CN115349379A - Multilayer automatic seedbed control system - Google Patents
Multilayer automatic seedbed control system Download PDFInfo
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- CN115349379A CN115349379A CN202211047829.8A CN202211047829A CN115349379A CN 115349379 A CN115349379 A CN 115349379A CN 202211047829 A CN202211047829 A CN 202211047829A CN 115349379 A CN115349379 A CN 115349379A
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- seedbed
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- feeding trolley
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
- A01G9/14—Greenhouses
- A01G9/1423—Greenhouse bench structures
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G13/00—Protecting plants
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G7/00—Botany in general
- A01G7/04—Electric or magnetic or acoustic treatment of plants for promoting growth
- A01G7/045—Electric or magnetic or acoustic treatment of plants for promoting growth with electric lighting
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
- A01G9/14—Greenhouses
- A01G9/143—Equipment for handling produce in greenhouses
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
- A01G9/24—Devices or systems for heating, ventilating, regulating temperature, illuminating, or watering, in greenhouses, forcing-frames, or the like
- A01G9/249—Lighting means
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/25—Greenhouse technology, e.g. cooling systems therefor
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Zoology (AREA)
- Wood Science & Technology (AREA)
- Pest Control & Pesticides (AREA)
- Insects & Arthropods (AREA)
- Ecology (AREA)
- Toxicology (AREA)
- General Health & Medical Sciences (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Forests & Forestry (AREA)
- Botany (AREA)
- Biodiversity & Conservation Biology (AREA)
- Greenhouses (AREA)
Abstract
The invention discloses a multilayer automatic seedbed control system which comprises a seedbed body, a seedbed frame, an upper frame system, a lower frame system, a steering system, a manual operation area, an automatic operation area and a control system. The invention realizes the full-automatic operation of the multilayer seedbed, greatly reduces the manual operation and effectively utilizes the space in the greenhouse. The seedbed is accurately positioned through the control system, and data acquisition, automatic identification, light supplement lamp control, automatic sprinkling irrigation and pest and disease damage identification are realized. Finally, the crops have a better growth environment, and the production efficiency is greatly improved.
Description
Technical Field
The invention belongs to the technical field of automatic seedbed control, and particularly relates to a multilayer automatic seedbed control system.
Background
With the development of facility agriculture industry and the shortage of working workers in China, the automatic movable seedbed is gradually recognized and developed as a brand-new automatic agricultural production facility with the advantages of labor saving and energy saving. The position of the traditional seedbed is relatively fixed, and the position of the traditional seedbed can only be changed manually, so that the labor cost is huge, and the production efficiency is low. Therefore, in the actual greenhouse plant cultivation process, the realization of the circulating flow of the seedbed in the greenhouse has important significance for the development of the greenhouse. The existing seedbed has low automation degree, can only realize the movement in a local range, has less additional functions, and cannot realize the functions of automatic operation, scheduling, data acquisition and the like of the whole greenhouse. The invention aims to realize a full-automatic moving seedbed, and simultaneously realize the functions of data acquisition, automatic identification, light supplement lamp control, automatic sprinkling irrigation and pest and disease damage identification of environmental parameters.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a multilayer automatic seedbed control system.
A multilayer automatic seedbed control system comprises a seedbed body, a seedbed frame, an upper frame system, a lower frame system, a steering system, a manual operation area, an automatic operation area (an image recognition and micro-spraying system) and a control system.
A seedbed body: a guide pulley, seedbed control panel, light filling lamp, dial switch, battery, light-sensitive switch and bar code label are installed to the crop for transporting the cultivation. Is a key part of the whole seedbed transferring system.
Seedling bed frame: the seedling bed consists of a seedbed guide rail and is used for placing a seedbed body, and the end face of the seedbed guide rail is provided with a bar code label containing the row number of the seedbed guide rail.
The racking system and the racking system are as follows: used for transporting the seedbed body to a designated position, then lifting the seedbed body and pushing the seedbed body into the seedbed guide rail. The upper rack system and the lower rack system are completed by a feeding trolley, and the feeding trolley comprises a feeding trolley body, a feeding trolley bar code reader, a transverse guide rail, a longitudinal guide rail, a conductive wheel and a lifting cylinder; the feeding trolley is divided into a feeding trolley and a discharging trolley according to different setting positions and functions, and the feeding trolley corresponds to the upper rack system and the lower rack system respectively.
A steering system: including turning to the crane span structure and turning to the crane span structure left for the realization is with the turn action of the seedbed bed body, through turning to the crane span structure right with the seedbed body anticlockwise rotation 90 degrees, finally pushes the seedbed body into material loading dolly guide rail, through turning to the crane span structure left with the seedbed body anticlockwise rotation 90 degrees, finally pushes the seedbed body into first manual operation district.
A manual operation area: the automatic operation area is divided into a first manual operation area and a second manual operation area which are respectively positioned at two sides of the automatic operation area; the driving wheels are arranged in the manual operation area and used for pushing the seedbed body to move, the manual operation area is used for manually operating the seedbed, and the first manual operation area pushes the seedbed body to move into the automatic operation area through the driving wheels after the operation is finished. The first manual operation area completes necessary operations such as weeding, matrix addition and the like; the second manual operation area completes the removal of the planted crops and the addition of new crops.
An automatic operation area: in the automatic operation area, an image recognition and micro-spraying system is arranged, when the seedbed body passes through, the image recognition is firstly carried out on the seedbed body, so that the crops with plant diseases and insect pests can be recognized. And then, judging the plant species according to the bar code label on the seedbed body, and sending the seedbed body into a second manual operation area after the targeted micro-spraying operation is finished.
The control system comprises: the device is arranged in a control cabinet and used for completing the control function of a multi-layer automatic seedbed control system, the movement of a loading trolley, the movement of a blanking trolley, image recognition and micro-spraying operation, data recording and query functions.
