WO2021103128A1 - Multi-region logistics robot, platform and operation method suitable for three-dimensional cultivation of plant factory - Google Patents

Multi-region logistics robot, platform and operation method suitable for three-dimensional cultivation of plant factory Download PDF

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Publication number
WO2021103128A1
WO2021103128A1 PCT/CN2019/123992 CN2019123992W WO2021103128A1 WO 2021103128 A1 WO2021103128 A1 WO 2021103128A1 CN 2019123992 W CN2019123992 W CN 2019123992W WO 2021103128 A1 WO2021103128 A1 WO 2021103128A1
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WO
WIPO (PCT)
Prior art keywords
cultivation
robot
lifting
lifting mechanism
translation
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PCT/CN2019/123992
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French (fr)
Chinese (zh)
Inventor
张晓东
毛罕平
左志宇
高洪燕
智景博
张怡雪
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江苏大学
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Publication of WO2021103128A1 publication Critical patent/WO2021103128A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0485—Check-in, check-out devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles

Definitions

  • the invention belongs to the field of intelligent agricultural machinery and relates to a plant factory logistics system, in particular to a multi-zone logistics robot, platform and operation method suitable for three-dimensional cultivation of plant factories.
  • the plant factory is an advanced stage of the development of modern facility agriculture. It is a high-input, high-tech, and sophisticated production system that integrates biotechnology, engineering technology, and system management to free agricultural production from the constraints of natural ecology.
  • the factory agricultural system that produces plant products on a planned annual basis is one of the most dynamic and potential fields in the process of absorbing and applying high-tech achievements in the process of agricultural industrialization, and represents the direction of future agricultural development.
  • the plant factory In the plant factory, it is divided into functional areas such as nursery area, transplant area, cultivation area, harvest area and packaging area. In the actual process, the cultivated plants need to be transported to each district.
  • the overall structure design of the plant factory tends to be perfect, but the automated logistics system in it is still very lacking.
  • the traditional manual handling method has high labor intensity and low work efficiency, and the height of the multi-layer cultivation rack is high. Manual handling inconvenient.
  • the single-layer structure of the cultivation rack is costly and difficult to complete multi-region logistics operations. Therefore, designing a multi-region logistics robot platform suitable for three-dimensional cultivation of plant factories can greatly improve the logistics operations of plant factories. Efficiency is of great significance.
  • the invention patent application with application number 201810838620.0 discloses a lifting device for logistics, which transfers heavy objects to the lifting box through a conveyor belt, and uses gears and timing belts to move the heavy objects up to the lifting platform, and then the machinery under the robot arm Grab heavy objects and then put them on high shelves by the staff.
  • This device is suitable for transporting heavy objects in the transfer station of logistics companies and requires manual operation. The improvement efficiency is low and it is difficult to realize the efficient operation requirements of automated production in plant factories.
  • the invention patent application with application number 201710145683.3 discloses a lifting device for logistics equipment and its working method.
  • the height adjustment of the platform cover is realized through the inflation and deflation of the airbag.
  • the device can detect the weight of the cargo from time to time to avoid exceeding or underweight. Equilibrium triggers rollover, but it cannot stay at a certain station for operation, and it does not meet the needs of transportation between areas when working in a plant factory.
  • the invention patent application with application number 201811652021.6 discloses a steering lifting device for lifting objects, which solves the problem of synchronously or asynchronously controlling the horizontal rotation and vertical movement of the lifting objects during the lifting process.
  • the platform cannot be Moving in various areas of the plant factory cannot meet the logistics requirements of the plant factory.
  • the present invention designs a multi-zone logistics robot platform suitable for three-dimensional cultivation of plant factories, which can realize high-lift and multi-zone logistics handling operations under multi-layer three-dimensional cultivation conditions, and the maximum operating height is up to At 2.8 meters, compared with the prior art, the present invention can not only realize multi-zone logistics operations, but also has higher stability and positioning accuracy under high-lift operating conditions, and can meet the aseptic production conditions of plant factories.
  • the production demand of unmanned and efficient operation of the logistics system is compared with the prior art.
  • the present invention provides a multi-zone logistics robot, platform and operation method suitable for the three-dimensional cultivation of the plant factory.
  • the robot can move autonomously in the nursery area, transplanting area, cultivation area, harvesting area and packaging area of the plant factory, according to the preset path, relying on electromagnetic navigation, and when it reaches the operating position, it can be lifted by the lifting device.
  • Make the translation inserting device stay and position at the required working height, and then drive the translation inserting device to insert and load the cultivation plates and crops, and carry them through the mobile robot logistics chassis, reach the designated area and location, and automatically cultivate Plates and crops are unloaded in designated areas.
  • This device has high stability under high-lift operating conditions, and can ensure the high precision and work efficiency of the plant factory logistics operations.
  • a multi-zone logistics robot suitable for three-dimensional cultivation of plant factories which is characterized by comprising a controller, a mobile chassis, a high-lifting device and a translation and insertion device;
  • a set of magnetic navigation sensors and landmark sensors are provided on the mobile chassis, and the magnetic navigation sensors and landmark sensors are connected to the controller;
  • the high-lifting and lifting device is fixed on the mobile chassis, and the translational insertion and taking device is fixed on the high-lifting and lifting device, and can be raised or lowered by the high-lifting and lifting device;
  • the translation and insertion device includes a horizontal translation mechanism and an insertion and removal mechanism.
  • the insertion and removal mechanism includes an interdigital, an interdigital fixing seat, and a fixing frame.
  • the fixing frame is fixed on the horizontal translation mechanism and can be driven by the horizontal translation mechanism to move horizontally.
  • At least two fingers are fixed on the fixed frame through the fingers fixed seat;
  • Displacement sensors are respectively provided on the high-lift lifting device and the translational insertion and removal device, and the displacement sensor is connected with the controller for detecting the distance of lifting or translation;
  • the controller has a built-in instruction module for planning the robot's motion trajectory and handling instructions, a monitoring module for monitoring the robot's trajectory and the execution of the handling work according to the detection data of the magnetic navigation sensor and the landmark sensor, and for fine-tuning the robot motion
  • the path planning module of the path has a built-in instruction module for planning the robot's motion trajectory and handling instructions, a monitoring module for monitoring the robot's trajectory and the execution of the handling work according to the detection data of the magnetic navigation sensor and the landmark sensor, and for fine-tuning the robot motion
  • the path planning module of the path The path planning module of the path.
  • the mobile chassis includes two sets of front and rear drive units, each unit is composed of two drive wheels and four universal wheels, and the two sets of drive units are connected to the vehicle body by a chassis steel frame.
  • the insertion and extraction mechanism further includes a reversing motor and a rotating shaft, the rotating shaft is connected with the output shaft of the reversing motor, the rotating shaft is mounted on a fixing frame, and the fingers are fixed on the rotating shaft; the fixing frame is a cantilever type, A U-shaped purlin with a U-shaped cross-section, and the rotating shaft is located in the groove of the U-shaped purlin.
  • the high-lifting and lifting device includes a first-level lifting mechanism, a second-level lifting mechanism, and a third-level lifting mechanism nested in sequence, as well as a ball screw lifting mechanism and an electric push rod,
  • the primary lifting mechanism is fixed on the mobile chassis, one end of the electric push rod is fixed on the base, and the other end is connected with the secondary lifting mechanism;
  • a timing belt wheel is installed on the top of the secondary lifting mechanism, the timing belt bypasses the timing belt wheel, and both ends are fixed on the top of the primary lifting mechanism and the bottom of the tertiary upgrading mechanism by the timing belt pressing plates respectively;
  • the ball screw lifting mechanism is located between the two guide rails.
  • the ball screw lifting mechanism includes a first motor, a ball screw, a screw nut, and a sliding block.
  • a motor is installed at the bottom of the three-stage lifting mechanism, the output shaft of the first motor is connected with the ball screw, the ball screw runs through the three-stage lifting mechanism, and the screw nut is installed on the ball screw.
  • the first mounting plate is fixed on the screw nut, and a sliding block is fixed on the first mounting plate at a position corresponding to the guide rail, and the sliding block is slidably mounted on the guide rail.
  • a rolling pulley is installed on the outer surface of the bottom of the three-stage lifting mechanism, and the rolling pulley is tangent to the inner surface of the frame of the two-stage lifting mechanism; the front and rear surfaces of the bottom of the two-stage lifting mechanism are both installed with rolling pulleys.
  • a pulley and a pulley, the rolling pulley and the pulley are respectively tangent to the inner surface of the primary lifting mechanism.
  • a support seat is installed at the top end of the ball screw; a first coupling is provided at the connection between the first motor and the ball screw.
