CN207541501U - A kind of heliogreenhouse self-navigation multifunctional intellectual Operation Van - Google Patents
A kind of heliogreenhouse self-navigation multifunctional intellectual Operation Van Download PDFInfo
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- CN207541501U CN207541501U CN201721635375.0U CN201721635375U CN207541501U CN 207541501 U CN207541501 U CN 207541501U CN 201721635375 U CN201721635375 U CN 201721635375U CN 207541501 U CN207541501 U CN 207541501U
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Abstract
The utility model discloses a kind of and mating self-navigation multifunctional intellectual Operation Van of heliogreenhouse Internet of things system, it can be achieved that the remote monitoring of Operation Van.Operation Van is made of electric walking chassis and control system two parts.Operation Van's electric chassis is driven using accumulator, and noise pollution-free in warm office operation is small, and easy for installation, and a track only need to be laid under heliogreenhouse north wall, reduces cost, reduces floor space；Operation Van has the function of independently to spray, pick with amiable automatic transportation, greenhouse spraying equipment and drugs can be installed in Operation Van, after setting the total spray value in greenhouse, Operation Van can automatic uniform distribute spray value between each ridge, it realizes that nobody independently sprays, avoids contact of the people with liquid, safety higher；Also fruit transport vehicle can be used as in harvest, operating personnel is followed to drive to rear stopping waiting between next line ridge automatically, labor intensity can be reduced, improve operating efficiency.
Description
Technical field
The utility model belongs to Greenhouse intelligence equipment field, is related to one kind for matching with heliogreenhouse Internet of things system
The self-navigation multifunctional intellectual Operation Van of set.
Background technology
At present, " heliogreenhouse " industry solves the northern area of China winter as the main body in China's industrialized agriculture industry
Vegetables dull season supply problem, increase farmers' income, but China's heliogreenhouse narrow space, equipment comes in and goes out difficult, transport, spray
The operations such as medicine, irrigation are mostly by manpower, and labor intensity is big, low production efficiency；
Labor cost is constantly soaring simultaneously and human resources are more and more shorter, improves the machinery of heliogreenhouse management
Change, intelligent operation level increasingly becomes problem urgently to be resolved hurrily.Technology of Internet of things passes through radio frequency identification, wireless data communication
Etc. technologies any article is connected with internet, carry out information exchange and communication, with realize Weigh sensor, positioning, with
Track, monitoring and a kind of network of management.In recent years, technology of Internet of things is introduced the management of greenhouse by Internet of Things greenhouse
In, remotely or automatically the environmental condition in controllable greenhouse, it can be achieved that greenhouse management it is efficient and accurate, improve product quality, carry
High economic benefit reduces labor intensity.Internet of Things agricultural intelligent monitor system will obtain broader applications in industrialized agriculture.Cause
This, studies a kind of and mating multifunctional intellectual Operation Van of heliogreenhouse Internet of things system, and China's industrialized agriculture intelligence is sent out
Exhibition is of great significance.
Utility model content
The purpose of this utility model is to provide a kind of more for the self-navigation mating with heliogreenhouse Internet of things system
Function intelligent operation vehicle, remote controlled Operation Van travel along heliogreenhouse north wall independent navigation, coordinate with greenhouse spraying equipment and drugs
Nobody can be achieved independently to spray, follow picking personnel mobile automatically in picking is transported and can be used as in greenhouse the means of production and
The shipping platform of various equipment.
The utility model technical solution used for the above purpose is：A kind of heliogreenhouse self-navigation is multi-functional
Intelligent operation vehicle, including electric walking chassis and control system；
The electric walking chassis by track, a pair of tracks wheel, a pair of of universal wheel, job platform, handrail, driving motor and
Paul pawl coupling forms；The track is installed along the north wall in greenhouse；The pair of rail wheel and universal wheel are symmetrically mounted on work
Industry mesa base, a pair of tracks wheel are installed in close to greenhouse north wall side, and a pair of of universal wheel is mounted on opposite side；Described helps
Hand is mounted on job platform；The driving motor is mounted on job platform bottom, passes through paul pawl coupling and said one rail
Road wheel connection.