The process of putting the seedbed body on the shelf comprises the following steps: the control system calculates the current bed number and the current bed number of the seedbed which need to be put in. Then the driving wheels in the second manual operation area are controlled to rotate, so that the bed body of the seedbed is pushed into the right steering bridge. And then, the right steering bridge frame rotates 90 degrees anticlockwise to ensure that the bed body of the seedbed is changed from horizontal to vertical. After the seedling bed body is rotated to the proper position, the seedling bed body is pushed to the feeding trolley by the right steering bridge frame, and after the seedling bed body is in the proper position on the feeding trolley, the seedling bed body is sent to the designated row number position by the feeding trolley. Every time the feeding trolley passes through the seedbed frame of a row, the bar code reader of the feeding trolley can scan the bar code label on the seedbed guide rail so as to judge that the current trolley runs to the row. After the specified row number is reached, the feeding trolley lifts the seedbed body to the corresponding layer number, and after the seedbed body is in place, the feeding trolley pushes the seedbed body into the seedbed frame of the corresponding layer. And then the seedbed body can push the next seedbed body to continue moving, finally the seedbed body at the tail end of the row can be pushed into the discharging trolley, and the feeding trolley and the discharging trolley must work simultaneously to ensure the smooth feeding and discharging. The blanking trolley sends the seedbed body to the left steering bridge, after the left steering bridge is in place, the left steering bridge rotates 90 degrees anticlockwise to change the seedbed body from vertical to horizontal, and then the seedbed body is pushed into a first manual operation area through the movement of the pushing shaft motor driving the baffle electric push rod. Therefore, the whole process of feeding and discharging of the bed body of the seedbed is realized.
The invention has the following beneficial effects:
the invention realizes the full-automatic operation of the multilayer seedbed, greatly reduces the manual operation and effectively utilizes the space in the greenhouse. The seedbed is accurately positioned through the control system, and data acquisition, automatic identification, light supplement lamp control, automatic sprinkling irrigation and pest and disease damage identification are realized. Finally, the crops have a better growing environment, and the production efficiency is greatly improved.
Drawings
FIG. 1 is a schematic diagram of a system configuration according to an embodiment of the present invention;
wherein: 1-seedbed body, 2-feeding trolley guide rail, 3-feeding trolley conductive belt, 4-feeding trolley, 5-right steering bridge, 6-control cabinet, 7-second manual operation area, 8-automatic operation area, 9-first manual operation area, 10-left steering bridge, 11-blanking trolley guide rail, 12-blanking trolley conductive belt, 13-blanking trolley, 14-seedbed guide rail;
FIG. 2 is a flow chart of the feeding operation of the bed body of the seedbed in the embodiment of the invention;
FIG. 3 is a front view and a top view of a bed body of a seedbed in accordance with an embodiment of the present invention;
wherein: 101-a longitudinal guide wheel, 102-a transverse guide wheel, 103-a seedbed control board, 104-a light supplement lamp, 105-a light supplement lamp, 106-a light supplement lamp, 107-a 1 dial switch, 108-a 2 dial switch, 109-a 3 dial switch, 110-a 4 dial switch, 111-a 5 dial switch, 112-a storage battery, 113-a positive conductive rod, 114-a negative conductive rod, 115-a light induction switch, 116-a 4 light supplement lamp, 117-a 5 light supplement lamp, 118-a 6 light supplement lamp, 119-a bar code label, 120-a seedbed main body and 121-a storage battery charger;
FIG. 4 is a front view of a feeding trolley according to an embodiment of the present invention;
FIG. 5 is a left side view of a feed trolley according to an embodiment of the present invention;
wherein: 301-transverse guide rail, 302-proximity switch, 303-longitudinal guide rail lifting cylinder, 304-feeding trolley bar code reader, 305-feeding trolley wheel, 306-positive conductive wheel, 307-negative conductive wheel, 308-feeding trolley body, 309-lifting support rod, 310-transverse guide rail lifting cylinder, 311-longitudinal guide rail, 312-longitudinal push rod motor, 313-longitudinal guide rail telescopic rod and 314-feeding trolley wireless data transmission module.
FIG. 6 is a front view of a right hand bridge of an embodiment of the present invention;
FIG. 7 is a left side view of a right steering bridge according to an embodiment of the present invention;
wherein: 201-transverse guide rail, 202-steering frame, 203-fixed rotating shaft, 204-fixed bearing, 205-driving wheel bracket, 206-motor driving wheel, 207-auxiliary wheel bracket, 208-auxiliary wheel, 209-right steering bridge controller, 210-propulsion shaft motor, 211-propulsion shaft screw rod, 212-propulsion shaft bearing, 213-baffle electric push rod, 214-baffle slider, 215-right brake, 216-left brake, 217-first in-place switch (in-place switch 1), 218-second in-place switch (in-place switch 2), 219-steering bridge approach switch (approach switch 3) and 220-steering bridge wireless data transmission module.
FIG. 8 is a schematic right-hand truck tray workflow according to an embodiment of the present invention;
FIG. 9 is a front view and a left side view of an automatic operating area according to an embodiment of the present invention;
wherein: 401-right drive wheel, 402-operation zone bedstead, 403-right support, 404-special controller, 405-left support, 406-left drive wheel, 407-camera head, 408-vision protection cover, 409-auxiliary wheel, 410-camera, 411-vision movement screw rod, 412-vision system drive motor, 413-micro-injection system drive motor, 414-spray head support, 415-micro-injection system screw rod, 416-spray head device, 417-first automatic gantry proximity switch, 418-second automatic gantry proximity switch, 419-third automatic gantry proximity switch, 420-1 dial switch cylinder, 421-2 dial switch cylinder, 422-3 dial switch cylinder, 423-4 dial switch cylinder, 424-5 dial switch cylinder.
Fig. 10 is a schematic diagram of a work flow of the image recognition and micro-jetting system in the embodiment of the invention.
Detailed Description
The technical solution of the present invention is further described with reference to the accompanying drawings and examples.
As shown in fig. 1, the multilayer automatic seedbed control system comprises a seedbed body 1, a feeding trolley guide rail 2, a feeding trolley conductive belt 3, a feeding trolley 4, a right steering bridge 5, a control cabinet 6, a second manual operation area 7, an automatic operation area 8, a first manual operation area 9, a left steering bridge 10, a discharging trolley guide rail 11, a discharging trolley conductive belt 12, a discharging trolley 13 and a seedbed guide rail 14. The first manual operation area 9, the automatic operation area 8 and the second manual operation area 7 are horizontally distributed on a straight line and are spaced by 2 meters. All be equipped with the drive wheel in first manual operation district 9 and the second manual operation district 7, the drive wheel all links to each other with control cabinet 6 through the cable, comes output voltage control drive wheel's rotation by control cabinet 6. The left steering bridge frame 10 and the right steering bridge frame 5 are respectively aligned with the blanking trolley guide rail 11 and the feeding trolley guide rail 2, and a control cabinet 6 is arranged behind the second manual operation area 7. The feeding trolley 4 runs on the feeding trolley guide rail 2, and the feeding trolley conductive belt 3 is arranged in the middle of the feeding trolley guide rail 2. The bed body 1 travels laterally on the bed rail 14. The blanking trolley 13 runs on the blanking trolley guide rail 11, the blanking trolley conductive belt 12 is arranged in the middle of the blanking trolley guide rail 11, and the end face of the seedbed guide rail 14 is provided with a bar code label which contains the row number of the seedbed guide rail.
