planting disk, production auxiliary region robot crawl field planting disk are placed on transfer carriage；When Field planting lane controller receives the signal that field planting disk is not detected in field planting the first proximity sensor of line module, and is colonized lane controller Receive the signal that field planting disk is not detected in field planting the second proximity sensor of line module, field planting lane controller control field planting simultaneously again Transmission belt is transmitted near next field planting disk to field planting line end.It is attached to field planting line end is transferred to from field planting line starting point Close field planting disk is detected, and prevents field planting disk inclination from squeezing.

In the preferred embodiment of the present invention, harvesting line includes harvesting transmission line main body, is transmitted in the harvesting Line starting point is nearby provided with harvesting line the first proximity sensor module and harvesting the second proximity sensor of line module, harvesting line the The approach signal output end of one proximity sensor module is connected with harvesting the first approach signal input terminal of harvesting lane controller, receives The approach signal output end of secant the second proximity sensor module and harvesting the second approach signal input terminal of harvesting lane controller It is connected；It gathers in line the first proximity sensor module and is greater than harvesting the second proximity sensor of line at a distance from harvesting transmission line starting point Module with harvesting transmission line starting point at a distance from, and gather in line the first proximity sensor module and be colonized transmission line starting point away from From be greater than field planting disk length, and gather in line the second proximity sensor module be colonized transmission line starting point at a distance from be less than or Equal to the length of field planting disk；

It produces auxiliary region robot crawl field planting disk and is placed in harvesting transmission line starting point, when the close sensing of harvesting line second Device module detects that field planting disk, or/and harvesting the first proximity sensor of line module detect field planting disk, harvesting lane controller control Gather in transmission belt transmission field planting disk；Field planting is not detected when harvesting lane controller receives harvesting the second proximity sensor of line module The signal of disk, and gather in lane controller and receive the letter that field planting disk is not detected in field planting the first proximity sensor of line module simultaneously Number, harvesting lane controller control harvesting transmission belt stops transmission；Auxiliary region robot to be produced grabs next take and is colonized disk placement In harvesting transmission line starting point.The field planting disk for being placed on harvesting line starting point is transferred to harvesting line end, is prevented in harvesting line Starting point squeezes.

It in the preferred embodiment of the present invention, further include J be arranged in three-dimensional vegetable cultivation factory Charging zone, the J are positive integer；K charge position is provided in each charging zone, the K is positive integer；In each charge position On be provided with wireless charging stake；

And the wireless charging unit to match with wireless charging stake is installed in each towed AGV that hides, wirelessly The charging output end of charhing unit is connected with towed AGV battery of hiding, and is equipped in each backpack AGV and wireless charging The wireless charging unit that stake matches, the charging output end of wireless charging unit are connected with backpack AGV battery；

When the towed AGV that hides needs to charge, the towed AGV that hides is moved to charge position, and wireless charging stake is latent Towed AGV battery charging；When backpack AGV needs to charge, backpack AGV is moved to charge position, and wireless charging stake is back Negative formula AGV battery charging.It realizes and charges to the towed AGV and backpack AGV that hides, do not need human intervention.

In the preferred embodiment of the present invention, backpack AGV includes that AGV ontology and control AGV ontology are mobile AGV controller is fixedly installed with dismountable AGV radio receiving transmitting module, the AGV wireless receiving and dispatching mould on the AGV ontology The wireless signal sending and receiving end of block is connected with the wireless signal sending and receiving end of AGV controller, and AGV controller receives control centre's transmission Target position, AGV controller controls backpack AGV and by current location is moved to target position.

In the preferred embodiment of the present invention, the towed AGV that hides includes that AGV ontology and control AGV ontology move Dynamic AGV controller, is fixedly installed with dismountable AGV radio receiving transmitting module on the AGV ontology, and the AGV is wirelessly received The wireless signal sending and receiving end of hair module is connected with the wireless signal sending and receiving end of AGV controller, and AGV controller receives control centre The target position of transmission, AGV controller control the towed AGV that hides and are moved to target position by current location；It further include setting RF Signal module at the top of the towed AGV that hides, the letter at signal the read-write end and AGV controller of RF Signal module Number read-write end be connected；When RF Signal module senses that the back-signalling that radio-frequency card issues, AGV controller control tenon and lock Transfer carriage.