  • the two interdigital fingers are parallel to each other, and both surfaces of the interdigital fingers are in a sawtooth shape.
  • the horizontal translation mechanism includes a primary translation mechanism, a secondary translation mechanism, and a tertiary translation mechanism,
  • the first-level translation mechanism is located on the first mounting plate, the first-level translation mechanism and the second-level translation mechanism are slidably connected by a heavy-duty slide rail; the first-level translation mechanism is equipped with a synchronous rack,
  • the two ends of the two-stage translation mechanism are equipped with a first driven synchronous gear meshed with a synchronous rack, the first driving synchronous gear is driven by a second motor; the first driving synchronous gear and two first driven synchronous gears To form a toothed belt gear train;
  • the three-level translation mechanism is slidably connected to the two-level translation mechanism and includes a translation mounting plate.
  • a second driven synchronous gear is provided on the left and right sides of the translation mounting plate.
  • a third driven synchronous gear is mounted on the translation mounting plate.
  • the motor, the second driving synchronous wheel is driven by the third motor, and the second driving synchronous wheel and the two second driven synchronous gears form a toothed belt gear train.
  • the multi-zone logistics robot platform for the three-dimensional cultivation of the plant factory based on the multi-zone logistics robot suitable for the three-dimensional cultivation of the plant factory is characterized in that it includes at least one of the multi-zone logistics robot, and an identification system and a control center.
  • the identification system is to set up navigation lines and magnetic identification points on the ground of the plant factory;
  • the control center is communicatively connected with multiple multi-zone logistics robots for real-time monitoring of the working status of the robots and capable of sending work instructions to each robot.
  • System initialization Start the multi-zone logistics robot platform, and the system will perform self-checking. After the equipment is working normally, the platform will start to work; according to different task requirements, the control center or the controller of the robot can set the starting point of the robot's automatic cruise. Starting point, work area, work path, station parameters and handling work;
  • Seedling handling operations When seedling handling operations are required, the multi-zone logistics robot automatically cruises according to the preset path, starting from the initial position, and walking along the planned path according to the identification system to the seedling storage area, adjusting the height and level of the insertion and removal mechanism Position, insert and load the seedling tray to the insertion mechanism of the robot, and then enter the nursery area according to the planned path and place it in the preset position for sowing and seedling operation, and so on until all seedling trays are placed in the corresponding seedling area. carry out;
  • Transplanting and handling operations When transplanting and handling operations are required, the multi-zone logistics robot automatically cruises according to the preset path, starting from the initial position, and walking along the planned path to the transplanting area according to the identification system, adjusting the height and height of the insertion and removal mechanism In the horizontal position, insert and load the transplanted cultivation board to the insertion mechanism of the robot, and then enter the cultivation area according to the planned path and place it on the cultivation rack for cultivation operations, and reciprocate until all the cultivation boards are put into the corresponding After the cultivation location, the operation is completed;
  • the multi-zone logistics robot automatically cruises according to the preset path, starting from the initial position, and walking along the planned path according to the identification system to the cultivation area, inserting the cultivation boards of mature crops to be harvested Load it on the insertion mechanism of the robot, and then enter according to the designated marking point to unload the cultivation plates onto the conveyor belt, and transport them to the harvesting area and packaging area for harvesting, sorting and packaging operations; and so on until all the cultivation plates are put into the corresponding After the location, the job is complete.
  • the invention provides a multi-zone logistics robot platform suitable for the three-dimensional cultivation of plant factories. It adopts a three-layer lifting structure and combines the operation mode of telescopic picking, which can realize the high-lift picking operation under the condition of multi-layer three-dimensional cultivation of the plant factory.
  • the pickup and loading height can reach 2.8 meters, which can meet the high-lift pickup logistics operation in the production process of the plant factory.
  • the content of this invention has not yet been reported.
  • the invention is suitable for the three-dimensional and multi-layered cultivation mode of the plant factory.
  • the logistics robot platform can autonomously complete the collection of parts in the plant factory seedling area, transplanting area, cultivation area, harvest area and packaging area according to the preset path planning. Loading and unloading operations do not require manual intervention, which can better meet the production requirements of unmanned and efficient operation of the logistics system under the aseptic production conditions of the plant factory, and improve the accuracy and work efficiency of the logistics operation of the plant factory.
  • the invention adopts a low chassis structure design and a four-wheel independent suspension technical scheme, so that the mobile platform can effectively filter the bumps of the road, and the four wheels can be in smooth contact with the ground, with better support and uniform frictional thrust, so that the platform The stability of the movement is better, which reduces the problem of wheel hanging on the mobile platform.
  • a square tube filled with lead core is used in the bottom support frame selection, and a lead plate is attached to the design scheme, which greatly increases the weight of the chassis and can maintain the lower center of gravity of the platform, making the device more effective under high-lifting conditions. High stability and accuracy.
  • the present invention provides a multi-zone logistics robot platform suitable for three-dimensional cultivation of plant factories.
  • the rolling pulleys and pulleys in the high-lifting device not only limit the two-level lifting mechanism to only the degree of freedom in the up and down directions, but also play a role in the lifting process.
  • the guiding effect makes the lifting process smooth and silent, and push and pull are labor-saving.
  • the invention provides a multi-zone logistics robot platform suitable for three-dimensional cultivation of a plant factory.
  • a rope sensor in the translational insertion and removal device inputs a voltage to the controller through a displacement change, and the controller controls the first ball screw by comparing and outputting pulses.
  • the motor adjusts the displacement to realize the precise positioning of the translational insertion device.
  • an industrial computer is selected as the control center of the platform, so that the multi-zone logistics robot platform is easy to carry out secondary development and function expansion, and has better compatibility with the mounted control equipment.
  • Figure 1 is a schematic diagram of the plant factory structure
  • Figure 2 is a schematic diagram of the working environment of the mobile logistics robot platform of the plant factory
  • Figure 3 is a schematic diagram of a mobile logistics robot platform for a plant factory
  • Figure 4 is a schematic diagram of the mobile chassis of the plant factory
  • Figure 5 is a schematic diagram of the lifting device
  • Figure 6 is a schematic diagram of the connection mode of the first-level lifting mechanism and the second-level lifting mechanism
  • Figure 7 is a schematic diagram of the connection mode of the second-level lifting mechanism and the third-level lifting mechanism
  • Figure 8 is a schematic diagram of a ball screw lifting mechanism
  • Figure 9 is a schematic diagram of the translational insertion and removal device
  • Figure 10 is a schematic diagram of a secondary translation mechanism
  • Figure 11 is a schematic diagram of the synchronous wheel system of the secondary translation mechanism
  • Figure 12 is a schematic diagram of a three-stage translation mechanism
  • Figure 13 is a schematic diagram of a synchronous wheel system of a three-stage translation mechanism
  • Figure 14 is a schematic diagram of the insertion and removal mechanism.
  • the multi-zone logistics robot platform suitable for three-dimensional cultivation of a plant factory disclosed in the present invention includes a controller 1, a mobile chassis 2, a high-lifting device 3 and a translation and insertion device 4.
  • the controller is responsible for the movement of the platform and the control of picking and handling operations.
  • the mobile chassis includes a navigation obstacle avoidance device, which is responsible for driving the platform to walk, locate and correct deviations according to a preset path.
  • the high-lift lifting device includes a primary lifting mechanism, a secondary lifting mechanism, a tertiary lifting mechanism and a ball screw lifting mechanism.
  • the first-level lifting mechanism is fixed on the mobile chassis; the second-level lifting mechanism is nested in the frame chute of the first-level lifting mechanism; the third-level lifting mechanism is nested in the frame of the second-level lifting mechanism, and the lifting mechanism is through the ball screw.
  • the timing belt drives the lifting device to complete the lifting operation.
  • the translational insertion and extraction device includes a first-level translation mechanism, a second-level translation mechanism, a third-level translation mechanism and a fork mechanism. The synchronous wheel is driven by the motor, and the driven wheel is driven to translate, and then the fork mechanism is used for insertion and retrieval operations.
  • the mobile chassis 2 includes two groups of front and rear driving units, and each unit is composed of two driving wheels 52, four universal wheels 53 and a group of magnetic navigation sensors 51 and landmark sensors 54.
  • the two drive units are connected to the car body by the chassis steel frame, as shown in Figure 4.
  • the chassis structure adopts four-wheel independent suspension technology, so that the mobile platform can effectively filter the bumps of the road, and the four wheels can be in smooth contact with the ground. Better support and uniform frictional thrust make the platform move more stable. The problem of wheel hanging on the mobile platform is reduced.