Seedbed bed 1 (as shown in fig. 3): for transporting the cultivated crop, 4 longitudinal guide wheels 101 and 4 transverse guide wheels 102 are installed under the bed body 120, and the two sets of guide wheels are in a perpendicular relationship. The seedbed main part 120 lower surface is equipped with 6 light filling lamps, is No. 1 light filling lamp 104, no. 2 light filling lamp 105, no. 3 light filling lamp 106, no. 4 light filling lamp 116, no. 5 light filling lamp 117 and No. 6 light filling lamp 118 respectively. The side of the seedbed main body 120 is provided with a bar code label 119; the lower part of the seedbed main body 120 is also provided with 5 dial switches, namely a 1 dial switch 107, a 2 dial switch 108, a 3 dial switch 109, a 4 dial switch 110 and a 5 dial switch 111. A seedbed control board 103 is arranged at the right side of the 5 dial switches and is used for receiving the signal states of the 5 dial switches and the signals of the light-sensitive switch 115. The left side of the lower surface of the seedbed main body 120 is provided with a storage battery 112 for supplying power to the whole seedbed system. Two conducting rods, namely a positive conducting rod 113 and a negative conducting rod 114, are arranged on the left side of the storage battery 112 and are used for transmitting electricity on the feeding trolley or the discharging trolley into a storage battery charger 121 on the seedbed bed body 1 so as to charge the storage battery 112. The leftmost side of the lower surface of the seedbed main body 120 is provided with a light-sensitive switch 115 for sensing the intensity of light.
The racking system and the racking system are completed by a feeding trolley (as shown in fig. 4 and 5) which comprises a feeding trolley 4 and a discharging trolley 13: the feeding trolley 4 is used for conveying the seedbed body 1 to the seedbed guide rail 14 at the designated position, then lifting the seedbed body 1 and pushing the seedbed body 1 onto the seedbed guide rail 14, and the discharging trolley 13 is used for sending the seedbed body 1 to the left steering bridge frame 10 through the transverse guide wheels. The front end of the feeding trolley body 308 is provided with a feeding trolley bar code reader 304 for scanning bar code labels on the seedbed guide rails 14; 4 transverse guide rail lifting cylinders 310 are arranged on the feeding trolley body 308, a transverse guide rail 301 is arranged at the upper part of each transverse guide rail lifting cylinder 310, and in order to ensure the stable lifting operation of the transverse guide rail 301, a lifting support rod 309 is arranged between the feeding trolley body 308 and the transverse guide rail 301. The lower part of the transverse guide rail 301 is provided with 4 longitudinal guide rail lifting cylinders 303 which are used for lifting the bed body 1 of the seedbed. Meanwhile, the lower part of the transverse guide rail 301 is provided with a longitudinal guide rail 311 and a longitudinal push rod motor 312, which are used for pushing the telescopic rod of the longitudinal guide rail to the seedbed guide rail 14 and pushing the seedbed body 1 to the seedbed guide rail 14. The lower part of the feeding trolley body 308 is provided with 4 feeding trolley wheels 305, so that the feeding trolley runs on the feeding trolley guide rail 2 and the discharging trolley guide rail 11. The lower part of the feeding trolley body 308 is also provided with a positive conductive wheel 306 and a negative conductive wheel 307, and the two wheels are in contact with the feeding trolley conductive belt 3 and the discharging trolley conductive belt 12 and are used for supplying power to the feeding trolley. The feeding trolley body 308 is provided with a feeding trolley wireless data transmission module 314 which is in data communication with the wireless data transmission module in the control cabinet 6.
The steering system comprises a right steering bridge frame 5 and a left steering bridge frame 10 and is used for realizing the steering action of the seedbed bed body 1, rotating the seedbed body 1 anticlockwise by 90 degrees through the right steering bridge frame 5, finally pushing the seedbed body 1 into the feeding trolley guide rail, rotating the seedbed body 1 anticlockwise by 90 degrees through the left steering bridge frame 10, and finally pushing the seedbed body 1 into a first manual operation area.
Taking the right-hand bridge 5 (as shown in fig. 6 and 7) as an example: the turning device is used for turning the seedbed body 1, so that the seedbed body 1 can rotate 90 degrees anticlockwise and is placed on the transverse guide rail. The steering frame 202 is provided with a transverse guide rail 201, a right brake 215 and a left brake 216, and the left brake and the right brake are used for fixing the seedbed bed body 1. Meanwhile, a first in-place switch (in-place switch 1) 217 and a second in-place switch (in-place switch 2) 218 are arranged on the steering frame 202 and are respectively used for detecting the current position of the seedbed body 1. A propulsion shaft motor 210, a propulsion shaft screw 211 and a propulsion shaft bearing 212 are arranged in the middle of the steering frame 202, and a baffle slider 214 and a baffle electric push rod 213 are arranged on the propulsion shaft screw 211. A driving wheel support 205 and a motor driving wheel 206 are arranged at the lower part of the steering frame 202. A steering bridge approach switch (approach switch 3) 219 is provided at the lower part of the capstan support 205. A right steering bridge controller 209 is arranged on the left side of the driving wheel bracket 205 and serves as a control core component of the whole right steering bridge 5, wherein a steering bridge wireless data transmission module 220 is arranged in the right steering bridge controller 209 and is used for realizing data transmission with the control cabinet 6. An auxiliary wheel bracket 207 is arranged at the left end of the driving wheel bracket 205. During the rotation, the fixed rotation shaft 203 of the right bogie 5 rotates around the fixed bearing 204.
A manual operation area: the automatic operation area is divided into a first manual operation area 9 and a second manual operation area 7 which are respectively positioned at two sides of the automatic operation area 8; the driving wheels are arranged in the manual operation area and used for pushing the bed body of the seedbed to move, the manual operation area is used for manually operating the seedbed, and the first manual operation area pushes the bed body of the seedbed to move into the automatic operation area through the driving wheels after the operation is finished; the necessary operations include weeding and adding a substrate. The second manual operation area completes the removal of the planted crops and the addition of new crops.