In the preferred embodiment of the present invention, field planting the first proximity sensor of line module includes: field planting line first The signal output end of proximity sensor is connected with the signal input part of the first amplifying unit, the signal output end of the first amplifying unit It is connected with the signal input part of the first follower, the signal input part of the signal output end of the first follower and the first subtrator It is connected, the signal output end of the first subtrator is connected with the first approach signal input terminal of field planting lane controller；It is colonized line the The signal of one proximity sensor acquisition is after the amplification of the first amplifying unit, the noise for following unit removal input by first, most The signal for acquiring input by the first subtrator size compared with default first voltage signal, if the signal of acquisition input is big In or equal to default first voltage signal, then signal is sent to field planting lane controller, shows to be colonized the first proximity sensor of line Field planting disk is detected near field planting line end, is colonized transmission belt deceleration transmission field planting disk；

Field planting the second proximity sensor of line module includes: that the signal output end of field planting the second proximity sensor of line is put with second The signal input part of big unit is connected, and the signal output end of the second amplifying unit is connected with the signal input part of the second follower, The signal output end of second follower is connected with the signal input part of the second subtrator, the signal output end of the second subtrator It is connected with the second approach signal input terminal of field planting lane controller；The signal of field planting the second proximity sensor of line acquisition is put through second After big unit amplification, the noise for following unit removal input by second, the letter for most afterwards acquiring input through the second subtrator The size number compared with default second voltage signal, if the signal of acquisition input is more than or equal to default second voltage signal, Signal is sent to field planting lane controller, shows that being colonized the second proximity sensor of line detects that field planting disk is attached close to field planting line end Closely, field planting transmission belt slows down, stops transmission field planting disk；

Further include:+12V supply voltage is connected with the power voltage input terminal of power supply unit, the supply voltage of power supply unit Output end is electric with the power supply of the power voltage input terminal of field planting the first proximity sensor of line, field planting the second proximity sensor of line respectively Pressure input terminal, the power voltage input terminal of the first amplifying unit, the power voltage input terminal of the second amplifying unit, first follow list The power voltage input terminal that the power voltage input terminal of member, second follow the power voltage input terminal of unit, the first subtrator It is connected with the power voltage input terminal of the second subtrator ,+12V the supply voltage of input is converted to stable output by power supply unit + 5V supply voltage, respectively field planting the first proximity sensor of line, field planting the second proximity sensor of line, the first amplifying unit, the Two amplifying units, first follow unit, second that unit, the first subtrator and the second subtrator is followed to provide stable+5V Supply voltage input.In the present embodiment, field planting line the first proximity sensor module and harvesting the first proximity sensor of line mould The circuit connection of block is identical；It is colonized line the second proximity sensor module and gathers in the circuit connection of the second proximity sensor of line module It is identical.

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 three-dimensional vegetable cultivates Intelligent logistics working method, which is characterized in that including cultivation restocking working method or/and receipts Cut off frame working method；

Cultivate restocking working method the following steps are included:

S1, the towed AGV that hides draw transfer carriage to line is colonized, by production auxiliary region robot crawl field planting disk to transfer carriage On, after the completion of grabbing task, the towed AGV that hides draws transfer carriage to cultivating stand, by automatically grabbing the crawl of Pan Ji robot It is colonized on disk to cultivating stand；

Gather in undercarriage working method the following steps are included:

S2, the towed AGV that hides draw transfer carriage to cultivating stand, by automatically grabbing Pan Ji robot crawl field planting disk to transfer carriage On, after the completion of grabbing task, the towed AGV that hides draws transfer carriage to line is gathered in, and is determined by the crawl of production auxiliary region robot It plants on disk to harvesting line.

