CN111096178A - Multifunctional aerial intelligent robot and system for greenhouse and working method - Google Patents
Multifunctional aerial intelligent robot and system for greenhouse and working method Download PDFInfo
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- CN111096178A CN111096178A CN201911380843.8A CN201911380843A CN111096178A CN 111096178 A CN111096178 A CN 111096178A CN 201911380843 A CN201911380843 A CN 201911380843A CN 111096178 A CN111096178 A CN 111096178A
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- 229910000831 Steel Inorganic materials 0.000 claims abstract description 8
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- 239000007788 liquid Substances 0.000 claims description 47
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 39
- 229910002092 carbon dioxide Inorganic materials 0.000 claims description 31
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- 238000012544 monitoring process Methods 0.000 claims description 19
- 239000002689 soil Substances 0.000 claims description 19
- 238000005507 spraying Methods 0.000 claims description 17
- 239000007921 spray Substances 0.000 claims description 16
- 238000009395 breeding Methods 0.000 claims description 12
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Classifications
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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
-
- 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
-
- 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
- A01G9/18—Greenhouses for treating plants with carbon dioxide or the like
-
- 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
- A01G9/247—Watering arrangements
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01H—NEW PLANTS OR NON-TRANSGENIC PROCESSES FOR OBTAINING THEM; PLANT REPRODUCTION BY TISSUE CULTURE TECHNIQUES
- A01H1/00—Processes for modifying genotypes ; Plants characterised by associated natural traits
- A01H1/02—Methods or apparatus for hybridisation; Artificial pollination ; Fertility
- A01H1/027—Apparatus for pollination
-
- 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
- A01M7/0003—Atomisers or mist blowers
- A01M7/0014—Field atomisers, e.g. orchard atomisers, self-propelled, drawn or tractor-mounted
-
- 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
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
-
- 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
- A01M7/0082—Undercarriages, frames, mountings, couplings, tanks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
- G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
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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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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Zoology (AREA)
- Wood Science & Technology (AREA)
- Pest Control & Pesticides (AREA)
- Insects & Arthropods (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Chemical & Material Sciences (AREA)
- Health & Medical Sciences (AREA)
- Developmental Biology & Embryology (AREA)
- Botany (AREA)
- Genetics & Genomics (AREA)
- General Health & Medical Sciences (AREA)
- Greenhouses (AREA)
Abstract
The robot is arranged on a hanging rail which is fixed on a steel skeleton of the greenhouse, and can slide along the hanging rail; this openly is according to the sensing information in the warmhouse booth of gathering and the kind of planting the plant, and the needs that different vegetation bred are in order to adapt to basic ecological environment factor, have satisfied the intelligent demand of ordinary warmhouse booth control, very big saving the human cost.
Description
Technical Field
The disclosure relates to the technical field of robots, in particular to a multifunctional aerial intelligent robot, a system and a working method for a greenhouse.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The automation, informatization and intellectualization of agricultural machinery represent the level of agricultural machinery modernization in developed countries today and are also one of the important marks of agricultural modernization. With the progress of global modern science and technology and the development of computer technology, sensing and detecting technology, information processing technology, control technology and global positioning technology, the improvement of the performance of agricultural machinery products is promoted. In the aspect of agricultural automation, intelligent robots are widely popularized, and in recent years, with the popularization of modern greenhouses in China, the area of the greenhouses in China is increased year by year.
The inventor of the disclosure finds that the performance of the greenhouse robot system in China is single at present, and the system adopts a wired power supply and a control mode, so that the system has the problems of difficult wiring, high installation cost, low intelligence quotient of the robot, high manufacturing cost and the like.
Disclosure of Invention
In order to solve the defects of the prior art, the multifunctional aerial intelligent robot system and the working method for the greenhouse are provided, the basic ecological environment factors are simulated according to the collected sensing information in the greenhouse and the types of the planted plants so as to adapt to the requirements of growth and breeding of different plants, and the intelligent requirement of monitoring of a common greenhouse is met.
In order to achieve the purpose, the following technical scheme is adopted in the disclosure:
the first aspect of the disclosure provides a multifunctional aerial intelligent robot for a greenhouse.