Automatic operation area (as shown in fig. 9): in the automatic operation district, be equipped with image recognition and spout the system a little, when the seedbed bed body 1 process, carry out image recognition earlier to in the crop of discernment plant diseases and insect pests. And then, judging the plant type according to the bar code, and carrying out targeted micro-spraying operation. A left driving wheel 406 is provided on the operation area bedstead 402 for driving the bed frame 1 of the seedbed to move rightwards, a first automatic stage approach switch (automatic stage approach switch 1) 417 is provided on the right side of the left driving wheel 406, and a left support 405 and a right support 403 are provided for supporting the operation area bedstead 402. The left side of the upper part of the bedstead 402 of the operation area is provided with a vision protection cover 408, and a vision driving motor 412 and a vision moving screw rod 411 are arranged inside the vision protection cover. The visual moving screw 411 is provided with a camera frame 407 and a camera 410 for image recognition of the plant. The right side of the vision protection cover 408 is provided with a second automatic stage approach switch (automatic stage approach switch 2) 418, and the middle of the operation area bed frame 402 is provided with an auxiliary wheel 409 for supporting the bed body 1 of the seedbed. The right side of the auxiliary wheel 409 is provided with a micro-spraying device which comprises a spray head device 416, a spray head bracket 414, a micro-spraying system screw 415 and a micro-spraying system driving motor 413. The lower portion of the operating area bed frame 402 is provided with a dedicated controller 404 for assisting the control cabinet in image recognition and sprinkler irrigation control. A third automatic rack proximity switch (automatic rack proximity switch 3) 419 is arranged on the right side of the micro-spraying device; on the right side of the bed frame 402 in the operation area, a right driving wheel 401 is provided for driving the bed body 1 of the seedbed to move rightward.
Control system (as shown in fig. 10): the device is arranged in a control cabinet and used for completing the control function of a multi-layer automatic seedbed control system, the movement of a loading trolley, the movement of a blanking trolley, image recognition and micro-spraying operation, data recording and query functions.
The process of putting the seedbed body on the shelf comprises the following steps: the control system calculates the current bed to be placed in the row and the layer. Then the driving wheels in the second manual operation area are controlled to rotate, so that the bed body of the seedbed is pushed into the right steering bridge. And then, the right steering bridge frame rotates 90 degrees anticlockwise to ensure that the bed body of the seedbed is changed from the transverse direction to the vertical direction. After the seedling bed body is rotated to the proper position, the seedling bed body is pushed to the feeding trolley by the right steering bridge frame, and after the seedling bed body is in the proper position on the feeding trolley, the seedling bed body is conveyed to the designated row number position by the feeding trolley. Every time the feeding trolley passes through the seedbed frame of a row, the bar code reader of the feeding trolley can scan the bar code label on the seedbed guide rail so as to judge that the current trolley runs to the row. After the specified row number is reached, the feeding trolley lifts the seedbed body to the corresponding layer number, and after the seedbed body is in place, the feeding trolley pushes the seedbed body into the seedbed frame on the corresponding layer. And then the seedbed body can push the next seedbed body to continue moving, finally the last seedbed body of the row can be pushed into the discharging trolley, and the feeding trolley and the discharging trolley must work simultaneously to ensure the smooth feeding and discharging. The blanking trolley sends the seedbed body to the left steering bridge, after the left steering bridge is in place, the left steering bridge rotates 90 degrees anticlockwise to change the seedbed body from vertical to horizontal, and then the seedbed body is pushed into a first manual operation area through the movement of the pushing shaft motor driving the baffle electric push rod. Therefore, the whole process of feeding and discharging of the bed body of the seedbed is realized.
As shown in fig. 3, 4 longitudinal guide wheels and 4 transverse guide wheels are installed on the seedbed body, the seedbed body runs on the seedbed guide rails through the longitudinal guide wheels, the right turning bridge pushes the seedbed body onto the feeding trolley through the transverse guide wheels, and the discharging trolley sends the seedbed body into the left turning bridge through the transverse guide wheels. The seedbed control panel and the number 1 dial switch-5 dial switch are installed on the seedbed body, and the corresponding light supplementing lamps are controlled to be turned on by the seedbed control panel according to the states of the 5 dial switches and the interval time for turning on and off the light supplementing lamps. And meanwhile, the light sensing switch is combined to determine whether to turn on the light supplement lamp, when the illumination intensity is lower than a set value, the light supplement lamp is turned on, and otherwise, when the illumination intensity is higher than the set value, the light supplement lamp is turned off. The seedbed body is provided with a storage battery, an anode conducting rod and a cathode conducting rod, and the storage battery is used as a main power supply device of the seedbed body and used for supplying power to the seedbed control panel and the light supplementing lamp; the positive pole conducting rod and the negative pole conducting rod are used for charging the storage battery, when the seedbed bed body is located on the feeding trolley, and the feeding trolley is in the waiting time process, electricity is introduced into the storage battery charger on the seedbed body through the positive pole conducting rod and the negative pole conducting rod, the storage battery charging is achieved, and the electric quantity of the storage battery of the whole trolley is guaranteed to be sufficient. The bar code label is attached to the seedbed body and used for controlling the cabinet to inquire information of the seedbed body, wherein the information of the seedbed body comprises information such as types of crops planted in the seedbed, time for planting, time for watering, time for fertilizing and growth time. The light filling lamp distributes in seedbed bed body upper and lower both sides. The position of the dial switch is aligned with the position of a dial switch cylinder on the automatic rack.
As shown in fig. 4 and 5, the feeding cart is used to transport the bed body to a specified number of rows of the bed rails, then lift the bed body, and push the bed body onto the bed rails.
4 feeding trolley wheels are arranged on the feeding trolley body, so that the trolley can run on the feeding trolley guide rail conveniently. The transverse guide rail has the function that the seedbed body can move on the trolley, so that the seedbed body can be conveniently conveyed to the feeding trolley from the right steering bridge. The feeding trolley bar code reader has the function that when the feeding trolley runs and passes through the seedbed guide rail, the bar code label on the end face of the seedbed guide rail is scanned, so that the current running to the row number is judged, and the feeding trolley bar code reader stops when running to the specified row number. The longitudinal guide rail lifting cylinder has the following functions: after the feeding trolley lifts the seedbed body to the designated number of layers, the proximity switch is triggered, the longitudinal guide rail cylinder is lifted, so that the longitudinal guide rail and the seedbed guide rail with the corresponding number of layers are on the same horizontal plane, the telescopic rod of the longitudinal guide rail extends out to be conveniently butted with the seedbed guide rail, and the seedbed body can be pushed into the seedbed guide rail by the longitudinal push rod motor. The positive conductive wheel and the negative conductive wheel are always in contact with each other and run on the conductive belt to supply power to the feeding trolley. The function of the lifting support rod is to ensure that the transverse guide rail is always kept in a horizontal state in the lifting process. The lifting cylinder is used for lifting the seedbed body, so that the longitudinal guide wheel of the seedbed body and the telescopic rod of the longitudinal guide rail are positioned on the same horizontal plane, and the seedbed is convenient to move.