2. three-dimensional vegetable according to claim 1 cultivates Intelligent logistics working method, which is characterized in that step S1 include with Lower step:

S11, control centre send to backpack AGV to restocking cultivating stand target position；Backpack AGV, which is born, automatically grabs disk machine Robot is according to the AGV navigation magnetic stripe and terrestrial reference Network Mobility being laid in three-dimensional vegetable cultivation factory to restocking cultivating stand mesh Cursor position waits transfer carriage to arrive at；

S12, control centre send transfer carriage target position and field planting line target position to the towed AGV that hides；Latent traction Formula AGV, to transfer carriage, is led according to the AGV navigation magnetic stripe and terrestrial reference Network Mobility being laid in three-dimensional vegetable cultivation factory to latent After drawing formula AGV latching transfer carriage, towed AGV traction transfer carriage of hiding is moved to field planting line target position；Field planting line to be arrived at Transfer carriage quantity be equal to control centre send transfer carriage await orders quantity when, hide towed AGV no longer to field planting line conveying Transfer carriage；

S13, control centre send crawl field planting disk to production auxiliary region robot and are placed on transfer carriage, auxiliary region machine to be produced Device people grabs field planting disk and is placed in after the completion of transfer carriage task, and towed AGV traction transfer carriage of hiding is moved to cultivates to restocking Frame target position；

S14, the field planting disk automatically grabbed on Pan Ji robot crawl transfer carriage is placed in on restocking cultivating stand, wait automatically grab After the completion of Pan Ji robot grabs the field planting disk crawl on transfer carriage, towed AGV traction transfer carriage of hiding is back to field planting line Target position；

S15, after towed AGV traction transfer carriage of hiding is back to field planting line target position, the towed AGV that hides of return is de- Transfer carriage from latching, the towed AGV that hides of return lock the transfer carriage tethered sliding that crawl task is completed and plant to restocking Train frame target position.

3. three-dimensional vegetable according to claim 1 cultivates Intelligent logistics working method, which is characterized in that step S2 include with Lower step:

S21, control centre send to backpack AGV to undercarriage cultivating stand target position；Backpack AGV, which is born, automatically grabs disk machine Robot is according to the AGV navigation magnetic stripe and terrestrial reference Network Mobility being laid in three-dimensional vegetable cultivation factory to undercarriage cultivating stand mesh Cursor position waits transfer carriage to arrive at；

S22, control centre send transfer carriage target position, to undercarriage cultivating stand target position and receipts to the towed AGV that hides Secant target position；Towed AGV hide according to the AGV navigation magnetic stripe and terrestrial reference network being laid in three-dimensional vegetable cultivation factory It is moved to transfer carriage, after the towed AGV that hides locks transfer carriage, towed AGV traction transfer carriage of hiding is moved to undercarriage Cultivating stand target position；Fate is waited for wait arrive at the transfer carriage for being equal to control centre's transmission to the transfer carriage quantity at undercarriage cultivating stand When amount, the towed AGV that hides is no longer to convey transfer carriage at undercarriage cultivating stand；

S23, control centre are placed on transfer carriage to Pan Ji robot transmission crawl field planting disk is automatically grabbed, disk to be automatically grabbed Machine robot crawl field planting disk is placed in after the completion of transfer carriage task, and towed AGV traction transfer carriage of hiding is moved to harvesting line Target position；

S24, after towed AGV traction transfer carriage of hiding is moved to harvesting line target position, the towed AGV that hides, which is detached from, to be lockked Transfer carriage, the towed AGV of hiding locks transfer carriage tethered sliding that crawl task is completed to undercarriage cultivating stand target position；

S25, production auxiliary region robot grab the field planting disk on transfer carriage and are placed on field planting line, auxiliary region robot to be produced After the completion of grabbing the field planting disk crawl on transfer carriage, towed AGV traction transfer carriage of hiding is moved to restocking cultivating stand target Position.

4. three-dimensional vegetable according to claim 1 cultivates Intelligent logistics working method, which is characterized in that automatically grab disk machine Robot crawl transfer carriage on field planting disk be placed in cultivating stand working method the following steps are included:

S111, the towed AGV that hides stop after reaching the cultivating stand where automatically grabbing Pan Ji robot, this hides towed AGV is No. A towed AGV that hides, and the transfer carriage of No. A towed AGV traction of hiding is A transfer carriage, which is No. A cultivation Train frame；Bear automatically grab Pan Ji robot backpack AGV be A backpack AGV；

Waiting automatically grabs Pan Ji robot and L field planting disk on A transfer carriage is placed in A cultivating stand；The L is positive whole Number, and L field planting disk can be placed in two field planting grooves, the number for the field planting disk placed in each transfer carriage is identical Number, number l*L, the l are the quantity of every row cultivating stand or the quantity of each column cultivating stand；