  • a square tube filled with lead core is used in the bottom support frame selection, and a lead plate is attached to the design scheme, which greatly increases the weight of the chassis and can maintain the lower center of gravity of the platform, making the device more effective under high-lifting conditions. High stability and accuracy.
  • the high-lift lifting device 3 includes a primary lifting mechanism 5, a secondary lifting mechanism 6, a tertiary lifting mechanism 7 and a ball screw lifting mechanism 8. Both the first-level lifting mechanism 5 and the second-level lifting mechanism 6 are made of Q235 sheet metal material, and the third-level lifting mechanism 7 is made of aluminum alloy plate.
  • the primary lifting mechanism 1 is fixed to the mobile chassis 2 by bolts, and the secondary lifting mechanism 6 is nested in the frame groove of the primary lifting mechanism 5, as shown in FIGS. 5 and 6.
  • Rolling pulleys 11 and 10 are installed on the front and rear surfaces of the bottom of the secondary lifting mechanism 6, and the rolling pulleys 11 and the pulleys 10 are respectively tangent to the inner surface of the primary lifting mechanism 5.
  • the left and right ends of the secondary lifting mechanism 6 are respectively connected with electric push rods 9.
  • the third-level lifting mechanism 7 is nested in the frame of the second-level lifting mechanism 6, and a rolling pulley 11 is installed on the outer surface of the bottom of the third-level lifting mechanism 7, and the rolling pulley 11 is tangent to the inner surface of the frame of the second-level lifting mechanism 6.
  • a timing belt wheel 12 is installed on the top of the secondary lifting mechanism 6; the timing belt 13 bypasses the timing belt wheel 12, and both ends are fixed on the top of the primary lifting mechanism 5 and the bottom of the tertiary upgrading mechanism 7 by the timing belt pressing plates 14, respectively. As shown in Figure 7.
  • the three-stage lifting mechanism 7 is equipped with two parallel guide rails 16, and the ball screw lifting mechanism 8 is located between the two guide rails 16.
  • the ball screw lifting mechanism 8 includes a first motor 23, a ball screw 21, a screw nut 20, and a slider 15.
  • the first motor 23 is installed at the bottom of the three-stage lifting mechanism 7.
  • the output shaft of the first motor 23 and the ball screw The rod 21 is connected, and a first coupling 22 is provided at the connection between the first motor 23 and the ball screw 21.
  • the ball screw 21 traverses the three-stage lifting mechanism 7, and the top end of the ball screw 21 is equipped with a supporting seat 18, and the supporting seat 18 is fixed on the three-stage lifting mechanism 7 to limit the ball screw 21; the screw nut 20 is installed On the ball screw 21.
  • the first mounting plate 17 is fixed on the screw nut 20, and a sliding block 15 is fixed on the first mounting plate 17 at a position corresponding to the guide rail 16, and the sliding block 15 is slidably mounted on the guide rail 16.
  • the side center of the first mounting plate 17 is installed with a rope sensor installation plate 19, the rope sensor installation plate 19 is equipped with a rope sensor, and the rope end of the rope sensor is fixed on the base.
  • the translational insertion and removal device 4 includes a first-level translation mechanism 24, a second-level translation mechanism 25, a third-level translation mechanism 26, and an insertion and removal mechanism 27.
  • the first-level translation mechanism 24, the second-level translation mechanism 25, and the third-level translation mechanism 26 combine to form a horizontal translation mechanism, and the first-level translation mechanism 24 is located on the first mounting plate 17.
  • the front side of the first level translation mechanism 24 is installed with the outer rail 28 of the heavy slide rail
  • the back side of the second level translation mechanism 25 is installed on the inner rail 30 of the heavy slide rail
  • the first level translation mechanism 24 and the second level translation mechanism 25 pass the heavy slide Rail sliding connection.
  • the primary translation mechanism 24 is also equipped with a synchronous rack 29, and the left and right sides of the secondary translation mechanism 25 are respectively provided with a first driven synchronous gear 31 meshing with the synchronous rack 29.
  • the first driving synchronous gear 33 is driven by the second motor 32; the first single-sided rack belt 46, the first driving synchronous gear 33 and the two first driven synchronous gears 31 constitute a toothed belt gear train, as shown in FIG. 11.
  • a first smooth tensioning pulley 34 is provided on both sides of the first driving synchronization gear 33 respectively.
  • the three-level translation mechanism 26 is slidably connected to the second-level translation mechanism 25, and includes a translation mounting plate 35.
  • the left and right sides of the translation mounting plate 35 are each provided with a second driven synchronous gear 36.
  • the translation mounting plate A third motor 37 is installed on the 35, and a second driving synchronous wheel 38 is provided directly below the third motor 37.
  • the second driving synchronous wheel 38 is driven by the third motor 37.
  • the belt 47 and the two second driven synchronous gears 36 constitute a toothed belt gear train, as shown in FIG. 13.
  • a second smooth tensioning pulley 39 is provided on both sides of the second driving synchronous wheel 38 respectively.
  • a rope displacement sensor is also provided in the three-stage translation mechanism 26 for measuring the displacement distance of the insertion mechanism 27 in the horizontal direction.
  • the insertion and removal mechanism 27 includes a turning motor 40, an interdigital 41, an interdigital fixing seat 42, a U-shaped purlin 43, and a rotating shaft 44.
  • the turning motor 40 is installed in the turning motor housing 45 on the three-stage translation mechanism 26.
  • the rotating shaft 44 is connected with the turning motor 40, two interdigital fixing seats 42 are installed on the U-shaped purlin 43, and the interdigital fixing seats 42 are fixedly connected to the rotating shaft 44 through the interdigital fixing seats 42.
  • the turning motor 40 drives the fingers 41 to switch on both sides of the robot, so that the robot can pick and place items on both sides of the robot at the same location, which simplifies path planning.
  • the controller 1 is fixed on the mobile chassis 2, and the magnetic navigation sensor 51 and the landmark sensor 54 are connected to the controller 1; the two pull-rope displacement sensors are also connected to the controller.
  • the controller has a built-in instruction module for planning the robot's motion trajectory and handling instructions, a monitoring module for monitoring the robot's trajectory and the execution of the handling work according to the detection data of the magnetic navigation sensor 51 and the landmark sensor 54, and a monitoring module for fine-tuning Path planning module of robot motion path.
  • a multi-zone logistics robot platform for the three-dimensional cultivation of plant factories can be constructed.
  • the platform includes at least one of the multi-zone logistics robots, and an identification system and a control center.
  • the system is to set up a navigation line 49 and a magnetic marking point 50 on the ground of the plant factory; as shown in Figure 1 and Figure 2.
  • the control center communicates with a plurality of multi-zone logistics robots, and is used for real-time monitoring of the working status of the robots, and can send work instructions to each robot.
  • the implementation principle of the above-mentioned embodiment is: when the high-lift lifting device 3 does not start to work, the first-level lifting mechanism 5, the second-level lifting mechanism 6, and the third-level lifting mechanism 7 are nested layer by layer, all in the initial working position.
  • the logistics device travels to the corresponding work area, and lifts the lifting device 3 to start operation.
  • the secondary lifting mechanism 6 extends from the primary lifting mechanism 5.
  • the two-stage lifting mechanism 6 rises, it drives the synchronous belt 13 to move, and the synchronous belt 13 drives the three-stage lifting mechanism 7 to rise.
  • the first motor 23 at the bottom of the ball screw lifting mechanism 8 starts to run, driving the ball screw 21 to rotate, the screw nut 20 moves upward, and the first mounting plate 17 connected to the screw nut 20 drives the slider 15 on the left and right sides to move upward. movement.
  • the rope displacement sensor inputs the voltage to the controller through the displacement change, and the controller compares and outputs pulses, and controls the motor to adjust the displacement to achieve precise positioning in height, so that the translational insertion device 4 reaches the target number of cultivation racks 48.
  • the translational insertion and removal device 4 When the translational insertion and removal device 4 is not in operation, the first-level translation mechanism 24, the second-level translation mechanism 25, and the third-level translation mechanism 26 are stacked and combined, and they are all in the initial working position. After the lifting action of the high-lift lifting device 3 is completed, that is, the ball screw lifting mechanism 8 reaches the task height, the translational insertion and removal device 4 needs to complete the extension action.
  • the two-stage translation mechanism 25 is driven by the second motor 32 to drive the first driving synchronous gear 33 to drive the first smooth tensioning wheels 34 on both sides to rotate counterclockwise synchronously.
  • the outer side of the first driven synchronous gear 31 is one
  • the synchronous rack 29 of the level translation mechanism 24 moves to the right, driving the level 2 translation mechanism 25 to translate to the right along the outer rail 28 of the heavy slide rail until the rope sensor detects that the displacement change has reached the reference value and stops moving.