The control system by self-navigation module, picking follow module, spraying control module, Internet of Things communication module,
Core controller and man-machine interface circuit composition；The self-navigation module for control Operation Van in heliogreenhouse from
Main walking, identification crop ridge row, identification operation truck position；It is described picking follow module before and after vehicle heading someone or its
It is automatically stopped during its barrier；The Internet of Things communication module, which is used to communicate with heliogreenhouse Internet of things system, realizes Operation Van
Remote monitoring；The spraying control module is used to independently complete the sprinkling of pesticide according to warm indoor crops ridge number；Described
Core controller is for receiving sensor signal and generates corresponding decision control signal；The man-machine interface circuit is used for day
Operation Van directly controls in light greenhouse.
The self-navigation module is made of two groove type photoelectric switches, a pair of tracks catch, laser sensor；Described one
It is separately mounted to the beginning and end of track to track catch, groove type photoelectric switch is mounted on the upper of job platform lower part and track
Side, when job platform is in terminal or starting point, track catch is located in groove type photoelectric switch U-type groove, the light of optoelectronic switch
Operation Van is out of service after road is blocked；The laser sensor is mounted on job platform close to the side of crop, Operation Van
When being aligned with crop ridge, laser sensor detects that reflected light records ridge line position and puts automatically, ridge row where identification vehicle；
The picking follows module to be realized by two ultrasonic sensors；Two ultrasonic sensors are pacified respectively
Before and after job platform, detect barrier when in its direction of advance certainly in hauling operation and autonomous spray drug operation
It is dynamic to stop travelling and sending out buzzing alarming；The picking follows module to detect object close to operation in harvest picks operation
Vehicle simultaneously follows after staying for some time automatically, until target halts.
The spraying control module is made of spoke type weighing sensor；The spoke type weighing sensor is mounted on
On frame under job platform top layer cover board, according to the weight of medicine-chest Chinese medicine liquid during spray drug operation, distribute automatically between each ridge
Spray value, and automatically control between Operation Van drives to each ridge and spray the liquid distributed, realize that nobody sprays automatically.Described
Internet of Things communication module is made of full duplex RF433 wireless digital broadcasting stations, for being communicated with heliogreenhouse Internet of Things.
The intelligent operation vehicle and heliogreenhouse Internet of things system is mating, can remotely controlled operation vehicle along heliogreenhouse
North wall independent navigation travels, and there is nobody independently to spray, automatic identification and memory row spacing and ridge number, uniform according to the total ridge number of operation
Spray value, picking are with amiable transportation function between distributing each ridge.
The utility model has the following advantages and advantageous effect：
The self-navigation multifunctional intellectual Operation Van of the utility model can be mating with heliogreenhouse Internet of Things, realizes operation
The remote monitoring of vehicle；A track only need to be laid under heliogreenhouse north wall, reduces cost, reduces floor space；It can be
Greenhouse spraying equipment and drugs are installed, after setting the total spray value in greenhouse, Operation Van can spray between each ridge of automatic uniform distribution in Operation Van
Amount, realizes that nobody independently sprays, avoids contact of the people with liquid, safety higher；Also fruit transport vehicle can be used as in harvest,
It is automatic that operating personnel is followed to drive to rear stopping waiting between next line ridge, labor intensity can be reduced, improves operating efficiency；Also may be used
It is convenient and efficient for the various means of production and the shipping platform of equipment, improve conevying efficiency.
Description of the drawings
The utility model will be further described below with reference to the accompanying drawings.