S112, another towed AGV that hides reach solid cultivation area, which is No. B latent traction Formula AGV, the transfer carriage of No. B towed AGV traction of hiding is B transfer carriage, and No. B towed AGV that hides is parked in AGV and waits position, The field planting disk on A transfer carriage is waited to be taken；

After L field planting disk on S113, A transfer carriage is placed on A cultivating stand, No. A towed AGV that hides draws No. A Transfer carriage is moved to beside the cultivating stand adjacent with A cultivating stand, and the cultivating stand adjacent with A cultivating stand is B cultivating stand；A The rotation of number cultivating stand promotes the height of next field planting groove for not placing field planting disk and the height for the field planting groove for just placing field planting disk Unanimously；A cultivating stand is arrived to No. B towed AGV that hides；

After S114, No. A towed AGV that hides stop well, A backpack AGV is mobile to B cultivating stand；Stop to A backpack AGV It is good；

S115, automatically grabbing disk machine, successively L field planting disk of crawl is placed on B cultivating stand altogether from A transfer carriage；No. A latent It lies prostrate towed AGV traction A transfer carriage to be moved to beside the cultivating stand adjacent with B cultivating stand, the cultivation adjacent with B cultivating stand Training frame is C cultivating stand；The rotation of B cultivating stand, the height of the next field planting groove for not placing field planting disk of promotion and rigid place are determined The height for planting the field planting groove of disk is consistent；B cultivating stand is arrived to No. B towed AGV that hides；

After S116, No. A towed AGV that hides stop well, A backpack AGV is mobile to C cultivating stand；Stop to A backpack AGV It is good；Automatically grabbing disk machine, successively L field planting disk of crawl is placed on C cultivating stand altogether from A transfer carriage；

After L field planting disk on S117, A transfer carriage is placed on C cultivating stand, No. A towed AGV that hides draws No. A Transfer carriage is moved to beside the cultivating stand adjacent with C cultivating stand, and the cultivating stand adjacent with C cultivating stand is D cultivating stand；C The rotation of number cultivating stand promotes the height of next field planting groove for not placing field planting disk and the height for the field planting groove for just placing field planting disk Unanimously；C cultivating stand is arrived to No. B towed AGV that hides；

After S118, No. A towed AGV that hides stop well, A backpack AGV is mobile to D cultivating stand；Stop to A backpack AGV It is good；

S119, automatically grabbing disk machine, successively L field planting disk of crawl is placed on D cultivating stand altogether from A transfer carriage；Successively follow Ring, until the field planting disk on A transfer carriage has been crawled；

S121 automatically grabs disk machine and is moved at A cultivating stand, and No. B towed AGV traction B transfer carriage of hiding is waited to reach A At number cultivating stand；After No. B towed AGV traction B transfer carriage of hiding leaves AGV waiting position, No. C towed AGV traction C that hides Number transfer carriage is parked in AGV and waits position, and the field planting disk on B transfer carriage is waited to be taken；

S122, after No. B towed AGV traction B transfer carriage of hiding reaches A cultivating stand, No. B towed AGV that hides repeats No. A It hides the work of towed AGV, until the field planting disk on B transfer carriage is taken；

S123 stops conveying transfer carriage to cultivating stand after all field planting groove restockings on the cultivating stand after restocking complete field planting disk.

5. three-dimensional vegetable according to claim 1 cultivates Intelligent logistics working method, which is characterized in that automatically grab disk machine Robot crawl cultivating stand on field planting disk be placed in transfer carriage working method the following steps are included:

Waiting automatically grabs Pan Ji robot and L field planting disk on A cultivating stand is placed in A transfer carriage；The L is positive whole Number, and L field planting disk can be placed in two field planting grooves, the number for the field planting disk placed in each transfer carriage is identical Number, number l*L, the l are the quantity of every row cultivating stand or the quantity of each column cultivating stand；

S112, another towed AGV that hides reach solid cultivation area, which is No. B latent traction Formula AGV, the transfer carriage of No. B towed AGV traction of hiding is B transfer carriage, and No. B towed AGV that hides is parked in AGV and waits position, The field planting disk on A transfer carriage is waited to be filled；