When the seedbed body is pushed into the right steering bridge, the right steering bridge rotates 90 degrees anticlockwise, so that the seedbed body is opposite to the feeding trolley. Then the bed body of the seedbed is pushed to a feeding trolley. As shown in fig. 6 and 7.
After the image recognition and micro-spraying system finishes the operation, the right driving wheel rotates to push the seedbed body to drive into the right steering bridge, and at the moment, the seedbed body runs on the transverse guide rail. When the first in-place switch (in-place switch 1) is triggered, the right driving wheel of the automatic operation area stops driving and becomes auxiliary follow-up. Then, the baffle electric push rod is lifted, and the propulsion shaft motor rotates in the positive direction to push the bed body of the seedbed to move rightwards. The bed body of the seedbed continues to move rightwards under the pushing action of the baffle electric push rod, and stops moving after triggering the second in-place switch (in-place switch 2). Thereafter, the propeller shaft motor stops rotating. The left seedbed fixing brake and the right seedbed fixing brake are clamped tightly, the seedbed body 1 is fixed, and the seedbed body is completely placed in the right steering bridge frame at the moment. Then, the driving wheel of the motor rotates, the right steering bridge starts to rotate, when the approach switch (approach switch 3) of the steering bridge is triggered, the driving wheel of the motor stops moving, and at the moment, the bed body of the seedbed rotates 90 degrees and is ready for longitudinal movement. Then, the left brake fixed on the seedbed and the right brake fixed on the seedbed are loosened, the baffle electric push rod descends and resets, the push shaft motor pushes the baffle sliding block to the leftmost end, the baffle electric push rod rises again, the baffle sliding block moves rightwards, and the seedbed body is pushed into the feeding trolley guide rail. And then, the right steering bridge frame is restored to the initial position again to wait for the next operation.
The left steering bridge frame and the right steering bridge frame have the same working principle, and the function is mainly to convey the seedbed body conveyed by the blanking trolley to a first manual operation area. After the seedbed body is conveyed to the left steering bridge frame by the blanking trolley, the baffle electric push rod is lifted, then the push shaft motor rotates to drag the seedbed body into the transverse guide rail of the left steering bridge frame, and then the baffle electric push rod is reset to the leftmost end of the steering rack again. The baffle electric push rod is lifted again, the push shaft motor rotates, and the seedbed body is dragged again through the movement of the baffle sliding block to completely drag the seedbed body to the transverse guide rail. Then left brake and right brake are fixed with the seedbed bed body, when guaranteeing that the left steering crane span structure is rotatory, the seedbed bed body can not rock. The left turning bridge is then rotated 90 degrees counterclockwise to align the bed with the first manual access area. Then, the baffle electric push rod rises, and the pushing shaft motor drives the pushing shaft screw rod to rotate, so that the baffle sliding block moves leftwards, and the seedbed body is pushed into the first manual operation area.
In the first manual operation area, necessary operations such as weeding, adding matrix and the like are carried out manually, then after driving wheels in the first manual operation area push the seedbed body to drive into the automatic operation area (an image recognition and micro-spraying system), the seedbed body moves rightwards on the automatic operation area, and stops when the seedbed body moves to the first automatic rack approach switch (the automatic rack approach switch 1). At the moment, the front part of the bed body of the seedbed enters the automatic operation area, the driving wheel of the first manual operation area stops, the left driving wheel of the automatic rack rotates, and the bed body of the seedbed continues to move rightwards. When the bed body of the seedbed moves to the second automatic rack approach switch (the automatic rack approach switch 2), the left driving wheel of the automatic operation area stops rotating, and the bed body of the seedbed stops. At the moment, the vision system driving motor drives the vision moving screw rod to rotate, the camera frame moves on the vision moving screw rod, and the camera longitudinally runs to perform vision scanning. After scanning one row, the bed body of the seedbed advances for a certain distance to prepare for scanning the next row. And when the plant diseases and insect pests are identified, performing sound-light alarm, and taking out the plant diseases and insect pests manually. In the process that the bed body of the seedbed runs rightwards, when a third automatic rack approach switch (an automatic rack approach switch 3) is triggered, micro-spraying operation is started. At the moment, the micro-spraying system driving motor drives the micro-spraying system screw rod to rotate, and the spray head support moves on the micro-spraying system screw rod, so that the micro-spray head longitudinally runs, and micro-spraying operation is realized. In the process, the vision system and the micro-spraying system operate simultaneously, and the longitudinal displacement speeds of the two systems need to be set in advance, so that the effects of vision identification and micro-spraying operation are ensured. When the left part of the bed body of the seedbed triggers a third automatic rack approach switch (an automatic rack approach switch 3), the operation of the automatic rack part is completed.
The foregoing is a more detailed description of the invention in connection with specific/preferred embodiments and is not intended to limit the practice of the invention to those descriptions. For a person skilled in the art to which the invention pertains, several alternatives or variations of the described embodiments may be made without departing from the inventive concept, and these alternatives or variations should be considered as falling within the scope of the invention.
The present invention has not been described in detail, partly as is known to the person skilled in the art.
Claims (10)
1. A multilayer automatic seedbed control system is characterized by comprising a seedbed body, a seedbed frame, an upper frame system, a lower frame system, a steering system, a manual operation area, an automatic operation area and a control system;
a seedbed body: the device is used for conveying cultivated crops and is provided with a guide wheel, a seedbed control panel, a light supplementing lamp, a dial switch, a storage battery, a light sensing switch and a bar code label; is a key component of the whole seedbed transferring system;
seedling bed frame: the device comprises a seedbed guide rail, a bar code label and a control module, wherein the seedbed guide rail is used for placing a seedbed body;
the racking system and the racking system are as follows: the seedling bed body is used for conveying the seedling bed body to a specified position, then lifting the seedling bed body, and pushing the seedling bed body onto the seedling bed guide rail; the upper rack system and the lower rack system are completed by a feeding trolley, and the feeding trolley comprises a feeding trolley body, a feeding trolley bar code reader, a transverse guide rail, a longitudinal guide rail, a conductive wheel and a lifting cylinder; the feeding trolley is divided into a feeding trolley and a discharging trolley according to different setting positions and functions, and the feeding trolley corresponds to the upper rack system and the lower rack system respectively;
a steering system: the seedling bed turning mechanism comprises a right turning bridge and a left turning bridge, and is used for turning a seedling bed body, rotating the seedling bed body by 90 degrees in an anticlockwise mode through the right turning bridge, finally pushing the seedling bed body into a feeding trolley guide rail, rotating the seedling bed body by 90 degrees in the anticlockwise mode through the left turning bridge, and finally pushing the seedling bed body into a first manual operation area;
a manual operation area: the automatic operation area is divided into a first manual operation area and a second manual operation area which are respectively positioned at two sides of the automatic operation area; the driving wheels are arranged in the manual operation area and used for pushing the seedbed body to move, the manual operation area is used for manually operating the seedbed, and the first manual operation area pushes the seedbed body to drive into the automatic operation area through the driving wheels after the operation is finished;
an automatic operation area: an image recognition and micro-spraying system is arranged in the automatic operation area, when the seedbed body passes through, the image recognition is firstly carried out on the seedbed body, so that crops with plant diseases and insect pests can be recognized conveniently; then, judging the plant species according to the bar code label on the seedbed body, and sending the seedbed body into a second manual operation area after the targeted micro-spraying operation is finished;
the control system comprises: the device is arranged in a control cabinet and used for completing the control function of a multi-layer automatic seedbed control system, the movement of a feeding trolley, the movement of a discharging trolley, image recognition and micro-spraying operation, data recording and query functions.