  • the third motor 37 of the three-stage translation mechanism 26 acts to drive the second driving synchronous wheel 38, driving the second smooth tensioning wheels 39 on both sides to rotate in the counterclockwise direction, and the flip motor housing is fixed together by the pressure plate and the synchronous belt.
  • the 45 then moves to the right on the slide rail until the rope sensor detects that the displacement change has reached the reference value, stops the movement, and the two fingers 41 insert and fetch.
  • the electric push rod 9 drives the entire translational insertion and removal device 4 to move upward, and the interdigital fingers 41 lift the inserted objects away from the cultivation frame 48.
  • the third motor 37 of the three-stage translation mechanism 26 is reversed to drive the single-sided timing belt to rotate clockwise, so that the turning motor housing 45 moves to the left on the slide rail to the initial position.
  • the second motor 32 of the secondary translation mechanism 25 reverses, driving the first smooth tensioning wheel 34 to rotate clockwise, and the outer side of the first driven synchronous gear 31 is attached to the synchronous rack 29 of the primary translation mechanism 24.
  • the secondary translation mechanism 25 drives the secondary translation mechanism 25 to translate to the left along the outer rail 28 of the heavy slide rail to the initial position.
  • the lifting device 3 needs to complete the descending action.
  • the first motor 23 on the ball screw lifting mechanism 8 is reversed to drive the ball screw 21 to reverse so that the screw nut 20 moves downward.
  • the first mounting plate 17 on the screw nut 20 together with the left and right sides
  • the slider 15 moves downwards until the rope sensor detects that the displacement changes back to zero and stops moving.
  • the electric push rod 9 starts to return, driving the secondary lifting mechanism 6 back to the initial position, and the timing belt 13 pulls the tertiary lifting mechanism 7 to complete the return at the same time.
  • System initialization Start the multi-zone logistics robot platform, and the system will perform self-checking. After the equipment is working normally, the platform will start to work; according to different task requirements, the control center or the controller of the robot can set the starting point of the robot's automatic cruise. Starting point, work area, work path, station parameters and handling work; return to the initial position.
  • Seedling handling operations When seedling handling operations are required, the multi-zone logistics robot automatically cruises according to the preset path, starting from the initial position, and walking along the planned path according to the identification system to the seedling storage area, adjusting the height and level of the insertion and removal mechanism Position, insert and load the seedling tray to the insertion mechanism of the robot, and then enter the nursery area according to the planned path and place it in the preset position for sowing and seedling operation, and so on until all seedling trays are placed in the corresponding seedling area. Complete; return to the initial position.
  • Transplanting and handling operations When transplanting and handling operations are required, the multi-zone logistics robot automatically cruises according to the preset path, starting from the initial position, and walking along the planned path to the transplanting area according to the identification system, adjusting the height and height of the insertion and removal mechanism In a horizontal position, insert and load the transplanted cultivation plates onto the insertion mechanism of the robot, and then enter the cultivation area according to the planned path, lift them and place them on the cultivation rack 48 for cultivation operations, and reciprocate until all cultivation plates are put in After the corresponding cultivation location, the operation is completed; return to the initial position.
  • the multi-zone logistics robot automatically cruises according to the preset path, starting from the initial position, and walking along the planned path according to the identification system to the cultivation area, inserting the cultivation boards of mature crops to be harvested Load it on the insertion mechanism of the robot, and then enter according to the designated mark 50 to unload the cultivation plates onto the conveyor belt, and transport them to the harvesting area and packaging area for harvesting, sorting and packaging operations; and so on until all the cultivation plates are put into the corresponding After the location, the job is completed and return to the initial position. Return to the initial position after completing the platform transportation.

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Abstract

A multi-region logistics robot suitable for three-dimensional cultivation of a plant factory. The robot comprises a controller (1), a movable chassis (2), a holding-high lifting device (3), and a translation inserting and taking device (4). The controller (1) is responsible for movement of a platform and control over taking and carrying operation. The movable chassis (2) comprises a navigation obstacle avoidance device which is responsible for driving the platform to perform walking, positioning, and deviation correction according to a preset path. The holding-high lifting device (3) and the translation inserting and taking device (4) complete lifting and translation of the inserting and taking device, so that the inserting and taking device performs the inserting and taking operation. The device is mainly used in, between different operation regions of the plant factory, cross-region round-trip automatic taking and carrying operation on cultivation plates on a multi-layer three-dimensional cultivation rack, and the requirements of logistics automation and intelligent high-efficiency operation in the plant factory three-dimensional multi-layer cultivation mode are satisfied. A platform using the robot and an operation method are also comprised.

Description

一种适用于植物工厂立体栽培的多区物流机器人、平台及运作方法Multi-zone logistics robot, platform and operation method suitable for three-dimensional cultivation of plant factories 技术领域Technical field
本发明属于智能化农业机械领域，涉及一种植物工厂物流***，特指一种适用于植物工厂立体栽培的多区物流机器人、平台及运作方法。The invention belongs to the field of intelligent agricultural machinery and relates to a plant factory logistics system, in particular to a multi-zone logistics robot, platform and operation method suitable for three-dimensional cultivation of plant factories.
背景技术Background technique
植物工厂是现代设施农业发展的高级阶段，是一种高投入、高技术、精装备的生产体系，集生物技术、工程技术和***管理于一体，使农业生产从自然生态束缚中脱离出来。按计划周年性进行植物产品生产的工厂化农业***，是农业产业化进程中吸收应用高新技术成果最具活力和潜力的领域之一，代表着未来农业的发展方向。The plant factory is an advanced stage of the development of modern facility agriculture. It is a high-input, high-tech, and sophisticated production system that integrates biotechnology, engineering technology, and system management to free agricultural production from the constraints of natural ecology. The factory agricultural system that produces plant products on a planned annual basis is one of the most dynamic and potential fields in the process of absorbing and applying high-tech achievements in the process of agricultural industrialization, and represents the direction of future agricultural development.
在植物工厂中，划分为育苗区、移栽区、栽培区、收获区和包装区等功能分区。在实际过程中，需要将栽培的植物搬运至各个分区。目前，植物工厂的整体结构设计趋于完善，但其中的自动化物流***还非常欠缺，传统的人工搬运的方式，其劳动强度大，作业效率低，且多层栽培架的高度较高，人工搬运不方便。而栽培架单层结构体整体升降物流输运的方式成本较高且难以完成多区域的物流作业，因此设计一种适用于植物工厂立体栽培的多区物流机器人平台能够大幅提升植物工厂的物流作业效率，具有重要意义。In the plant factory, it is divided into functional areas such as nursery area, transplant area, cultivation area, harvest area and packaging area. In the actual process, the cultivated plants need to be transported to each district. At present, the overall structure design of the plant factory tends to be perfect, but the automated logistics system in it is still very lacking. The traditional manual handling method has high labor intensity and low work efficiency, and the height of the multi-layer cultivation rack is high. Manual handling inconvenient. The single-layer structure of the cultivation rack is costly and difficult to complete multi-region logistics operations. Therefore, designing a multi-region logistics robot platform suitable for three-dimensional cultivation of plant factories can greatly improve the logistics operations of plant factories. Efficiency is of great significance.
在现有的技术中，各个行业有着不同用途的物流装置。In the existing technology, various industries have logistics devices for different purposes.
申请号为201810838620.0的发明专利申请，公开了一种物流用的升降装置，通过传送带将重物传送到升降箱内，使用齿轮和同步带将重物上移到升降台，随后机械臂下的机械抓抓取重物再由工作人员摆至高处货架，该装置适用于物流公司中转站搬运重物且需要人工操作，提升效率低，难以实现植物工厂自动化生产的高效作业需求。The invention patent application with application number 201810838620.0 discloses a lifting device for logistics, which transfers heavy objects to the lifting box through a conveyor belt, and uses gears and timing belts to move the heavy objects up to the lifting platform, and then the machinery under the robot arm Grab heavy objects and then put them on high shelves by the staff. This device is suitable for transporting heavy objects in the transfer station of logistics companies and requires manual operation. The improvement efficiency is low and it is difficult to realize the efficient operation requirements of automated production in plant factories.
申请号为201710145683.3的发明专利申请，公开了一种物流设备的升降装置及其工作方法，通过气囊的充气和放气实现平台盖的高度调节，该装置能时时检测货物重量，避免超过或重量不均衡引发侧翻，但无法在确定的工位停留进行运作，且不满足在植物工厂作业时各区之间搬运的需求。The invention patent application with application number 201710145683.3 discloses a lifting device for logistics equipment and its working method. The height adjustment of the platform cover is realized through the inflation and deflation of the airbag. The device can detect the weight of the cargo from time to time to avoid exceeding or underweight. Equilibrium triggers rollover, but it cannot stay at a certain station for operation, and it does not meet the needs of transportation between areas when working in a plant factory.