After L field planting disk on S113, A cultivating stand is placed on A transfer carriage, No. A towed AGV that hides draws No. A Transfer carriage is moved to beside the cultivating stand adjacent with A cultivating stand, and the cultivating stand adjacent with A cultivating stand is B cultivating stand；A The rotation of number cultivating stand promotes the height of next field planting groove for not placing field planting disk and the height for the field planting groove for just placing field planting disk Unanimously；A cultivating stand is arrived to No. B towed AGV that hides；

S115, automatically grabbing disk machine, successively L field planting disk of crawl is placed on A transfer carriage altogether from B cultivating stand；No. A latent It lies prostrate towed AGV traction A transfer carriage to be moved to beside the cultivating stand adjacent with B cultivating stand, the cultivation adjacent with B cultivating stand Training frame is C cultivating stand；The rotation of B cultivating stand, the height of the next field planting groove for not placing field planting disk of promotion and rigid place are determined The height for planting the field planting groove of disk is consistent；B cultivating stand is arrived to No. B towed AGV that hides；

After S116, No. A towed AGV that hides stop well, A backpack AGV is mobile to C cultivating stand；Stop to A backpack AGV It is good；Automatically grabbing disk machine, successively L field planting disk of crawl is placed on A transfer carriage altogether from C cultivating stand；

After L field planting disk on S117, C cultivating stand is placed on A transfer carriage, No. A towed AGV that hides draws No. A Transfer carriage is moved to beside the cultivating stand adjacent with C cultivating stand, and the cultivating stand adjacent with C cultivating stand is D cultivating stand；C The rotation of number cultivating stand promotes the height of next field planting groove for not placing field planting disk and the height for the field planting groove for just placing field planting disk Unanimously；C cultivating stand is arrived to No. B towed AGV that hides；

S119, automatically grabbing disk machine, successively L field planting disk of crawl is placed on A cultivating stand altogether from D cultivating stand；Successively follow Ring, until the field planting disk on A transfer carriage is filled；

S121 automatically grabs disk machine and is moved at A cultivating stand, and No. B towed AGV traction B transfer carriage of hiding is waited to reach A At number cultivating stand；After No. B towed AGV traction B transfer carriage of hiding leaves AGV waiting position, No. C towed AGV traction C that hides Number transfer carriage is parked in AGV and waits position, and the field planting disk on B transfer carriage is waited to be filled；

S122, after No. B towed AGV traction B transfer carriage of hiding reaches A cultivating stand, No. B towed AGV that hides repeats No. A It hides the work of towed AGV, until the field planting disk on B transfer carriage is filled；

S123 stops conveying transfer carriage to cultivating stand after all field planting groove undercarriages on the cultivating stand after undercarriage complete field planting disk.

6. three-dimensional vegetable according to claim 1 cultivates Intelligent logistics working method, which is characterized in that transfer carriage includes M Layer, every layer is placed N number of field planting disk；Transfer carriage is followed successively by first layer~M layers from low to high, and each layer is by lowest part to highest point It is followed successively by the 1st field planting disk~N field planting disk；

Automatically grab Pan Ji robot or produce auxiliary region robot crawl transfer carriage on field planting disk working method include with Lower step:

S411, robot take the field planting disk of lowest part on M layer away；After robot takes the field planting disk of lowest part on M layer away, the It is left N-1 field planting disk on M layer and slides to lower；The 2nd field planting disk i.e. on M layer slides into the position of the 1st field planting disk on M layer It sets, the 3rd field planting disk on M layer slides into the position of the 2nd field planting disk on M layer, and the 4th field planting disk on M layer slides into M layers On the 3rd field planting disk position ... ..., the N field planting disk on M layer slides into the position that the N-1 on M layer is colonized disk；

S412, robot take the field planting disk of lowest part on M layer away again；After robot takes the field planting disk of lowest part on M layer away, the It is left N-2 field planting disk on M layer and slides to lower；The 3rd field planting disk i.e. on M layer slides into the position of the 1st field planting disk on M layer It sets, the 4th field planting disk on M layer slides into the position of the 2nd field planting disk on M layer, and the 5th field planting disk on M layer slides into M layers On the 3rd field planting disk position ... ..., the N field planting disk on M layer slides into the position that the N-2 on M layer is colonized disk；