2. The multilayer automatic seedbed control system of claim 1, characterized by comprising a seedbed body (1), a feeding trolley guide rail (2), a feeding trolley conductive belt (3), a feeding trolley (4), a right steering bridge (5), a control cabinet (6), a second manual operation area (7), an automatic operation area (8), a first manual operation area (9), a left steering bridge (10), a blanking trolley guide rail (11), a blanking trolley conductive belt (12), a blanking trolley (13), a seedbed guide rail (14); the first manual operation area (9), the automatic operation area (8) and the second manual operation area (7) are horizontally distributed on a straight line and are spaced by 2 meters; driving wheels are arranged in the first manual operation area (9) and the second manual operation area (7), the driving wheels are connected with the control cabinet (6) through cables, and the control cabinet (6) outputs voltage to control the rotation of the driving wheels; the left steering bridge frame (10) and the right steering bridge frame (5) are respectively aligned with the blanking trolley guide rail (11) and the loading trolley guide rail (2), and a control cabinet (6) is arranged behind the second manual operation area (7); the feeding trolley (4) runs on the feeding trolley guide rail (2), and a feeding trolley conductive belt (3) is arranged in the middle of the feeding trolley guide rail (2); the seedbed body (1) transversely runs on the seedbed guide rail (14); the feeding trolley (13) runs on the feeding trolley guide rail (11), a feeding trolley conductive belt (12) is arranged in the middle of the feeding trolley guide rail (11), and a bar code label containing the row number of the seedbed guide rail is arranged on the end face of the seedbed guide rail (14).
3. The multilayer automated seedbed control system of claim 2, characterized in that the seedbed (1): for transporting cultivated crops, 4 longitudinal guide wheels (101) and 4 transverse guide wheels (102) are arranged below a seedbed main body (120), and the directions of the two groups of guide wheels are in a vertical relation; 6 light-supplementing lamps are arranged on the lower surface of the seedbed main body (120), namely a No. 1 light-supplementing lamp (104), a No. 2 light-supplementing lamp (105), a No. 3 light-supplementing lamp (106), a No. 4 light-supplementing lamp (116), a No. 5 light-supplementing lamp (117) and a No. 6 light-supplementing lamp (118); a bar code label (119) is arranged on the side edge of the seedbed main body (120); the lower part of the seedbed main body (120) is also provided with 5 dial switches which are a No. 1 dial switch (107), a No. 2 dial switch (108), a No. 3 dial switch (109), a No. 4 dial switch (110) and a No. 5 dial switch (111); a seedbed control board (103) is arranged on the right side of the 5 dial switches and used for receiving the signal states of the 5 dial switches and the signals of the light sensing switches (115); a storage battery (112) is arranged on the left side of the lower surface of the seedbed main body (120) and is used for supplying power to the whole seedbed system; two conducting rods, namely a positive conducting rod (113) and a negative conducting rod (114), are arranged on the left side of the storage battery (112) and are used for transmitting electricity on the feeding trolley or the discharging trolley into a storage battery charger (121) on the seedbed bed body 1 so as to charge the storage battery (112); the leftmost side of the lower surface of the seedbed main body (120) is provided with a light-sensing switch (115) for sensing the intensity of illumination.
4. The multi-layered automated seedbed control system of claim 3, characterized in that the racking system and the racking system are implemented by a feeding cart comprising a loading cart (4) and a unloading cart (13): the feeding trolley (4) is used for conveying the seedbed body (1) to a seedbed guide rail (14) at a designated position, then lifting the seedbed body (1) and pushing the seedbed body (1) onto the seedbed guide rail (14), and the discharging trolley (13) is used for conveying the seedbed body (1) to the left steering bridge (10) through a transverse guide wheel; the front end of the feeding trolley body (308) is provided with a feeding trolley bar code reader (304) which is used for scanning bar code labels on the seedbed guide rails (14); 4 transverse guide rail lifting cylinders (310) are arranged on the feeding trolley body (308), a transverse guide rail (301) is arranged on the upper portion of each transverse guide rail lifting cylinder (310), and in order to guarantee stable operation of lifting of the transverse guide rail (301), a lifting support rod (309) is arranged between the feeding trolley body (308) and the transverse guide rail (301); 4 longitudinal guide rail lifting cylinders (303) are arranged at the lower part of the transverse guide rail (301) and are used for lifting the seedbed body (1); meanwhile, the lower part of the transverse guide rail (301) is provided with a longitudinal guide rail (311) and a longitudinal push rod motor (312) which are used for pushing the telescopic rod of the longitudinal guide rail to the seedbed guide rail (14) and pushing the seedbed body (1) to the seedbed guide rail (14); 4 feeding trolley wheels (305) are arranged at the lower part of the feeding trolley body (308), so that the feeding trolley runs on the feeding trolley guide rail (2) and the blanking trolley guide rail (11); the lower part of the feeding trolley body (308) is also provided with a positive conductive wheel (306) and a negative conductive wheel (307), and the two wheels are in contact with the feeding trolley conductive belt (3) and the discharging trolley conductive belt (12) and used for supplying power to the feeding trolley; the feeding trolley body (308) is provided with a feeding trolley wireless data transmission module (314) which is in data communication with the wireless data transmission module in the control cabinet (6).