申请号为201811652021.6的发明专利申请，公开了一种用于吊运物体的转向升降装置，解决了吊运过程中同步或者异步地控制吊运物体的水平转动和垂直移动的问题，该平台无法在植物工厂的各个区域中移动，不能满足植物工厂的物流要求。The invention patent application with application number 201811652021.6 discloses a steering lifting device for lifting objects, which solves the problem of synchronously or asynchronously controlling the horizontal rotation and vertical movement of the lifting objects during the lifting process. The platform cannot be Moving in various areas of the plant factory cannot meet the logistics requirements of the plant factory.
综上所述，现有的物流装置由于其适用场景不同，很难满足植物工厂多层立体栽培模式下，大跨度高举升降搬运以及在不同作业域间的进行高效物流作业的需求，同时多数物流系 统仍需要人工参与，不仅作业效率较低，同时也难以满足植物工厂无菌生产的需求。为了实现植物工厂物流自动化和高效作业，本发明设计一种适用于植物工厂立体栽培的多区物流机器人平台，能够实现多层立体栽培条件下的高举升多区域物流搬运作业，最高作业高度可达2.8米，相较于现有技术，本发明不仅能够实现多区物流作业，且在高举升作业条件下，***具有较高的稳定性和定位精度，能够满足植物工厂无菌化生产条件下，物流***的无人化高效作业的生产需求。To sum up, due to the different application scenarios of the existing logistics equipment, it is difficult to meet the needs of large-span high-lift handling and efficient logistics operations between different operating areas under the multi-layer three-dimensional cultivation mode of plant factories. At the same time, most logistics The system still requires manual participation, which not only has low operating efficiency, but also cannot meet the needs of aseptic production in plant factories. In order to realize the logistics automation and efficient operation of plant factories, the present invention designs a multi-zone logistics robot platform suitable for three-dimensional cultivation of plant factories, which can realize high-lift and multi-zone logistics handling operations under multi-layer three-dimensional cultivation conditions, and the maximum operating height is up to At 2.8 meters, compared with the prior art, the present invention can not only realize multi-zone logistics operations, but also has higher stability and positioning accuracy under high-lift operating conditions, and can meet the aseptic production conditions of plant factories. The production demand of unmanned and efficient operation of the logistics system.
发明内容Summary of the invention
为满足植物工厂立体多层的栽培方式中，物流自动化、智能化高效作业和无菌化生产的需求，本发明提供一种适用于植物工厂立体栽培的多区物流机器人、平台及运作方法。该机器人能够在植物工厂育苗区、移栽区、栽培区、收获区和包装区等各个作业区内依据预设路径，依靠电磁导航自主移动，到达作业位置时，通过高举升降装置的举升，使平移插取装置停留并定位在所需的作业高度，再驱动平移插取装置对栽培板及作物进行插取和装载，并通过移动机器人物流底盘进行搬运，到达指定区域和位置，自动将栽培板和作物卸载在指定区位。此装置在高举升作业条件下具有高稳定性，能够保证植物工厂物流作业的高精度和工作效率。In order to meet the requirements of logistics automation, intelligent and efficient operation and aseptic production in the three-dimensional multi-layer cultivation method of the plant factory, the present invention provides a multi-zone logistics robot, platform and operation method suitable for the three-dimensional cultivation of the plant factory. The robot can move autonomously in the nursery area, transplanting area, cultivation area, harvesting area and packaging area of the plant factory, according to the preset path, relying on electromagnetic navigation, and when it reaches the operating position, it can be lifted by the lifting device. Make the translation inserting device stay and position at the required working height, and then drive the translation inserting device to insert and load the cultivation plates and crops, and carry them through the mobile robot logistics chassis, reach the designated area and location, and automatically cultivate Plates and crops are unloaded in designated areas. This device has high stability under high-lift operating conditions, and can ensure the high precision and work efficiency of the plant factory logistics operations.
本发明的上述技术目的是通过以下技术方案得以实现的：The above-mentioned technical objectives of the present invention are achieved through the following technical solutions:
一种适用于植物工厂立体栽培的多区物流机器人，其特征在于，包括控制器、移动底盘、高举升降装置和平移插取装置；A multi-zone logistics robot suitable for three-dimensional cultivation of plant factories, which is characterized by comprising a controller, a mobile chassis, a high-lifting device and a translation and insertion device;
所述移动底盘上设置有一组磁导航传感器和地标传感器，磁导航传感器和地标传感器与控制器相连；A set of magnetic navigation sensors and landmark sensors are provided on the mobile chassis, and the magnetic navigation sensors and landmark sensors are connected to the controller;
所述高举升降装置固定在移动底盘上，平移插取装置固定在高举升降装置上，能够被高举升降装置举高或降低；The high-lifting and lifting device is fixed on the mobile chassis, and the translational insertion and taking device is fixed on the high-lifting and lifting device, and can be raised or lowered by the high-lifting and lifting device;
所述平移插取装置包括水平平移机构及插取机构，所述插取机构包括叉指、叉指固定座、固定架，固定架固定在水平平移机构上、且能由水平平移机构带动水平移动，至少两个叉指通过叉指固定座固定在固定架上；The translation and insertion device includes a horizontal translation mechanism and an insertion and removal mechanism. The insertion and removal mechanism includes an interdigital, an interdigital fixing seat, and a fixing frame. The fixing frame is fixed on the horizontal translation mechanism and can be driven by the horizontal translation mechanism to move horizontally. , At least two fingers are fixed on the fixed frame through the fingers fixed seat;
所述高举升降装置、平移插取装置上分别设有位移传感器，所述位移传感器与控制器相连，用于检测升降或平移的距离；Displacement sensors are respectively provided on the high-lift lifting device and the translational insertion and removal device, and the displacement sensor is connected with the controller for detecting the distance of lifting or translation;
所述控制器中内置有用于规划机器人运动轨迹及搬运指令的指令模块，用于根据磁导航传感器、地标传感器的检测数据监控机器人运行轨迹和搬运工作执行情况的监控模块，以及用于微调机器人运动路径的路径规划模块。The controller has a built-in instruction module for planning the robot's motion trajectory and handling instructions, a monitoring module for monitoring the robot's trajectory and the execution of the handling work according to the detection data of the magnetic navigation sensor and the landmark sensor, and for fine-tuning the robot motion The path planning module of the path.
进一步地，所述移动底盘包括前后两组驱动单元，每个单元由两个驱动轮、四个万向轮， 两组驱动单元之间由底盘钢架与车体连接。Further, the mobile chassis includes two sets of front and rear drive units, each unit is composed of two drive wheels and four universal wheels, and the two sets of drive units are connected to the vehicle body by a chassis steel frame.
进一步地，所述插取机构还包括翻转电机、转轴，所述转轴与翻转电机的输出轴连接，转轴装在固定架上，所述叉指固定在转轴上；所述固定架为悬臂式，截面为U形的U型檩条，转轴位于U型檩条的凹槽内。Further, the insertion and extraction mechanism further includes a reversing motor and a rotating shaft, the rotating shaft is connected with the output shaft of the reversing motor, the rotating shaft is mounted on a fixing frame, and the fingers are fixed on the rotating shaft; the fixing frame is a cantilever type, A U-shaped purlin with a U-shaped cross-section, and the rotating shaft is located in the groove of the U-shaped purlin.