Fig. 1 is heliogreenhouse self-navigation multifunctional intellectual Operation Van overall structure diagram；
Fig. 2 is heliogreenhouse self-navigation multifunctional intellectual Operation Van concrete structure schematic diagram；
1st, driving motor 2, handrail 3, job platform 4, rail wheel 5, track 6, track catch 7, universal wheel 8, control cabinet 9,
Laser sensor 10, accumulator 11, Internet of Things communication module 12, weighing sensor 13, ultrasonic sensor 14, slot type photoelectricity are opened
It closes；
Fig. 3 is heliogreenhouse self-navigation multifunctional intellectual Operation Van Control system architecture block diagram；
Fig. 4 is heliogreenhouse self-navigation multifunctional intellectual Operation Van main control mission flow diagram；
Fig. 5 is autonomous spray mode operations control flow chart；
Fig. 6 is picking follow the mode Operation control flow figure.
Specific embodiment
As shown in Figure 1, a kind of heliogreenhouse self-navigation multifunctional intellectual Operation Van of the utility model is by electric walking
Chassis, control system composition, for mating with heliogreenhouse Internet of things system, remote controlled Operation Van is along heliogreenhouse north wall
Independent navigation travels, nobody, which can be achieved, with the cooperation of greenhouse spraying equipment and drugs independently sprays, and can be used as in greenhouse the means of production and each
The shipping platform of kind equipment, and picking personnel is followed to move automatically in picking is transported.
Electric walking chassis is by track 5, a pair of tracks wheel 4, a pair of of universal wheel 7, job platform 3, driving motor 1, handrail 2
It is formed with paul pawl coupling；The track 5 is installed along the north wall in greenhouse；The pair of rail wheel 4 and universal wheel 7 are symmetrically installed
In 3 bottom of job platform, a pair of tracks wheel 4 is installed in close to greenhouse north wall side, and a pair of of universal wheel 7 is mounted on opposite side；
The handrail 2 is mounted on job platform；The driving motor 1 be mounted on 3 bottom of job platform, by paul pawl coupling with
Said one rail wheel 4 connects.
As shown in Figure 1, 2, in concrete application, control system follows module, spraying control mould by self-navigation module, picking
Block, Internet of Things communication module, core controller and man-machine interface circuit composition；Self-navigation module is opened by two groove profile photoelectricity
Close 14, a pair of tracks catch 6, laser sensor 9 forms；Picking follows module to be realized by two ultrasonic sensors 13；Spray
Control module is made of weighing sensor 12；Internet of Things communication module 11 is made of full duplex RF433 wireless digital broadcasting stations；Control
System is powered by accumulator 10；Core controller and man-machine interface circuit are mounted in control cabinet 8.
Two groove type photoelectric switches 14 are separately mounted to above the base track at 3 both ends of job platform, when Operation Van is in
When terminal or starting point, track catch 6 is located in the U-type groove of groove type photoelectric switch 13, and sensor light is blocked；Laser sensing
Device 8 is mounted on job platform 2 close to the side of crop；Ultrasonic sensor 12 is mounted on the front and rear sides of job platform 2；It weighs
Sensor 11 is mounted on the frame under 2 top layer cover board of job platform；Control cabinet 7 is mounted on 2 side of job platform；
As shown in figure 3, heliogreenhouse multifunctional intellectual operation vehicle control is driven by signal gathering unit, PWM motors
Module, spraying control unit, RS232 drivers, power module, AVR nucleus modules, control button, liquid crystal display and above-mentioned various
Sensor forms.Signal gathering unit is connected with groove type photoelectric switch, laser sensor, ultrasonic sensor, weighing sensor,
The output signal of sensor is connected through photoelectric isolating circuit with the I/O mouths of AVR core cells；PWM electric-motor drive units utilize
L298N dual H-bridges motor drive ic drives direct current generator, and can adjust motor speed by PWM mode；Spray driving unit with
Relay is connected, and directly controls the start-stop of farm chemical spray pump or the opening and closing of main line solenoid；Power module utilizes DC-DC reducing transformers
The 24V that electric storage means exports is converted into 12V, 5V power supply needed for control circuit, while will be between analog power and digital power
Noise jamming between the two is reduced using magnetic bead isolation.AVR nucleus modules are designing and developing most based on Atmega128
Simple system；There are four control button on control cabinet, two for the starting of driving motor to be controlled to stop, one be used for control selections
The forward speed of Operation Van, a direction of advance for being used to control equipment：In addition the liquid crystal display of control cabinet is used to show Operation Van
Forward speed, Internet of Things connection, ridge number, spray drug operation information etc. in greenhouse；RS485 drivers be used for RF433 without
Line transceiver exchanges data realization and the communication of heliogreenhouse Internet of Things.