A multifunctional aerial intelligent robot for a greenhouse comprises a robot body arranged in the air in the greenhouse, wherein the robot body is provided with a main control module, a battery module, a liquid tank, an ozone generator, a carbon dioxide gas tank, a fan and a pressure water pump;
the battery module is used for supplying power to each power utilization module, the pressure water pump is respectively connected with the liquid tank and the fan through pipelines and used for extracting liquid from the liquid tank according to instructions of the main control module and spraying the liquid through the fan, the fan faces the lower part of the greenhouse and is connected with a fan swing machine on the robot body through an angle regulator, and the fan swing machine and the angle regulator are used for controlling the swing and the angle of the fan according to the instructions of the main control module;
the carbon dioxide gas tank is provided with a carbon dioxide electromagnetic valve, and the carbon dioxide electromagnetic valve and the ozone generator release carbon dioxide and/or ozone according to the instruction of the main control module;
the main control module simulates basic ecological environment factors according to the collected sensing information in the greenhouse and the variety of the planted plants or according to instructions of external equipment so as to adapt to the requirements of growth and breeding of different plants.
As some possible implementation manners, the main control module is in communication connection with the server terminal and the mobile intelligent terminal in a wireless manner.
As some possible implementation manners, the robot body is further provided with a current collector electrically connected with the battery module, so as to realize the charging or discharging of the battery module.
As possible implementation manners, the robot body is further provided with a camera for monitoring the environment in the greenhouse.
The second aspect of the disclosure provides a multifunctional aerial intelligent robot control system for a greenhouse.
A multifunctional aerial intelligent robot control system for a greenhouse comprises a hanging rail, a supply station and the multifunctional aerial intelligent robot for the greenhouse in the first aspect of the disclosure; the robot is arranged on the hanger rail, the hanger rail is fixed on the greenhouse steel framework, and the robot can slide along the hanger rail; when the robot is in power shortage or liquid shortage, the robot is moved to the position of the replenishment station for charging and/or liquid replenishment according to the instruction of the main control module.
As possible implementation manners, the hanger rail comprises hanger rods, hooks, a cross rod and rails, the hanger rods are respectively arranged on two sides of the hanger rail and are used for fixedly connecting the hanger rail with a greenhouse steel framework, the lower ends of the hanger rods on two sides of the hanger rail are respectively connected with the hooks, the upper portions of the hooks on two sides are connected through the cross rod, the rails are arranged on the lower portions of the hooks on two sides, and the robot is provided with driving wheels and driven wheels and is used for sliding along the rails under the control of the main control module.
As some possible implementation manners, the supply station comprises a charging pile and a connecting terminal which are arranged on the track, and the current collector is communicated with the charging pile to realize connection with 220V alternating current for charging the battery module;
the supply station further comprises a liquid container and a lifting water pump, the lifting water pump is used for pumping water from the liquid container, liquid is replenished to a liquid tank on the robot body through an upper liquid pipe extending above the hanging rail, and the current collector is connected with a connecting terminal to conduct a 24v direct current line to supply power to the lifting water pump.
As possible implementation manners, a router is arranged in the greenhouse and is in wireless communication connection with the main control module, and the router is used for collecting various kinds of sensing information on the ground and underground, and the sensing information at least comprises: the system comprises an external mobile terminal or an external monitoring platform, wherein the external mobile terminal or the external monitoring platform is used for acquiring the air temperature, the air humidity, the soil temperature, the soil humidity, the illuminance, the carbon dioxide concentration and the oxygen concentration, and the video and/or image data acquired by a camera are transmitted to the external mobile terminal or the external monitoring platform in real time.
The third aspect of the disclosure provides a control method of a multifunctional aerial intelligent robot for a greenhouse.
A control method of a multifunctional aerial intelligent robot for a greenhouse, which utilizes the control system of the multifunctional aerial intelligent robot for the greenhouse, according to the second aspect of the disclosure, when the system enters a spraying working mode, a main control module controls the pressure of a fan pump and the rotating speed of a fan blade according to a preset mode, and specifically comprises the following steps: when the nozzle is fixed, the size of water drops is determined by the pressure of a fan water pump, and when the water drops reach the fog standard index, the fan blades are used for generating wind power and the function of left-right swinging to emit fog to each corner of the greenhouse.
The fourth aspect of the disclosure provides a control method of a multifunctional aerial intelligent robot for a greenhouse.
A control method of a multifunctional aerial intelligent robot for a greenhouse, which is characterized in that by utilizing the control system of the multifunctional aerial intelligent robot for the greenhouse, according to the real-time received monitoring information of air temperature, air humidity, soil temperature, soil humidity, illuminance, carbon dioxide concentration and oxygen concentration, the main control module is combined with the species of plants planted in the greenhouse to carry out air supply regulation, spray regulation, water spray regulation, pesticide spraying regulation and air component regulation in real time, and simulate basic ecological environment factors to adapt to the requirements of different plant growth and breeding;
the fifth aspect of the disclosure provides a control method of a multifunctional aerial intelligent robot for a greenhouse.
