CN114766249A - AGV-based greenhouse operation system and method - Google Patents

Abstract

The invention discloses a greenhouse operation system and method based on AGV, belonging to the technical field of greenhouse cultivation and being used for green potted plant cultivation, and being characterized in that the greenhouse comprises a planting area and N operation areas; the greenhouse working system at least comprises: the AGV traveling system comprises a wheel type line preset between a planting area and different operation areas, M AGV trolleys positioned on the wheel type line, and M is a natural number larger than 0; the overhead traveling crane is used for loading the planting bed on the AGV trolley or unloading the planting bed from the AGV trolley; and the operation control platform controls the AGV trolley to run between the planting area and different operation areas according to the operation tasks, controls the working state of the crown block and controls the working state of the operation equipment. The invention utilizes the operation control platform to quantitatively and intensively control the operation in the greenhouse, decomposes the work task and specifically and quantitatively executes the work task, thereby ensuring that the task is not omitted.

Description

AGV-based greenhouse operation system and method

Technical Field

The invention belongs to the technical field of greenhouse cultivation, and particularly relates to an AGV-based greenhouse operation system and method.

Background

As is well known, greenhouse cultivation refers to a cultivation method of horticultural crops. The warm-keeping, heating and light-transmitting equipment (such as cold bed, hotbed and greenhouse) and corresponding technical measures are used for protecting warm-keeping plants from cold and overwintering or promoting growth, blooming and fruiting in advance and the like. At present, greenhouses used for potted flower production in China mainly comprise a daylight type greenhouse and a modernized greenhouse. The sunlight type greenhouse is widely applied in China, particularly in the north with sufficient light energy, has only one south-facing light inlet surface in a common single roof form, is simple in structure, can receive more sunlight in winter, is covered by the sunlight at night, is good in heat insulation performance, is low in construction cost, and has good practical value.

With the rapid development of the technology, the large-scale greenhouse cultivation technology is more and more concerned by people; the large-scale greenhouse cultivation industry is characterized in that: the operation area in the greenhouse is large, green plants in the greenhouse need to be subjected to partition operation, at present, most of traditional operation methods mainly adopt human operation, namely, different operation areas need to be charged by professional workers, and each worker can operate through agricultural equipment according to the green plant state of the area in charge; obviously, this approach has the disadvantages of: firstly, a large amount of manpower and material resources are consumed; secondly, the working personnel carry out different operations at different times according to different growth periods of green plants in different areas, the working time and the working areas are accurately controlled by the working personnel, and once the working personnel neglect, the health problem of the green plant growth is influenced; and thirdly, the working personnel frequently enter the greenhouse to influence the growth of green plants in the greenhouse to a certain extent.

Disclosure of Invention

The invention provides a greenhouse operation system and method based on an AGV (automatic guided vehicle), which are used for automatic operation in a potted greenhouse.

The invention provides an AGV-based greenhouse operation system, which is used for a greenhouse for potted green plants, wherein the greenhouse comprises a planting area and N operation areas, and N is a natural number greater than 0; the greenhouse operation system at least comprises:

the AGV traveling system comprises a wheel type line preset between a planting area and different operation areas, and M AGV trolleys positioned on the wheel type line, wherein M is a natural number larger than 0;

the overhead traveling crane is used for loading the planting bed on the AGV trolley or unloading the planting bed from the AGV trolley;

and the operation control platform controls the AGV trolley to run between the planting area and different operation areas according to the operation task, controls the working state of the crown block and controls the working state of the operation equipment.

Preferably, the work area includes:

in the primary planting area, green plants are planted in the planting pots by using the primary planting lines;

in the pot thinning area, the position of the planting pot is adjusted by using a pot thinning line;

the management area is used for managing the potted green plants according to the operation requirements;

taking out of the bed area, taking out the potted plant, and bagging and packaging;

and the planting bed maintenance area is used for cleaning, stacking and caching the planting bed.

Preferably, the primary planting line comprises a substrate crushing lifter, a substrate stirrer, a flowerpot filling machine, a conveyor belt, a bed entering and jumping planting machine, a light-load crown block, a wheel type conveying station and an automatic irrigation device.

Preferably, the drain lines comprise a jump-out bed machine, a jump-in bed machine, a conveyor belt and an auxiliary conveying device.

Preferably, the preparation area and the out-of-bed area comprise wheeled lines.