S413, robot take the field planting disk of lowest part on M layer away again；After robot takes the field planting disk of lowest part on M layer away, the It is left N-3 field planting disk on M layer and slides to lower；The 4th field planting disk i.e. on M layer slides into the position of the 1st field planting disk on M layer It sets, the 5th field planting disk on M layer slides into the position of the 2nd field planting disk on M layer, and the 6th field planting disk on M layer slides into M layers On the 3rd field planting disk position ... ..., the N field planting disk on M layer slides into the position that the N-3 on M layer is colonized disk；

S415, after robot has taken the field planting disk of lowest part on M layer away, robot executes the fixture on end in crawl M Be colonized at the position of disk on layer reduces default first height straight down, and robot starts to take away determining for lowest part on M-1 layer Disk is planted, robot takes the field planting disk side that the field planting disk method of lowest part and robot on M-1 layer take lowest part on M layer away away Method is identical ... ..., until robot has taken all field planting disks on transfer carriage away.

7. three-dimensional vegetable according to claim 1 cultivates Intelligent logistics working method, which is characterized in that transfer carriage includes M Layer, every layer is placed N number of field planting disk；Transfer carriage is followed successively by first layer~M layers from low to high, and each layer is by lowest part to highest point It is followed successively by the 1st field planting disk~N field planting disk；

Automatically grab Pan Ji robot or produce auxiliary region robot place transfer carriage on field planting disk working method include with Lower step:

Field planting disk is placed in highest point on M layer by S411, robot；Field planting disk is placed after highest point on M layer by robot, the Field planting disk on M layer slides to lower；Field planting disk i.e. on M layer slides into the position of the 1st field planting disk on M layer；

Field planting disk is placed in highest point on M layer again by S412, robot；Field planting disk is placed after highest point on M layer by robot, Field planting disk on M layer slides to lower；Field planting disk i.e. on M layer slides into the position of the 2nd field planting disk on M layer；

Field planting disk is placed in highest point on M layer again by S413, robot；Field planting disk is placed in highest point on M layer again by robot Afterwards, the field planting disk on M layer slides to lower；Field planting disk i.e. on M layer slides into the position of the 3rd field planting disk on M layer；

S415, robot, which executes the fixture on end and is colonized to reduce straight down at the position of disk on placing M layer, presets the One height, robot start to place field planting disk in highest point on M-1 layer, and field planting disk is placed in highest on M-1 layer by robot The method at place and robot placement field planting disk are identical in the method for highest point on M layer ... ..., until full transport is placed by robot Until all field planting disks on frame.

8. three-dimensional vegetable according to claim 1 cultivates Intelligent logistics working method, which is characterized in that automatically grab disk machine Robot or production auxiliary region robot crawl field planting disk method the following steps are included:

S3, identification positioning: deviation data is transmitted to machine by the identification positioning identifier in the middle part of visual sensor module identification field planting disk People；

S4 adjusts posture: if just positioning, there are error, robot adjusts posture, by the fork alignment field planting disk on fixture Fork slot；

S5, fork extension: fork extension enters field planting disk and forks slot, and proximity sensor stops extension after detecting field planting disk；

S6, lift field planting disk: robot lifts fixture straight up, and field planting disk is lifted out cultivation bed or transfer carriage；

9. three-dimensional vegetable according to claim 1 cultivates Intelligent logistics working method, which is characterized in that towed when hiding The charging work method of AGV or backpack AGV the following steps are included:

S711, control centre receive the remaining battery power that towed AGV or backpack AGV is sent of hiding and are less than default battery Electricity, then control centre sends charge position target position, hide towed AGV or back to the towed AGV or backpack AGV that hides Negative formula AGV is moved to charge position；

S712, after the towed AGV or backpack AGV that hides is moved to charge position, control centre sends control signal to charge position, Start as towed AGV or the backpack AGV wireless charging of hiding；

S713, after charging complete, the remaining battery power after the towed AGV or backpack AGV that hides is charged is sent to Control centre；If the remaining battery power after charging is less than or equal to preset charged electricity, control centre is given a warning, should The battery of towed AGV or backpack AGV of hiding needs replacing.

10. three-dimensional vegetable according to claim 9 cultivates Intelligent logistics working method, which is characterized in that further include control Center sends battery altering position target position to the towed AGV or backpack AGV that hides, when towed AGV or the backpack of hiding After AGV is moved to battery altering position, the towed AGV or backpack AGV that hides sends replacement cell commands to control centre, by tieing up The person of repairing replaces battery.