The routine work step of heliogreenhouse multifunctional intellectual Operation Van is：
S1, the initialization of intelligent operation vehicle control, intelligent operation vehicle travel one time along heliogreenhouse north wall, and b is simultaneously automatic
Identification and memory row spacing and ridge number, auto-returned after reaching home.This step is skipped over if sunlight indoor crops are unchanged.
S2, input job task requirement, can receive and parse through work pattern and related operation by Internet of Things communication module
Parameter information, and remote controlled Operation Van starts to work；Also can job parameter information be set by control cabinet button；It is not provided with
Then it is defaulted as Transportation Model.
S3, it is fulfiled assignment according to work pattern and mission requirements；
S3.1, Transportation Model, control Operation Van will stop after the means of production or equipment conveying to appropriate location, received
Into instructing or pressing motor backward going after starting button, encounter barrier and be then automatically stopped advance.
S3.2, independently spray pattern, and the weight of spraying machine before and after dosing is measured using weighing sensor, obtains this spray
The spray value of task evenly distributes dose between each ridge, then detects spraying machine and drives to sprinkling setting dose between each ridge,
After return to initial position.
S3.3, picking follow the mode, after picking personnel press start button, only need to stop more than 1s, Operation Van before Operation Van
Automatic detection judges Operation Van and picking personnel's distance, and picking personnel forward-reverse is followed to stop, and after picking operation, presses
Stop key, measurement pick weight and upload to heliogreenhouse Internet of things system and recorded.
After the completion of S4, intelligent operation vehicle task, corresponding job parameter is preserved, intelligent operation vehicle returns to initial position waiting
Next subtask.
As shown in figure 4, the main control flow of task of heliogreenhouse intelligent operation vehicle is as follows：Task first inquiry job after starting
Whether vehicle initializes, and intelligent operation vehicle is controlled to travel one back and forth along heliogreenhouse north wall if no initializtion, and automatic identification
With memory ridge row and ridge number, whether inquiry in next step has the job task from Internet of Things, if there is then parse work pattern and
Related job parameter information waits for long-range initiation command or presses control cabinet start button, then according to job task selected as
Transportation Model, the pattern that independently sprays, picking follow the mode thrin, fulfil assignment after task according to job requirements, preserve simultaneously
Related job parameter is uploaded, intelligent operation vehicle returns to initial position and waits for next subtask.
As shown in figure 5, the autonomous spraying control flow chart of heliogreenhouse intelligent operation vehicle is as follows：It is first after spray drug operation starts
The matter that liquid is added in medicine-chest is calculated according to the weight difference that platform before and after addition liquid in medicine-chest is weighed first with weighing sensor
Amount evenly distributes spray value between each ridge according to the total ridge number of operation, and then Operation Van starts running, when laser sensor detects work
Halt during object ridge, and start to spray, detected in real time using weighing sensor this spray value number, reach setting ridge between
Stop spray after spray value, and continue to travel, until completing this spray task, intelligent operation vehicle returns to initial position and uploads
Related job information.
As shown in fig. 6, heliogreenhouse intelligent operation vehicle picking model- following control flow chart is as follows：After pressing start button, ultrasound
Wave sensor starts to measure, before someone goes to Operation Van, and within Operation Van distance 20cm and keep 1s after, Operation Van opens
Beginning follows picking personnel, makes one between remaining at 20-30cm with the distance of Operation Van, stops when picking personnel reach operation ridge
After only, vehicle is moved on until being less than 15cm with picking personnel distance, Operation Van halts, and measures fruit in Operation Van
Weight and upload to Internet of Things.After picking, stop key is pressed, vehicle automatically returns to initial position.