Preferably, the planting bed maintenance area comprises a cleaning machine and a stacking machine.

Preferably, the work control platform comprises:

the operation task operation module is used for editing and adjusting operation tasks and decomposing each operation task into an overhead traveling crane task instruction, an AGV task instruction and a wheel type line task instruction;

the system comprises a data acquisition module, a data storage module and a data processing module, wherein the data acquisition module is used for acquiring basic data of the greenhouse, state data of task equipment in the greenhouse and state data of each AGV;

and the instruction issuing module generates a specific instruction according to the data of the data acquisition module and the job task operation module and issues the instruction to specific execution equipment.

Preferably, the wheeled line comprises a base support former, a double line track mounted on the support former.

The invention provides an AGV-based greenhouse operation method, which comprises the following steps:

s1, presetting a job task in the job control platform;

s2, the operation control platform acquires basic data of the greenhouse, state data of task equipment in the greenhouse and state data of each AGV, and generates specific instructions of the AGV and the overhead travelling crane according to the data of the data acquisition module and the operation task operation module;

and S3, the AGV trolley and the overhead traveling crane receive the instruction issued by the operation control platform and reach the designated area according to the specific instruction to execute corresponding action.

Preferably, in S3, after the AGV cart and the overhead traveling crane execute each instruction, the AGV cart and the overhead traveling crane send execution result data to the operation control platform.

The invention has the advantages and positive effects that:

according to the invention, the AGV trolley is used for carrying out the transportation work in the greenhouse, so that the seamless butt joint of each region is realized, the transportation efficiency is improved, and the labor cost is greatly reduced;

the operation control platform is utilized, the state in the greenhouse can be quantitatively and intensively controlled, for example, basic data in the greenhouse are quantitatively collected, unified control is performed through the operation control platform, work tasks are decomposed, specific quantitative execution is performed, and the tasks are ensured not to be omitted.

The wheel type line comprises a bottom supporting type frame, a double-line track is arranged on the supporting type frame, and an AGV trolley runs on the double-line track, so that on one hand, the influence of a greenhouse ground humid environment on the AGV trolley is reduced while the AGV is ensured to run stably through high-altitude operation; on the other hand, the utilization rate of the space in the greenhouse is also increased.

Drawings

Fig. 1 is a circuit block diagram of a preferred embodiment of the present invention.

Detailed Description

For a further understanding of the invention, its nature and utility, reference should be made to the following examples, taken in conjunction with the accompanying drawings, in which:

as shown in fig. 1, the technical solution of the present invention is:

a greenhouse operation system based on AGV is used for a greenhouse for potted green planting, namely planting is carried out in the greenhouse in a potted mode, the greenhouse comprises a planting area and N operation areas, and N is a natural number larger than 0; in the preferred embodiment:

the operation area mainly comprises:

in the primary planting area, green plants are planted in the planting pots by using the primary planting lines; the primary planting line comprises a matrix crushing lifter, a matrix stirrer, a flowerpot filling machine, a conveyor belt, a bed entering jumping and planting machine, a light-load crown block, a wheel type conveying station and an automatic irrigation device. When in work: firstly, placing a compressed bag into a matrix crushing lifter to automatically loosen and compress a matrix, then sending the matrix into a matrix stirrer, mixing a loosened and compressed material with other matrixes through the matrix stirrer, then filling soil into a flowerpot through a flowerpot filling machine, then placing the flowerpot on a conveyor belt, automatically stacking and loading the flowerpot into a bed through a bed entering jumping and planting machine (in the secondary process, a lightly-loaded crown block is used for automatically stacking and supplying a station to automatically take an empty bed and place the empty bed on a station for placing the bed), then a wheel type conveying station is used for automatically pushing a full planting bed, an automatic irrigation device is used for irrigating until a primary planting exchange station, and finally, an AGV takes away the planted full bed and transports the bed to a planting area;