The multifunctional aerial intelligent robot control system for the greenhouse is in communication connection with a main control module through an external mobile terminal, monitoring information of air temperature, air humidity, soil temperature, soil humidity, illuminance, carbon dioxide concentration and oxygen concentration in the greenhouse is received in real time, remote air supply adjustment, spray adjustment, water spray adjustment, pesticide spraying adjustment and air component adjustment are carried out in real time by combining the types of plants planted in the greenhouse, and basic ecological environment factors are simulated to meet the requirements of growth and breeding of different plants.
Compared with the prior art, the beneficial effect of this disclosure is:
1. according to the robot and the system, the basic ecological environment factors are simulated to meet the requirements of different plant growth and breeding according to the collected sensing information in the greenhouse and the types of the planted plants.
2. The intelligent robot is provided with various liquid and gas spraying devices in a greenhouse, can simulate pollination of natural plants, can provide natural wind for various plants, sterilize air, collect various information collection of the ground and underground in the greenhouse, and can simulate basic ecological environment factors such as temperature, humidity, illumination, air pressure, solar ultraviolet rays, soil temperature and humidity, carbon dioxide concentration and the like according to collected sensing information and plant species so as to meet the requirements of growth and breeding of different plants.
3. In order to enable the robot system to be oriented to general farmers, the robot is simple to operate when the system is designed, and the robot system can be used only by a mobile phone by arranging a mobile intelligent terminal to carry a corresponding APP;
4. according to the intelligent control system, the robot is in a wireless working mode in consideration of the fact that wiring of the greenhouse is very difficult, and intelligent control of the greenhouse is completed through the most advanced Internet of things, automatic control and software technology.
5. This disclosure content through setting up the supply station, can realize automatic or manual carry out the fluid infusion or the operation of charging to the robot, very big improvement the convenience of robot work.
Drawings
Fig. 1 is an overall schematic view of a multifunctional aerial intelligent robot control system for a greenhouse provided in embodiment 1 of the present disclosure.
Fig. 2 is a partial schematic view of a multifunctional aerial intelligent robot control system for a greenhouse provided in embodiment 1 of the present disclosure.
Fig. 3 is a schematic structural diagram of a main control module provided in embodiment 1 of the present disclosure.
Fig. 4 is a schematic structural diagram of a hanger rail provided in embodiment 1 of the present disclosure.
Fig. 5 is a schematic structural diagram of a replenishment station provided in embodiment 1 of the present disclosure.
Fig. 6 is an APP interface schematic diagram of an intelligent terminal provided in embodiment 1 of the present disclosure.
1-a main control module; 2-a lithium battery; 3-a camera; 4-a current collector; 5-a pressure water pump; 6, a fan; 7-an angle adjuster; 8-carbon dioxide gas tank; 9-a fan wobbler; 10-a liquid tank; 11-a robot housing; 12-a liquid container; 13-lift water pump; 14-a driven wheel; 15-driving wheels; 16-a liquid feeding pipe; 17-a drive motor; 18-a track; 19-hanging basket; 20-a hook; 21-greenhouse steel skeleton; 22-a boom; 23-charging pile and connecting terminal; 24-220V alternating current; 25-24V direct current; 26-a cross-bar; 27-ozone generator.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict.
Example 1:
as shown in fig. 1-2, embodiment 1 of the present disclosure provides a multifunctional aerial intelligent robot control system for a greenhouse, including a hanger rail, a supply station, and a multifunctional aerial intelligent robot for a greenhouse; the robot is arranged on the hanger rail, the hanger rail is fixed on the greenhouse steel framework, and the robot can slide along the hanger rail; when the robot is in power shortage or liquid shortage, the robot is moved to the position of the replenishment station for charging and/or liquid replenishment according to the instruction of the main control module.