Claims (5)
1. a kind of heliogreenhouse self-navigation multifunctional intellectual Operation Van, which is characterized in that be by electric walking chassis and control
Two parts of uniting form；
The electric walking chassis is by track, a pair of tracks wheel, a pair of of universal wheel, job platform, handrail, driving motor and claw
Shaft coupling forms；The track is installed along the north wall in greenhouse；The pair of rail wheel and universal wheel are symmetrically mounted on operation horizontal
Platform bottom, a pair of tracks wheel are installed in close to greenhouse north wall side, and a pair of of universal wheel is mounted on opposite side；The handrail peace
On job platform；The driving motor is mounted on job platform bottom, passes through paul pawl coupling and the pair of rail wheel
Connection；
The control system follows module, spraying control module, Internet of Things communication module, core by self-navigation module, picking
Controller and man-machine interface circuit composition；
The core controller and self-navigation module, picking follow module, spraying control module, Internet of Things communication module and
Man-machine interface circuit is connected.
2. a kind of heliogreenhouse self-navigation multifunctional intellectual Operation Van according to claim 1, which is characterized in that described
Self-navigation module be made of two groove type photoelectric switches, a pair of tracks catch, laser sensor；Two groove profile light
Electric switch is separately mounted to job platform lower part and the top of track；A pair of tracks catch is separately mounted to rising for track
Point and terminal；The laser sensor is mounted on job platform close to the side of crop.
3. a kind of heliogreenhouse self-navigation multifunctional intellectual Operation Van according to claim 1, which is characterized in that described
Picking module is followed to be realized by two ultrasonic sensors；Two ultrasonic sensors are separately mounted to job platform
It is front and rear.
4. a kind of heliogreenhouse self-navigation multifunctional intellectual Operation Van according to claim 1, which is characterized in that described
Spraying control module be made of spoke type weighing sensor；The spoke type weighing sensor is mounted on job platform top layer
On frame under cover board.
5. a kind of heliogreenhouse self-navigation multifunctional intellectual Operation Van according to claim 1, which is characterized in that described
Internet of Things communication module be made of full duplex RF433 wireless digital broadcasting stations.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721635375.0U CN207541501U (en) | 2017-11-30 | 2017-11-30 | A kind of heliogreenhouse self-navigation multifunctional intellectual Operation Van |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721635375.0U CN207541501U (en) | 2017-11-30 | 2017-11-30 | A kind of heliogreenhouse self-navigation multifunctional intellectual Operation Van |
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| CN207541501U true CN207541501U (en) | 2018-06-26 |
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| CN201721635375.0U Active CN207541501U (en) | 2017-11-30 | 2017-11-30 | A kind of heliogreenhouse self-navigation multifunctional intellectual Operation Van |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107870624A (en) * | 2017-11-30 | 2018-04-03 | 沈阳农业大学 | A kind of heliogreenhouse self-navigation multifunctional intellectual Operation Van |
| CN108646754A (en) * | 2018-06-30 | 2018-10-12 | 汤苏扬 | A kind of intelligent carriage control system |
| CN112205283A (en) * | 2019-06-24 | 2021-01-12 | 徐建宁 | Rail type farmland operation center |
-
2017
- 2017-11-30 CN CN201721635375.0U patent/CN207541501U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107870624A (en) * | 2017-11-30 | 2018-04-03 | 沈阳农业大学 | A kind of heliogreenhouse self-navigation multifunctional intellectual Operation Van |
| CN108646754A (en) * | 2018-06-30 | 2018-10-12 | 汤苏扬 | A kind of intelligent carriage control system |
| CN108646754B (en) * | 2018-06-30 | 2021-03-30 | 汤苏扬 | Intelligent vehicle control system |
| CN112205283A (en) * | 2019-06-24 | 2021-01-12 | 徐建宁 | Rail type farmland operation center |
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