进一步地，所述高举升降装置包括依次嵌套的一级升降机构、二级升降机构、三级升降机构，以及滚珠丝杠升降机构、电动推杆，Further, the high-lifting and lifting device includes a first-level lifting mechanism, a second-level lifting mechanism, and a third-level lifting mechanism nested in sequence, as well as a ball screw lifting mechanism and an electric push rod,
所述一级升降机构固定于所述移动底盘上，电动推杆的一端固定在在底座上，另一端与二级升降机构连接；The primary lifting mechanism is fixed on the mobile chassis, one end of the electric push rod is fixed on the base, and the other end is connected with the secondary lifting mechanism;
所述二级升降机构的顶部安装有同步带轮，所述同步带绕过同步带轮、两端由同步带压板分别固定在一级升降机构的顶部和三级升级机构的底部；A timing belt wheel is installed on the top of the secondary lifting mechanism, the timing belt bypasses the timing belt wheel, and both ends are fixed on the top of the primary lifting mechanism and the bottom of the tertiary upgrading mechanism by the timing belt pressing plates respectively;
三级升降机构上装有两个平行的导轨，滚珠丝杠升降机构位于两个导轨之间，所述滚珠丝杠升降机构包括第一电机、滚珠丝杠、丝杠螺母、滑块，所述第一电机安装于所述三级升降机构的底部，所述第一电机的输出轴与所述滚珠丝杠连接，所述滚珠丝杠纵贯所述三级升降机构，丝杠螺母装在滚珠丝杠上，第一安装板固定在丝杠螺母上，且第一安装板上与导轨对应的位置固定有滑块，所述滑块滑动安装于所述导轨上。Two parallel guide rails are installed on the three-stage lifting mechanism. The ball screw lifting mechanism is located between the two guide rails. The ball screw lifting mechanism includes a first motor, a ball screw, a screw nut, and a sliding block. A motor is installed at the bottom of the three-stage lifting mechanism, the output shaft of the first motor is connected with the ball screw, the ball screw runs through the three-stage lifting mechanism, and the screw nut is installed on the ball screw. On the rod, the first mounting plate is fixed on the screw nut, and a sliding block is fixed on the first mounting plate at a position corresponding to the guide rail, and the sliding block is slidably mounted on the guide rail.
进一步地，所述三级升降机构的底部外表面安装有滚动滑轮，所述滚动滑轮与所述二级升降机构的框架内表面相切；所述二级升降机构底部的前后表面均安装有滚动滑轮和滑轮，所述滚动滑轮和所述滑轮分别与所述一级升降机构的内表面相切。Further, a rolling pulley is installed on the outer surface of the bottom of the three-stage lifting mechanism, and the rolling pulley is tangent to the inner surface of the frame of the two-stage lifting mechanism; the front and rear surfaces of the bottom of the two-stage lifting mechanism are both installed with rolling pulleys. A pulley and a pulley, the rolling pulley and the pulley are respectively tangent to the inner surface of the primary lifting mechanism.
进一步地，所述滚珠丝杠的顶部末端安装有支撑座；所述第一电机与滚珠丝杠的连接处设有第一联轴器。Further, a support seat is installed at the top end of the ball screw; a first coupling is provided at the connection between the first motor and the ball screw.
进一步地，两根所述叉指互相平行，所述叉指的两面均为锯齿状。Further, the two interdigital fingers are parallel to each other, and both surfaces of the interdigital fingers are in a sawtooth shape.
进一步地，所述水平平移机构包括一级平移机构、二级平移机构、三级平移机构，Further, the horizontal translation mechanism includes a primary translation mechanism, a secondary translation mechanism, and a tertiary translation mechanism,
所述一级平移机构位于所述第一安装板上，所述一级平移机构与二级平移机构通过重型滑轨滑动连接；所述一级平移机构上装有同步齿条，The first-level translation mechanism is located on the first mounting plate, the first-level translation mechanism and the second-level translation mechanism are slidably connected by a heavy-duty slide rail; the first-level translation mechanism is equipped with a synchronous rack,
所述二级平移机构两端装有与同步齿条啮合的第一从动同步齿轮，所述第一驱动同步齿轮由第二电机驱动；第一驱动同步齿轮与两个第一从动同步齿轮构成齿带轮系；The two ends of the two-stage translation mechanism are equipped with a first driven synchronous gear meshed with a synchronous rack, the first driving synchronous gear is driven by a second motor; the first driving synchronous gear and two first driven synchronous gears To form a toothed belt gear train;
所述三级平移机构与二级平移机构滑动连接，包括平移安装板，所述平移安装板的左右两侧边缘各设有一个第二从动同步齿轮，所述平移安装板上安装有第三电机，第二驱动同步轮由第三电机驱动，第二驱动同步轮与两个第二从动同步齿轮构成齿带轮系。The three-level translation mechanism is slidably connected to the two-level translation mechanism and includes a translation mounting plate. A second driven synchronous gear is provided on the left and right sides of the translation mounting plate. A third driven synchronous gear is mounted on the translation mounting plate. The motor, the second driving synchronous wheel is driven by the third motor, and the second driving synchronous wheel and the two second driven synchronous gears form a toothed belt gear train.
基于所述的适用于植物工厂立体栽培的多区物流机器人的植物工厂立体栽培的多区物流机器人平台，其特征在于，包括至少一个所述多区物流机器人，以及标识***和控制中心， 所述标识***为在植物工厂的地面设置导航线和磁性标识点；所述控制中心与多个多区物流机器人通信连接，用于实时监控所述机器人的工作状态、并能够向各个机器人发送工作指令。The multi-zone logistics robot platform for the three-dimensional cultivation of the plant factory based on the multi-zone logistics robot suitable for the three-dimensional cultivation of the plant factory is characterized in that it includes at least one of the multi-zone logistics robot, and an identification system and a control center. The identification system is to set up navigation lines and magnetic identification points on the ground of the plant factory; the control center is communicatively connected with multiple multi-zone logistics robots for real-time monitoring of the working status of the robots and capable of sending work instructions to each robot.
所述的植物工厂立体栽培的多区物流机器人平台的运作方法，其特征在于，包括如下步骤：The operation method of the multi-zone logistics robot platform for the three-dimensional cultivation of the plant factory is characterized in that it includes the following steps:
***初始化：启动所述多区物流机器人平台，***进行自检，各项设备工作正常后，平台启动工作；根据不同任务需求，通过控制中心或所述机器人的控制器设定机器人自动巡航的起始点、作业区域、作业路径、工位参数及搬运工作；System initialization: Start the multi-zone logistics robot platform, and the system will perform self-checking. After the equipment is working normally, the platform will start to work; according to different task requirements, the control center or the controller of the robot can set the starting point of the robot's automatic cruise. Starting point, work area, work path, station parameters and handling work;
育苗搬运作业：在需要进行育苗搬运作业时，多区物流机器人按预设路径自动巡航，从初始位置出发，根据标识***巡航沿规划路径行走至苗盘存放区，调整插取机构的高度和水平位置，将苗盘插取装载至机器人的插取机构上，而后根据规划路径进入育苗区并放置在预设的位置进行播种育苗作业，如此往复直至所有苗盘放入相应的育苗区位后，作业完成；Seedling handling operations: When seedling handling operations are required, the multi-zone logistics robot automatically cruises according to the preset path, starting from the initial position, and walking along the planned path according to the identification system to the seedling storage area, adjusting the height and level of the insertion and removal mechanism Position, insert and load the seedling tray to the insertion mechanism of the robot, and then enter the nursery area according to the planned path and place it in the preset position for sowing and seedling operation, and so on until all seedling trays are placed in the corresponding seedling area. carry out;
移栽搬运作业：在需要进行移栽搬运作业时，多区物流机器人按预设路径自动巡航，从初始位置出发，根据标识***巡航沿规划路径行走至移栽区，调整插取机构的高度和水平位置，将移栽完成后的栽培板插取装载至机器人的插取机构上，而后根据规划路径进入栽培区举升并放置在栽培架上进行栽培作业，如此往复直至所有栽培板放入相应的栽培区位后，作业完成；Transplanting and handling operations: When transplanting and handling operations are required, the multi-zone logistics robot automatically cruises according to the preset path, starting from the initial position, and walking along the planned path to the transplanting area according to the identification system, adjusting the height and height of the insertion and removal mechanism In the horizontal position, insert and load the transplanted cultivation board to the insertion mechanism of the robot, and then enter the cultivation area according to the planned path and place it on the cultivation rack for cultivation operations, and reciprocate until all the cultivation boards are put into the corresponding After the cultivation location, the operation is completed;
收获搬运作业：在需要进行收获搬运作业时，多区物流机器人按预设路径自动巡航，从初始位置出发，根据标识***巡航沿规划路径行走至栽培区，将成熟待收获作物的栽培板插取装载至机器人的插取机构上，而后根据指定标记点进入将栽培板卸载至输送带上，输运至收获区和包装区，进行收获分选包装作业；如此往复直至所有栽培板放入相应的区位后，作业完成。Harvesting and handling operations: When harvesting and handling operations are required, the multi-zone logistics robot automatically cruises according to the preset path, starting from the initial position, and walking along the planned path according to the identification system to the cultivation area, inserting the cultivation boards of mature crops to be harvested Load it on the insertion mechanism of the robot, and then enter according to the designated marking point to unload the cultivation plates onto the conveyor belt, and transport them to the harvesting area and packaging area for harvesting, sorting and packaging operations; and so on until all the cultivation plates are put into the corresponding After the location, the job is complete.