The multifunctional aerial intelligent robot for the greenhouse comprises a robot body arranged in the greenhouse, wherein the robot body is arranged in a glass fiber reinforced plastic robot shell 11, and a main control module 1, a lithium battery 2, a 110 kg liquid tank 10, an ozone generator 27, a carbon dioxide gas tank 8, a fan 6 and a pressure water pump 5 are arranged on the robot body;
as shown in fig. 3, the main control module 1 is a central control board, which is a brain center of the robot and is responsible for commanding and controlling the robot, the board adopts an STM32F103 series single chip microcomputer as a core control, and when the periphery of the greenhouse is networked, the board adopts WIFI to communicate with a server terminal (greenhouse monitoring center), otherwise, the board adopts M35 to communicate with the server terminal, so that the walking speed and direction of the robot can be controlled in real time;
the battery module is used for supplying power to each power utilization module, and the rechargeable lithium battery 2 is adopted in the embodiment, so that the robot can normally walk for at least 4 hours;
the pressure water pump 5 is respectively connected with the liquid tank 10 and the fan 6 through pipelines and used for extracting liquid from the liquid tank 10 according to instructions of the main control module 1 and spraying the liquid through the fan 6, the fan 6 faces the lower part of the greenhouse and is connected with a fan swinging machine 9 on the robot body through an angle regulator 7, and the fan swinging machine 9 and the angle regulator 7 are used for controlling swinging and angle of the fan 6 according to the instructions of the main control module 1; fan 6 is robot system core component, and gaseous and liquid spraying, pollination, natural wind are accomplished by the fan, and this embodiment provides two kinds of pollination modes: natural wind pollination and liquid pollination are completed through the matching of a fan 6;
a carbon dioxide electromagnetic valve is arranged on the carbon dioxide gas tank 8, the carbon dioxide electromagnetic valve and the ozone generator 27 release carbon dioxide and/or ozone according to the instruction of the main control module 1, and the ozone is used for disinfecting air;
the main control module 1 simulates basic ecological environment factors according to the collected sensing information in the greenhouse and the variety of the planted plants or according to instructions of external equipment so as to adapt to the requirements of growth and breeding of different plants.
And the robot body is also provided with a current collector 4 electrically connected with the battery module and used for realizing the charging or discharging of the battery module.
Still be equipped with camera 3 on the robot body for realize the environmental monitoring to in the warmhouse booth.
As shown in fig. 4, the hanger rail comprises hanger rods 22, hooks 20, a cross rod 26 and a rail 18, the hanger rods are arranged on two sides of the hanger rail respectively and are used for fixedly connecting the hanger rail with the steel framework of the greenhouse, the lower ends of the hanger rods on two sides of the hanger rail are respectively connected with the hooks, the upper parts of the hooks on two sides are connected through the cross rod, the lower parts of the hooks on two sides are provided with the rail, and the robot is connected with the hanger rail through a hanging basket 19, a driving wheel 15 and a driven wheel 14 and is used for sliding along the rail 18 under the control of a main control; the rail 18 is supported by the hook 20, the cross bar 26 determines the width of the rail 18, the suspenders 22 determine the installation height of the robot, the rail 18 is made of round tubes, the strength is high, the cost is low, and the installation is convenient, the rail 18 and the suspenders 22 are installed on a vertical line, so that the weight of the robot is borne by the suspenders 22;
the driving wheel 15 is driven by a driving motor 17, the driving motor 17 is a key part for the aerial walking of the robot, all functions of gas and liquid spraying, pollination, natural wind and the like are realized without leaving the driving motor 17, the walking speed of the robot directly influences the functional effects of the gas and liquid spraying, pollination, natural wind and the like, for example, when the system enters a fog working mode, the fan uniformly sprays fog from left to right, and the front-back spraying width of each time is directly related to the aerial walking speed of the robot; spreading width: the coverage width of one-time spraying (the diameter is more than 2 meters and less than or equal to 3 meters) and the fan rotation speed (left-right back-and-forth scanning 1) when the robot stops walking: 2 seconds/period, adjustable; the walking speed is as follows: 3 m/2 s, can realize the coverage without blind area, if the walking speed is too fast, there will be the scanning zone of leaking spraying.
As shown in fig. 5, the supply station includes a charging pile and a connecting terminal 23 arranged on a track, lithium batteries and communication information of the aerial robot are in wireless working modes, the lithium batteries have two charging modes, (1) the robot automatically returns to the supply station to charge after stopping, and (2) the robot automatically returns to the supply station to charge when the electric quantity is less than 5% during working, and the current collector 4 is communicated with the charging pile to realize connection with 220V alternating current so as to realize charging of a battery module;
liquid supplement is completed through instructions of the main control module 1, the main control module 1 monitors the water level in the liquid tank in real time, and liquid is filled in two modes, (1) manually filling in a supply station through a mobile phone APP, (2) returning to the supply station when the water level of the water tank is low in the operation process, and filling in the supply station is needed manually or automatically;
the supply station also comprises a liquid container 12 and a lifting water pump 13, wherein the lifting water pump 13 is used for pumping water from the liquid container 12, liquid is supplied to a liquid tank on the robot body through an upper liquid pipe 16 extending above the hanging rail, and the current collector 4 is used for supplying power to the lifting water pump 13 through a 24v direct current line connected with a connecting terminal.