in the pot thinning area, the position of the planting pot is adjusted by using a pot thinning line; after the basin dredging operation is finished through the bed outlet machine and the bed inlet machine, the AGV trolley is transported back to the planting area again; the basin dredging line comprises two operation units, wherein the first operation unit comprises two groups of automatic basin dredging units, the second operation unit comprises one group of automatic basin dredging units, and each group of automatic basin dredging units comprises a jumping-out bed machine, a jumping-in bed machine, a conveying belt and an auxiliary conveying device; green planting cultivated in a pot is planted the district through the growth of a period of time, need pull open the distance between the basin, and at this moment, the operation district is got back to in the transportation of planting bed by AGV dolly, and AGV supplies a station in getting into the pot operation district of dredging cultivated in a pot. The specific working process is as follows: the AGV trolley transports the planting bed to a bed supply station, automatically receives the planting bed, the wheel type line drives the planting bed to move to a jumping out bed machine, the planting bed is delivered to the jumping out bed machine, the jumping out bed machine controls the bed to move in a stepping mode, potted plants are automatically shifted out of the bed one by one and placed on a conveyor belt, then the conveyor belt is conveyed to the jumping in bed machine, the jumping in bed machine controls the bed to move in a stepping mode, the potted plants are stacked into an empty bed until the potted plants are fully stacked, the potted plants are automatically output and delivered to a planting bed wheel type conveyor line, and finally the AGV trolley is parked into a position and automatically takes away the planting bed after the potted plants are thinned, and the planting bed is transported to a bed queue in a designated planting area. After jumping out of the bed, the empty bed is automatically delivered to a station for lifting the bed under the overhead travelling crane through a wheel type line, the overhead travelling crane is taken out and delivered to a cleaning machine, the overhead travelling crane is transported to a stacking station for automatic stacking after cleaning, and an AGV trolley transports a bed stack to enter a buffer queue of an empty bed stacking area. The empty bed required by jumping in and out is taken out from a supply station of a self-cleaning planting bed stack of a light-load crown block and put into a placing station to be transmitted back, and the bed stack is automatically supplied to a lifting station of the crown block by an AGV trolley.

The management area is used for managing the potted green plants according to the operation requirements; the treatment area includes a wheeled line. By adopting a man-machine combination mode and a wheel type line, the planting bed is transported back to the planting area after workers complete operation on two sides of the planting bed. For some green plants, the plants need to be returned to an operation room for plant management, for example, pinching operation is carried out, the plants are managed in the operation room by an AGV trolley, and after workers finish the plant management operation on two sides of the planting bed, the planting bed is conveyed back to the planting area by the AGV trolley.

Taking out of the bed area, taking out the potted plant, and bagging and packaging; the out-of-bed area includes a wheeled line. The finished potted plant planting bed is conveyed out from a planting area through the AGV trolley, a bed supply station in the finished product area is conveyed out from an operation room, the planting bed is controlled by workers to move forward after the wheel type stations are automatically received, the workers take out the potted plants from the bed, manage, pack, stack and convey the potted plants, empty beds enter two corresponding bed lifting stations under the overhead travelling crane forward, and the empty beds are automatically taken away by the overhead travelling crane to be cleaned, stacked and cached.

And the planting bed maintenance area is used for cleaning, stacking and caching the planting bed. After the crown block automatically finishes the stacking of the planting beds, an AGV enters a station and automatically takes away the stacking of the beds, and the AGV is transported to a stacking position in an appointed queue in a ring village area; when empty beds are needed, the AGV transports the beds out of the stack to an unstacking station, and the overhead travelling crane supplies the empty beds to a bed placing station one by one; and (4) dredging basins, discharging empty beds from the forming stage, automatically delivering the overhead travelling cranes to a cleaning machine, and automatically stacking after cleaning.

The greenhouse working system at least comprises:

the AGV traveling system comprises a wheel type line preset between a planting area and different operation areas, and M AGV trolleys positioned on the wheel type line, wherein M is a natural number larger than 0;

the overhead traveling crane loads the planting bed on the AGV trolley or unloads the planting bed from the AGV trolley;

and the operation control platform controls the AGV trolley to run between the planting area and different operation areas according to the operation task, controls the working state of the crown block and controls the working state of the operation equipment.

The work control platform includes:

the operation task operation module is used for editing and adjusting operation tasks and decomposing each operation task into an overhead traveling crane task instruction, an AGV task instruction and a wheel type line task instruction;

the data acquisition module is used for acquiring basic data of the greenhouse, state data of task equipment in the greenhouse and state data of each AGV trolley;

and the instruction issuing module generates a specific instruction according to the data of the data acquisition module and the job task operation module and issues the instruction to specific execution equipment.