本发明的有益效果为：The beneficial effects of the present invention are:
本发明提供一种适用于植物工厂立体栽培的多区物流机器人平台，采用三层升降结构，结合伸缩取件的作业方式，能够实现植物工厂多层立体栽培条件下的高升程取件作业，最高取件装载高度可达2.8米，能够满足植物工厂生产过程的高举升取件物流作业，此项发明内容尚未见报道。The invention provides a multi-zone logistics robot platform suitable for the three-dimensional cultivation of plant factories. It adopts a three-layer lifting structure and combines the operation mode of telescopic picking, which can realize the high-lift picking operation under the condition of multi-layer three-dimensional cultivation of the plant factory. The pickup and loading height can reach 2.8 meters, which can meet the high-lift pickup logistics operation in the production process of the plant factory. The content of this invention has not yet been reported.
本发明适用于植物工厂立体多层的栽培方式，物流机器人平台可以在植物工厂育苗区、移栽区、栽培区、收获区和包装区等各个作业区依据预设的路径规划自主完成取件、装载、卸载作业，无需人工干预，能够较好的满足植物工厂无菌化生产条件下，物流***的无人化高效作业的生产需求，提高了植物工厂物流作业的精度和工作效率。The invention is suitable for the three-dimensional and multi-layered cultivation mode of the plant factory. The logistics robot platform can autonomously complete the collection of parts in the plant factory seedling area, transplanting area, cultivation area, harvest area and packaging area according to the preset path planning. Loading and unloading operations do not require manual intervention, which can better meet the production requirements of unmanned and efficient operation of the logistics system under the aseptic production conditions of the plant factory, and improve the accuracy and work efficiency of the logistics operation of the plant factory.
本发明采用低底盘结构设计，以及四轮独立悬架技术方案，使得移动平台可以有效地过 滤路面的颠簸，四轮均可与地面平稳接触，较好的支撑性和均匀的摩擦推力，使平台移动的稳定性较好，减少了移动平台出现车轮悬空的问题。同时在底层支撑框架选型上采用了方管灌注铅芯，并下附铅板的设计方案，大大增加了底盘自重，能够保持平台较低的重心，使得本装置在高举升作业条件下具有较高的稳定性和精度。The invention adopts a low chassis structure design and a four-wheel independent suspension technical scheme, so that the mobile platform can effectively filter the bumps of the road, and the four wheels can be in smooth contact with the ground, with better support and uniform frictional thrust, so that the platform The stability of the movement is better, which reduces the problem of wheel hanging on the mobile platform. At the same time, a square tube filled with lead core is used in the bottom support frame selection, and a lead plate is attached to the design scheme, which greatly increases the weight of the chassis and can maintain the lower center of gravity of the platform, making the device more effective under high-lifting conditions. High stability and accuracy.
本发明提供一种适用于植物工厂立体栽培的多区物流机器人平台，其高举升降装置中滚动滑轮和滑轮不仅限制了二级升降机构使其仅有上下方向的自由度，还起到了升降过程的导向作用，更使得升降过程顺滑静音，推拉省力。The present invention provides a multi-zone logistics robot platform suitable for three-dimensional cultivation of plant factories. The rolling pulleys and pulleys in the high-lifting device not only limit the two-level lifting mechanism to only the degree of freedom in the up and down directions, but also play a role in the lifting process. The guiding effect makes the lifting process smooth and silent, and push and pull are labor-saving.
本发明提供一种适用于植物工厂立体栽培的多区物流机器人平台，其平移插取装置中拉绳传感器通过位移变化给控制器输入电压量，控制器经过比较输出脉冲控制滚珠丝杠的第一电机调整位移以实现平移插取装置的精准定位。The invention provides a multi-zone logistics robot platform suitable for three-dimensional cultivation of a plant factory. In the translational insertion and extraction device, a rope sensor in the translational insertion and removal device inputs a voltage to the controller through a displacement change, and the controller controls the first ball screw by comparing and outputting pulses. The motor adjusts the displacement to realize the precise positioning of the translational insertion device.
本发明选择工控机作为平台的控制中心，使得多区物流机器人平台易于进行二次开发和功能扩展，对于搭载的控制设备具有较好的兼容性。In the present invention, an industrial computer is selected as the control center of the platform, so that the multi-zone logistics robot platform is easy to carry out secondary development and function expansion, and has better compatibility with the mounted control equipment.
附图说明Description of the drawings
图1是植物工厂结构示意图；Figure 1 is a schematic diagram of the plant factory structure;
图2是植物工厂移动物流机器人平台作业环境的示意图；Figure 2 is a schematic diagram of the working environment of the mobile logistics robot platform of the plant factory;
图3是植物工厂移动物流机器人平台的示意图；Figure 3 is a schematic diagram of a mobile logistics robot platform for a plant factory;
图4是植物工厂移动底盘的示意图；Figure 4 is a schematic diagram of the mobile chassis of the plant factory;
图5是高举升降装置的示意图；Figure 5 is a schematic diagram of the lifting device;
图6是第一级升降机构、二级升降机构连接方式的示意图；Figure 6 is a schematic diagram of the connection mode of the first-level lifting mechanism and the second-level lifting mechanism;
图7是第二级升降机构、三级升降机构连接方式的示意图；Figure 7 is a schematic diagram of the connection mode of the second-level lifting mechanism and the third-level lifting mechanism;
图8是滚珠丝杠升降机构的示意图；Figure 8 is a schematic diagram of a ball screw lifting mechanism;
图9是平移插取装置的示意图；Figure 9 is a schematic diagram of the translational insertion and removal device;
图10是二级平移机构的示意图；Figure 10 is a schematic diagram of a secondary translation mechanism;
图11是二级平移机构同步轮***的示意图；Figure 11 is a schematic diagram of the synchronous wheel system of the secondary translation mechanism;
图12是三级平移机构的示意图；Figure 12 is a schematic diagram of a three-stage translation mechanism;
图13是三级平移机构同步轮***的示意图；Figure 13 is a schematic diagram of a synchronous wheel system of a three-stage translation mechanism;
图14是插取机构的示意图。Figure 14 is a schematic diagram of the insertion and removal mechanism.
图中：In the picture:
1-控制器；2-移动底盘；3-高举升降装置；4-平移插取装置；5-一级升降机构；6-二级升降机构；7-三级升降机构；8-滚珠丝杠升降机构；9-电动推杆；10-滑轮；11-滚动滑轮；12-同步带轮；13-同步带；14-同步带压板；15-滑块；16-导轨；17-第一安装板；18-支撑座；19- 拉绳传感器安装板；20-丝杠螺母；21-滚珠丝杠；22-第一联轴器；23-第一电机；24-一级平移机构；25-二级平移机构；26-三级平移机构；27-插取机构；28-重型滑轨的外轨；29-同步齿条；30-重型滑轨的内轨；31-第一从动同步齿轮；32-第二电机；33-第一驱动同步齿轮；34-第一光面涨紧轮；35-平移安装板；36-第二从动同步齿轮；37-第三电机；38-第二驱动同步轮；39-第二光面涨紧轮；40-翻转电机；41-叉指；42-叉指固定座；43-U型檩条；44-转轴；45-翻转电机壳，46-第一单面齿条带；47-第二单面齿条带；48-栽培架；49-导航线，50-磁性标识点，51-磁导航传感器；52-驱动轮；53-万向轮；54-地标传感器。1-controller; 2- mobile chassis; 3- high lift device; 4- translation and insertion device; 5- first-level lifting mechanism; 6-second-level lifting mechanism; 7-three-level lifting mechanism; 8-ball screw lifting Mechanism; 9- electric push rod; 10- pulley; 11- rolling pulley; 12- timing belt wheel; 13- timing belt; 14- timing belt pressing plate; 15- sliding block; 16- guide rail; 17- first mounting plate; 18-support seat; 19-rope sensor mounting plate; 20-screw nut; 21-ball screw; 22-first coupling; 23-first motor; 24-primary translation mechanism; 25-secondary Translation mechanism; 26-three-stage translation mechanism; 27-insertion mechanism; 28-outer rail of heavy-duty slide; 29-synchronous rack; 30-inner rail of heavy-duty slide; 31-first driven synchronous gear; 32 -Second motor; 33-First drive synchronous gear; 34-First smooth tension pulley; 35-Translation mounting plate; 36-Second driven synchronous gear; 37-Third motor; 38-Second drive synchronous Wheel; 39-second smooth tensioning pulley; 40-turning motor; 41-interdigital; 42-interdigital fixing seat; 43-U-shaped purlin; 44-rotating shaft; 45-turning motor shell, 46-first Single-sided rack belt; 47-second single-sided rack belt; 48-cultivation rack; 49-navigation line, 50-magnetic marking point, 51-magnetic navigation sensor; 52-drive wheel; 53-universal wheel; 54 -Landmark sensor.