Be equipped with the router in the warmhouse booth, router and host system 1 wireless communication are connected for collect various sensing information on the ground and underground, sensing information includes at least: the system comprises an external mobile terminal or an external monitoring platform, wherein the external mobile terminal or the external monitoring platform is used for acquiring the air temperature, the air humidity, the soil temperature, the soil humidity, the illuminance, the carbon dioxide concentration and the oxygen concentration, and the video and/or image data acquired by a camera are transmitted to the external mobile terminal or the external monitoring platform in real time.
Example 2:
the embodiment 2 of the disclosure provides a control method of a multifunctional aerial intelligent robot for a greenhouse, which utilizes the control system of the multifunctional aerial intelligent robot for the greenhouse in the embodiment 1.
The main control module 1 is used for carrying out air supply regulation, spray regulation, water spray regulation, pesticide spraying regulation and air component regulation in real time according to the monitoring information of air temperature, air humidity, soil temperature, soil humidity, illuminance, carbon dioxide concentration and oxygen concentration received in real time and in combination with the types of plants planted in the greenhouse, and simulating basic ecological environment factors to meet the requirements of growth and breeding of different plants;
such as: when the concentration of the carbon dioxide is low, the main control module opens the carbon dioxide electromagnetic valve, commands the robot to walk according to the carbon dioxide gas spraying mode, supplements the carbon dioxide, and when the concentration of the carbon dioxide reaches the standard, the robot can automatically return to the supply station and stop.
Example 3:
the embodiment 3 of the disclosure provides a control method of a multifunctional aerial intelligent robot for a greenhouse, which utilizes the control system of the multifunctional aerial intelligent robot for the greenhouse in the embodiment 1.
The system is in communication connection with a main control module through an external mobile terminal, receives monitoring information of air temperature, air humidity, soil temperature, soil humidity, illuminance, carbon dioxide concentration and oxygen concentration in the greenhouse in real time, combines the types of plants planted in the greenhouse, performs remote air supply regulation, spray regulation, water spray regulation, pesticide spray regulation and air component regulation in real time, and simulates basic ecological environment factors to meet the requirements of growth and breeding of different plants;
such as: the system issues an instruction through a mobile phone APP to carry out operation control on the multifunctional intelligent robot, referring to a mobile phone APP interface in FIG. 6, when a semi-automatic mode is selected, a full-automatic mode of the robot is closed, the system enters a semi-automatic working mode interface, in the mode, a function key is manually selected to operate the robot, and if the air humidity is low, a fog key is pressed to humidify the greenhouse; when the system gets into spraying mode, main control module is according to preset mode control fan water pump pressure and fan blade rotational speed, specifically is: when the nozzle is fixed, the size of water drops is determined by the pressure of a fan water pump, and when the water drops reach the fog standard index, the fan blades are used for generating wind power and the function of left-right swinging to emit fog to each corner of the greenhouse.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Claims (10)
1. A multifunctional aerial intelligent robot for a greenhouse is characterized by comprising a robot body arranged in the greenhouse, wherein the robot body is provided with a main control module, a battery module, a liquid tank, an ozone generator, a carbon dioxide gas tank, a fan and a pressure water pump;
the battery module is used for supplying power to each power utilization module, the pressure water pump is respectively connected with the liquid tank and the fan through pipelines and used for extracting liquid from the liquid tank according to instructions of the main control module and spraying the liquid through the fan, the fan faces the lower part of the greenhouse and is connected with a fan swing machine on the robot body through an angle regulator, and the fan swing machine and the angle regulator are used for controlling the swing and the angle of the fan according to the instructions of the main control module;
the carbon dioxide gas tank is provided with a carbon dioxide electromagnetic valve, and the carbon dioxide electromagnetic valve and the ozone generator release carbon dioxide and/or ozone according to the instruction of the main control module;
the main control module simulates basic ecological environment factors according to the collected sensing information in the greenhouse and the variety of the planted plants or according to instructions of external equipment so as to adapt to the requirements of growth and breeding of different plants.
2. The multifunctional aerial intelligent robot for the greenhouse as claimed in claim 1, wherein the main control module is in communication connection with the server terminal and the mobile intelligent terminal in a wireless manner.