Since the ground of the greenhouse is wet and slippery, the influence on electronic equipment is large, and the space of the greenhouse is limited, for this reason, the wheeled line includes a bottom support frame, and a double-line track installed on the support frame.

An AGV-based greenhouse operation method comprises the following steps:

s1, presetting a job task in the job control platform; the operation tasks comprise a primary planting task, a pot thinning task, a bed outlet task and a planting bed maintenance task;

s2, the operation control platform acquires basic data of the greenhouse, state data of task equipment in the greenhouse and state data of each AGV, and specific instructions of the AGV and the overhead travelling crane are generated according to the data of the data acquisition module and the operation task operation module; the basic data comprises the layout information of the wheel-type lines, the green planting information of the planting area and the temperature and humidity information; the state data of the AGV comprises self-checking information, position information and working or non-working information of the AGV;

and S3, the AGV trolley and the overhead traveling crane receive the instruction issued by the operation control platform and reach the designated area according to the specific instruction to execute corresponding action. And after the AGV trolley and the overhead traveling crane execute each instruction, sending execution result data to the operation control platform.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and any simple modifications, equivalent variations and modifications made to the above embodiment according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.

Claims (10)

1. A greenhouse operation system based on AGV is used for a greenhouse for potted green plants, and is characterized in that the greenhouse comprises a planting area and N operation areas, wherein N is a natural number greater than 0; the greenhouse operation system at least comprises:

the AGV traveling system comprises a wheel type line preset between a planting area and different operation areas, and M AGV trolleys positioned on the wheel type line, wherein M is a natural number larger than 0;

the overhead traveling crane loads the planting bed on the AGV trolley or unloads the planting bed from the AGV trolley;

and the operation control platform controls the AGV trolley to run between the planting area and different operation areas according to the operation tasks, controls the working state of the crown block and controls the working state of the operation equipment.

2. The AGV-based greenhouse operating system of claim 1, wherein the operating area includes:

in the primary planting area, green planting is carried out in the planting pot by utilizing the primary planting line;

in the pot thinning area, the position of the planting pot is adjusted by using a pot thinning line;

the management area is used for managing the potted green plants according to the operation requirements;

taking out of the bed area, taking out the potted plant, and bagging and packaging;

and the planting bed maintenance area is used for cleaning, stacking and caching the planting bed.

3. The AGV-based greenhouse operation system of claim 2, wherein the initial planting line includes a substrate breaking hoist, a substrate blender, a pot filler, a conveyor belt, a bed-entering jump planter, a light-duty crown block, a wheeled transport station, an automatic irrigation device.

4. An AGV-based greenhouse operation system according to claim 2, wherein the drain lines include a jump out bed machine, a jump in bed machine, a conveyor belt and an auxiliary conveyor.

5. The AGV-based greenhouse operation system of claim 2, wherein the disposal area and the out-of-bed area include wheeled lines.

6. The AGV-based greenhouse operation system of claim 2, wherein the growing bed maintenance section includes a washer and a stacker.

7. The AGV-based greenhouse operation system of claim 1, wherein the operation control platform includes:

the operation task operation module is used for editing and adjusting operation tasks and decomposing each operation task into an overhead traveling crane task instruction, an AGV task instruction and a wheel type line task instruction;

the system comprises a data acquisition module, a data storage module and a data processing module, wherein the data acquisition module is used for acquiring basic data of the greenhouse, state data of task equipment in the greenhouse and state data of each AGV;

and the instruction issuing module generates a specific instruction according to the data of the data acquisition module and the job task operation module and issues the instruction to specific execution equipment.

8. An AGV-based greenhouse operating system according to claim 1, wherein the wheeled lines include a bottom support profile, a double track mounted on the support profile.

9. An AGV-based greenhouse operation method is characterized by comprising the following steps:

s1, presetting a job task in the job control platform;

s2, the operation control platform acquires basic data of the greenhouse, state data of task equipment in the greenhouse and state data of each AGV, and specific instructions of the AGV and the overhead travelling crane are generated according to the data of the data acquisition module and the operation task operation module;

and S3, the AGV trolley and the overhead traveling crane receive the instruction issued by the operation control platform and reach the designated area according to the specific instruction to execute corresponding action.

10. The AGV-based greenhouse operation method of claim 9, wherein in S3, after the AGV and the overhead traveling crane have executed each command, the AGV and the overhead traveling crane send execution result data to the operation control platform.

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