5. The multilayer automated seedbed control system of claim 4, characterized in that the steering system, including a right steering bridge (5) and a left steering bridge (10), is used to realize the turning action of the seedbed body (1), and the seedbed body (1) is rotated 90 degrees counterclockwise by the right steering bridge (5) and finally pushed into the feeding trolley guide rail, and the seedbed body (1) is rotated 90 degrees counterclockwise by the left steering bridge (10) and finally pushed into the first manual operation area;
taking a right steering bridge (5) as an example: the turning device is used for turning the seedbed body (1) to enable the seedbed body (1) to rotate 90 degrees anticlockwise and to be placed on the transverse guide rail; a transverse guide rail (201), a right brake (215) and a left brake (216) are arranged on the steering rack (202), and the left brake and the right brake are used for fixing the seedbed body (1); meanwhile, a first in-place switch (217) and a second in-place switch (218) are arranged on the steering frame (202) and are respectively used for detecting the current position of the seedbed body (1); a propulsion shaft motor (210), a propulsion shaft screw rod (211) and a propulsion shaft bearing (212) are arranged in the middle of the steering frame (202), and a baffle sliding block (214) and a baffle electric push rod (213) are arranged on the propulsion shaft screw rod (211); a driving wheel bracket (205) and a motor driving wheel (206) are arranged at the lower part of the steering frame (202); a steering bridge approach switch (219) is arranged at the lower part of the driving wheel bracket (205); a right steering bridge controller (209) is arranged on the left side of the driving wheel bracket (205) and is used as a control core component of the whole right steering bridge (5), wherein a steering bridge wireless data transmission module (220) is arranged in the right steering bridge controller (209) and is used for realizing data transmission with the control cabinet (6); an auxiliary wheel bracket (207) is arranged at the left end of the driving wheel bracket (205); during the rotation, the fixed rotating shaft (203) of the right steering bridge (5) rotates around the fixed bearing (204).
6. The multi-layered automated seedbed control system of claim 5, characterized in that the automation operating area: an image recognition and micro-spraying system is arranged in the automatic operation area, and when the seedbed body (1) passes by, the image recognition is firstly carried out so as to conveniently recognize crops with plant diseases and insect pests; then, judging the plant type according to the bar code, and carrying out targeted micro-spraying operation; a left driving wheel (406) is arranged on the operation area bedstead (402) and used for pushing the seedbed body (1) to move rightwards, a first automatic rack approach switch (417) is arranged on the right side of the left driving wheel (406), and a left support (405) and a right support (403) are used for supporting the operation area bedstead (402); a visual protection cover (408) is arranged on the left side of the upper part of the bed frame (402) in the operation area, and a visual driving motor (412) and a visual moving screw rod (411) are arranged in the visual protection cover; the visual moving screw rod (411) is provided with a camera head (407) and a camera (410) for carrying out image recognition on the plants; a second automatic rack approach switch (418) is arranged on the right side of the visual protection cover (408), and an auxiliary wheel (409) is arranged in the middle of the operation area bedstead (402) and used for supporting the seedbed body (1); the right side of the auxiliary wheel (409) is provided with a micro-spraying device which comprises a spraying head device (416), a spraying head support (414), a micro-spraying system screw rod (415) and a micro-spraying system driving motor (413), the lower part of the operation area bedstead (402) is provided with a special controller (404) for assisting the cabinet to realize image recognition and spray irrigation control, the right side of the micro-spraying device is provided with a third automatic bench proximity switch (419), and the right side of the operation area bedstead (402) is provided with a right driving wheel (401) for pushing the seedbed body (1) to move rightwards.
7. The multi-layer automatic seedbed control system of claim 6, characterized in that the procedure of putting on the seedbed is as follows: the control system calculates the current seedbed bed body to be placed in the fourth row and the fourth layer; then controlling a driving wheel in the second manual operation area to rotate, so that the seedbed body is pushed onto the right steering bridge; then, the right steering bridge frame rotates 90 degrees anticlockwise to ensure that the bed body of the seedbed is changed from horizontal to vertical; after the seedling bed body is rotated to the proper position, the seedling bed body is pushed to the feeding trolley by the right steering bridge frame, and after the seedling bed body is in the proper position on the feeding trolley, the seedling bed body is sent to the designated row number by the feeding trolley; when the feeding trolley passes through the seedbed frame of a row, the bar code reader of the feeding trolley can scan the bar code label on the seedbed guide rail to judge that the current trolley runs to the next row; after the specified row number is reached, the seedbed body is lifted to the corresponding layer number by the feeding trolley, and after the seedbed is in place, the seedbed body is pushed onto the seedbed frame of the corresponding layer by the feeding trolley; then the seedbed body can push the next seedbed body to continue moving, finally the seedbed body at the tail end of the row can be pushed into the discharging trolley, and the feeding trolley and the discharging trolley must work simultaneously to ensure the smooth feeding and discharging; the feeding trolley sends the seedbed body to the left steering bridge, after the seedbed body is in place, the left steering bridge rotates 90 degrees anticlockwise to change the seedbed body from vertical to horizontal, and then the seedbed body is pushed into a first manual operation area through the movement of the baffle electric push rod driven by the pushing shaft motor; therefore, the whole process of feeding and discharging of the bed body of the seedbed is realized.
8. The multi-layer automatic seedbed control system of claim 7, wherein 4 longitudinal guide wheels and 4 transverse guide wheels are installed on the seedbed body, the seedbed body runs on the seedbed guide rails through the longitudinal guide wheels, the right-turning bridge pushes the seedbed body onto the feeding trolley through the transverse guide wheels, and the discharging trolley feeds the seedbed body into the left-turning bridge through the transverse guide wheels; a seedbed control board and No. 1-5 dial switches are installed on the seedbed body, and the seedbed control board controls the turn-on of corresponding light supplementing lamps and the turn-on and turn-off interval time of the light supplementing lamps according to the states of the 5 dial switches; meanwhile, whether the light supplementing lamp is started or not is determined by combining a light sensing switch, when the illumination intensity is lower than a set value, the light supplementing lamp is started, and on the contrary, when the illumination intensity is higher than the set value, the light supplementing lamp is closed; the seedbed body is provided with a storage battery, an anode conducting rod and a cathode conducting rod, and the storage battery is used as a main power supply device of the seedbed body and used for supplying power to the seedbed control panel and the light supplementing lamp; the positive conductive rod and the negative conductive rod are used for charging the storage battery, when the seedbed body is positioned on the feeding trolley and the trolley is in the waiting time process, the feeding trolley introduces electricity into the storage battery charger on the seedbed body through the positive conductive rod and the negative conductive rod to charge the storage battery, so that the electric quantity of the storage battery of the whole trolley is ensured to be sufficient; the bar code label is attached to the seedbed body and used for controlling the cabinet to inquire information of the seedbed body, wherein the information of the seedbed body comprises the types of crops planted in the seedbed, the time when the crops are planted, the time when the crops are watered, the time when the crops are fertilized and the growth time information; the light supplementing lamps are distributed on the upper side and the lower side of the seedbed body; the position of the dial switch is aligned with the position of a dial switch cylinder on the automatic rack.