3. The multifunctional aerial intelligent robot for the greenhouse as claimed in claim 1, wherein the robot body is further provided with a current collector electrically connected with the battery module for realizing the charging or discharging of the battery module.
4. The multifunctional aerial intelligent robot for the greenhouse as claimed in claim 1, wherein the robot body is further provided with a camera for monitoring the environment in the greenhouse.
5. A multifunctional aerial intelligent robot control system for a greenhouse, which is characterized by comprising a hanging rail, a supply station and the multifunctional aerial intelligent robot for the greenhouse as claimed in any one of claims 1 to 4; the robot is arranged on the hanger rail, the hanger rail is fixed on the greenhouse steel framework, and the robot can slide along the hanger rail; when the robot is in power shortage or liquid shortage, the robot is moved to the position of the replenishment station for charging and/or liquid replenishment according to the instruction of the main control module.
6. The multifunctional aerial intelligent robot control system for the greenhouse as claimed in claim 5, wherein the hanger rail comprises hanger rods, hooks, cross bars and rails, the hanger rods are respectively arranged at two sides of the hanger rail and are used for fixedly connecting the hanger rail with the greenhouse steel framework, the hooks are respectively connected to the lower ends of the hanger rods at two sides of the hanger rail, the upper parts of the hooks at two sides are connected through the cross bars, the rails are arranged at the lower parts of the hooks at two sides, and the robot is provided with driving wheels and driven wheels for sliding along the rails under the control of the main control module.
7. The multifunctional aerial intelligent robot control system for greenhouses according to claim 5, wherein the replenishment station comprises a charging pile and a connection terminal arranged on a track, and the current collector is connected with 220V alternating current through communication with the charging pile for charging the battery module;
the supply station further comprises a liquid container and a lifting water pump, the lifting water pump is used for pumping water from the liquid container, liquid is replenished to a liquid tank on the robot body through an upper liquid pipe extending above the hanging rail, and the current collector is connected with a connecting terminal to conduct a 24v direct current line to supply power to the lifting water pump.
8. The multifunctional aerial intelligent robot control system for the greenhouse of claim 5, wherein a router is arranged in the greenhouse, the router is in wireless communication connection with the main control module and is used for collecting various kinds of sensing information on the ground and underground, and the sensing information at least comprises: the system comprises an external mobile terminal or an external monitoring platform, wherein the external mobile terminal or the external monitoring platform is used for acquiring the air temperature, the air humidity, the soil temperature, the soil humidity, the illuminance, the carbon dioxide concentration and the oxygen concentration, and the video and/or image data acquired by a camera are transmitted to the external mobile terminal or the external monitoring platform in real time.
9. A control method of a multifunctional aerial intelligent robot for a greenhouse, which is characterized in that when the system enters a spraying working mode, a main control module controls the pressure of a fan pump and the rotating speed of a fan blade according to a preset mode by using the control system of the multifunctional aerial intelligent robot for the greenhouse as claimed in any one of claims 5 to 8, and the control method specifically comprises the following steps: when the nozzle is fixed, the size of water drops is determined by the pressure of a fan water pump, and when the water drops reach the fog standard index, the fan blades are used for generating wind power and the function of left-right swinging to emit fog to each corner of the greenhouse.
10. A control method of a multifunctional aerial intelligent robot for a greenhouse, which is characterized in that by using the control system of the multifunctional aerial intelligent robot for the greenhouse of any one of claims 5 to 8, the main control module carries out real-time air supply regulation, spray regulation, water spray regulation, pesticide spray regulation and air component regulation according to real-time received monitoring information of air temperature, air humidity, soil temperature, soil humidity, illuminance, carbon dioxide concentration and oxygen concentration and by combining the types of plants planted in the greenhouse, and simulates basic ecological environment factors to adapt to the growth and breeding requirements of different plants;
alternatively, the first and second electrodes may be,
the multifunctional aerial intelligent robot control system for the greenhouse as claimed in any one of claims 5 to 8 is in communication connection with the main control module through an external mobile terminal, receives monitoring information of air temperature, air humidity, soil temperature, soil humidity, illuminance, carbon dioxide concentration and oxygen concentration in the greenhouse in real time, combines the types of plants planted in the greenhouse, performs remote air supply regulation, spray regulation, water spray regulation, pesticide spray regulation and air component regulation in real time, and simulates basic ecological environment factors to meet the requirements of growth and breeding of different plants.
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