9. The multi-layered automated seedbed control system of claim 8, wherein the feeding cart is used to transport the seedbed body to a specified number of rows of seedbed guide rails, then lift the seedbed body, and push the seedbed body onto the seedbed guide rails;
4 feeding trolley wheels are arranged on the feeding trolley body, so that the trolley can run on a guide rail of the feeding trolley conveniently; the transverse guide rail has the function that the seedbed body can move on the trolley, so that the seedbed body can be conveniently conveyed to the feeding trolley from the right steering bridge; the feeding trolley bar code reader has the function that when the feeding trolley runs and passes through the seedbed guide rail, the bar code label on the end face of the seedbed guide rail is scanned so as to judge whether the current line runs to the next line or not, and the operation is stopped when the current line runs to a specified line number; the longitudinal guide rail lifting cylinder has the following functions: when the feeding trolley lifts the seedbed body to a specified number of layers, the proximity switch is triggered, the longitudinal guide rail cylinder is lifted, so that the longitudinal guide rail and the seedbed guide rail with the corresponding number of layers are on the same horizontal plane, and then the telescopic rod of the longitudinal guide rail extends out to be convenient for butt joint with the seedbed guide rail, so that the seedbed body can be pushed onto the seedbed guide rail by the longitudinal push rod motor; the positive conductive wheel and the negative conductive wheel are always in contact with each other and run on the conductive belt to supply power to the feeding trolley; the lifting support rod is used for ensuring that the transverse guide rail is always kept in a horizontal state in the lifting process; the lifting cylinder is used for lifting the seedbed body, so that the longitudinal guide wheel of the seedbed body and the telescopic rod of the longitudinal guide rail are positioned on the same horizontal plane, and the seedbed is convenient to move;
when the seedbed body is pushed into the right steering bridge, the right steering bridge rotates 90 degrees anticlockwise, so that the seedbed body is opposite to the feeding trolley; then the seedbed body is pushed to a feeding trolley;
after the image recognition and micro-spraying system finishes operation, the right driving wheel rotates to push the seedbed body to drive into the right steering bridge, and the seedbed body runs on the transverse guide rail at the moment; when the first in-place switch is triggered, the right driving wheel of the automatic operation area stops driving and becomes auxiliary follow-up; then, the baffle electric push rod is lifted, and the push shaft motor rotates in the positive direction to push the bed body of the seedbed to move rightwards; the bed body of the seedbed continues to move rightwards under the pushing action of the baffle electric push rod, and stops moving after triggering the second in-place switch; then, the propulsion shaft motor stops rotating; the left seedbed fixing brake and the right seedbed fixing brake are clamped tightly, the seedbed body 1 is fixed, and the seedbed body is completely placed in the right steering bridge frame at the moment; then, the motor driving wheel rotates, the right steering bridge starts to rotate, when the steering bridge is close to the trigger, the motor driving wheel stops moving, and at the moment, the seedbed body rotates by 90 degrees and is ready to move longitudinally; then, loosening the seedbed fixed left brake and the seedbed fixed right brake, descending and resetting the baffle electric push rod, pushing the baffle sliding block to the leftmost end by the push shaft motor, lifting the baffle electric push rod again, moving the baffle sliding block to the right, and pushing the seedbed body into the feeding trolley guide rail; then, the right steering bridge frame returns to the initial position again to wait for the next operation.
10. The multi-layer automatic seedbed control system of claim 9, wherein the left-hand bridge and the right-hand bridge work on the same principle and mainly function to transfer the seedbed body transferred from the blanking trolley to the first manual operation area; after the feeding trolley sends the seedbed bed body to the left steering bridge, the baffle electric push rod is lifted, then the push shaft motor rotates to drag the seedbed body into a transverse guide rail of the left steering bridge, and then the baffle electric push rod is reset to the leftmost end of the steering rack again; the baffle electric push rod is lifted again, the push shaft motor rotates, the seedbed body is dragged again through the movement of the baffle sliding block, and the seedbed body is completely dragged to the transverse guide rail; then the bed body of the seedbed is fixed by the left brake and the right brake, and the bed body of the seedbed cannot shake when the left steering bridge rotates; then, the left steering bridge frame rotates 90 degrees anticlockwise, so that the bed body of the seedbed is aligned with the first manual operation area; then, the baffle electric push rod is lifted, and the push shaft motor drives the push shaft screw rod to rotate, so that the baffle sliding block moves leftwards, and the seedbed body is pushed into the first manual operation area;
in the first manual operation area, necessary operations are carried out manually, then the driving wheel in the first manual operation area pushes the seedbed body to drive into the automatic operation area, the seedbed body moves rightwards on the automatic operation area, and the operation is stopped when the seedbed body moves to the first automatic rack approach switch; at the moment, the front part of the bed body of the seedbed enters the automatic operation area, the driving wheel of the first manual operation area stops, the left driving wheel of the automatic rack rotates, and the bed body of the seedbed continues to move rightwards; when the bed body of the seedbed runs to the second automatic rack approach switch, the left driving wheel of the automatic operation area stops rotating, and the bed body of the seedbed stops; at the moment, the vision system drives the motor to drive the vision moving screw rod to rotate, the camera frame moves on the vision moving screw rod, and the camera longitudinally runs to perform vision scanning; after scanning one row, the bed body of the seedbed moves forward for a certain distance to prepare for scanning the next row; when the plant diseases and insect pests are identified, performing sound and light alarm, and taking out the plant diseases and insect pests manually; when the third automatic rack approach switch is triggered in the process that the bed body of the seedbed moves rightwards, the micro-spraying operation is started; at the moment, the micro-spraying system driving motor drives the micro-spraying system screw rod to rotate, and the spray head bracket moves on the micro-spraying system screw rod to realize the longitudinal operation of the micro-spray head and the micro-spraying operation; in the process, the vision system and the micro-spraying system operate simultaneously, and the longitudinal displacement speeds of the two systems need to be set in advance, so that the effects of vision identification and micro-spraying operation are ensured; when the left part of the bed body of the seedbed triggers the proximity switch of the third automatic rack, the operation of the automatic rack part is completed.
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| CN117465906A (en) * | 2023-12-22 | 2024-01-30 | 漳州农智数控科技有限公司 | AGV intelligent transportation control system |
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