具体实施方式Detailed ways
下面结合附图以及具体实施例对本发明作进一步的说明，但本发明的保护范围并不限于此。The present invention will be further described below with reference to the drawings and specific embodiments, but the protection scope of the present invention is not limited to this.
如图3所示，本发明公开的适用于植物工厂立体栽培的多区物流机器人平台，包括控制器1、移动底盘2、高举升降装置3和平移插取装置4。控制器负责平台的运动和取件搬运作业控制，移动底盘包括导航避障装置，负责驱动平台按预设路径行走、定位和纠偏。高举升降装置包括一级升降机构、二级升降机构、三级升降机构和滚珠丝杠升降机构。其中，一级升降机构固定于移动底盘上；二级升降机构嵌套于一级升降机构的边框滑槽内；三级升降机构嵌套于二级升降机构的框架内，通过滚珠丝杠升降机构和同步带驱动高举升降装置以完成升降作业。平移插取装置包括一级平移机构、二级平移机构、三级平移机构和翻叉机构。通过电机驱动同步轮，并带动从动轮进行平移，进而使用翻叉机构进行插取取件作业。As shown in FIG. 3, the multi-zone logistics robot platform suitable for three-dimensional cultivation of a plant factory disclosed in the present invention includes a controller 1, a mobile chassis 2, a high-lifting device 3 and a translation and insertion device 4. The controller is responsible for the movement of the platform and the control of picking and handling operations. The mobile chassis includes a navigation obstacle avoidance device, which is responsible for driving the platform to walk, locate and correct deviations according to a preset path. The high-lift lifting device includes a primary lifting mechanism, a secondary lifting mechanism, a tertiary lifting mechanism and a ball screw lifting mechanism. Among them, the first-level lifting mechanism is fixed on the mobile chassis; the second-level lifting mechanism is nested in the frame chute of the first-level lifting mechanism; the third-level lifting mechanism is nested in the frame of the second-level lifting mechanism, and the lifting mechanism is through the ball screw. And the timing belt drives the lifting device to complete the lifting operation. The translational insertion and extraction device includes a first-level translation mechanism, a second-level translation mechanism, a third-level translation mechanism and a fork mechanism. The synchronous wheel is driven by the motor, and the driven wheel is driven to translate, and then the fork mechanism is used for insertion and retrieval operations.
所述移动底盘2包括前后两组驱动单元，每个单元由两个驱动轮52、四个万向轮53和一组磁导航传感器51、地标传感器54组成。两个驱动单元之间由底盘钢架与车体连接，如图4所示。底盘结构采用四轮独立悬架技术，使得移动平台可以有效地过滤路面的颠簸，四轮均可与地面平稳接触，较好的支撑性和均匀的摩擦推力，使平台移动的稳定性较好，减少了移动平台出现车轮悬空的问题。同时在底层支撑框架选型上采用了方管灌注铅芯，并下附铅板的设计方案，大大增加了底盘自重，能够保持平台较低的重心，使得本装置在高举升作业条件下具有较高的稳定性和精度。The mobile chassis 2 includes two groups of front and rear driving units, and each unit is composed of two driving wheels 52, four universal wheels 53 and a group of magnetic navigation sensors 51 and landmark sensors 54. The two drive units are connected to the car body by the chassis steel frame, as shown in Figure 4. The chassis structure adopts four-wheel independent suspension technology, so that the mobile platform can effectively filter the bumps of the road, and the four wheels can be in smooth contact with the ground. Better support and uniform frictional thrust make the platform move more stable. The problem of wheel hanging on the mobile platform is reduced. At the same time, a square tube filled with lead core is used in the bottom support frame selection, and a lead plate is attached to the design scheme, which greatly increases the weight of the chassis and can maintain the lower center of gravity of the platform, making the device more effective under high-lifting conditions. High stability and accuracy.
高举升降装置3包括一级升降机构5、二级升降机构6、三级升降机构7和滚珠丝杠升降机构8。一级升降机构5和二级升降机构6均由Q235钣金件材料制成，三级升降机构7由铝合金板材制成。The high-lift lifting device 3 includes a primary lifting mechanism 5, a secondary lifting mechanism 6, a tertiary lifting mechanism 7 and a ball screw lifting mechanism 8. Both the first-level lifting mechanism 5 and the second-level lifting mechanism 6 are made of Q235 sheet metal material, and the third-level lifting mechanism 7 is made of aluminum alloy plate.
一级升降机构1通过螺栓固定于移动底盘2上，二级升降机构6嵌套于一级升降机构5的边框槽内，如图5、图6所示。二级升降机构6底部的前后表面均安装有滚动滑轮11和滑轮10，滚动滑轮11和滑轮10分别与一级升降机构5的内表面相切。二级升降机构6的左右 两端分别连接有电动推杆9。三级升降机构7嵌套于二级升降机构6的框架内，三级升降机构7的底部外表面安装有滚动滑轮11，滚动滑轮11与二级升降机构6的框架内表面相切。二级升降机构6的顶部安装有同步带轮12；同步带13绕过同步带轮12，两端由同步带压板14分别固定在一级升降机构5的顶部和三级升级机构7的底部，如图7所示。The primary lifting mechanism 1 is fixed to the mobile chassis 2 by bolts, and the secondary lifting mechanism 6 is nested in the frame groove of the primary lifting mechanism 5, as shown in FIGS. 5 and 6. Rolling pulleys 11 and 10 are installed on the front and rear surfaces of the bottom of the secondary lifting mechanism 6, and the rolling pulleys 11 and the pulleys 10 are respectively tangent to the inner surface of the primary lifting mechanism 5. The left and right ends of the secondary lifting mechanism 6 are respectively connected with electric push rods 9. The third-level lifting mechanism 7 is nested in the frame of the second-level lifting mechanism 6, and a rolling pulley 11 is installed on the outer surface of the bottom of the third-level lifting mechanism 7, and the rolling pulley 11 is tangent to the inner surface of the frame of the second-level lifting mechanism 6. A timing belt wheel 12 is installed on the top of the secondary lifting mechanism 6; the timing belt 13 bypasses the timing belt wheel 12, and both ends are fixed on the top of the primary lifting mechanism 5 and the bottom of the tertiary upgrading mechanism 7 by the timing belt pressing plates 14, respectively. As shown in Figure 7.
如图8所示，三级升降机构7上装有两个平行的导轨16，滚珠丝杠升降机构8位于两个导轨16之间。滚珠丝杠升降机构8包括第一电机23、滚珠丝杠21、丝杠螺母20、滑块15，第一电机23安装于三级升降机构7的底部，第一电机23的输出轴与滚珠丝杠21连接，第一电机23与滚珠丝杠21的连接处设有第一联轴器22。滚珠丝杠21纵贯三级升降机构7，滚珠丝杠21的顶部末端安装有支撑座18，支撑座18固定在三级升降机构7上对滚珠丝杠21进行限位；丝杠螺母20装在滚珠丝杠21上。第一安装板17固定在丝杠螺母20上，且第一安装板17上与导轨16对应的位置固定有滑块15，所述滑块15滑动安装于所述导轨16上。第一安装板17的侧面中心安装有拉绳传感器安装板19，拉绳传感器安装板19上安装有拉绳传感器，拉绳传感器的拉绳端部固定在底座上。As shown in FIG. 8, the three-stage lifting mechanism 7 is equipped with two parallel guide rails 16, and the ball screw lifting mechanism 8 is located between the two guide rails 16. The ball screw lifting mechanism 8 includes a first motor 23, a ball screw 21, a screw nut 20, and a slider 15. The first motor 23 is installed at the bottom of the three-stage lifting mechanism 7. The output shaft of the first motor 23 and the ball screw The rod 21 is connected, and a first coupling 22 is provided at the connection between the first motor 23 and the ball screw 21. The ball screw 21 traverses the three-stage lifting mechanism 7, and the top end of the ball screw 21 is equipped with a supporting seat 18, and the supporting seat 18 is fixed on the three-stage lifting mechanism 7 to limit the ball screw 21; the screw nut 20 is installed On the ball screw 21. The first mounting plate 17 is fixed on the screw nut 20, and a sliding block 15 is fixed on the first mounting plate 17 at a position corresponding to the guide rail 16, and the sliding block 15 is slidably mounted on the guide rail 16. The side center of the first mounting plate 17 is installed with a rope sensor installation plate 19, the rope sensor installation plate 19 is equipped with a rope sensor, and the rope end of the rope sensor is fixed on the base.
如图9所示，平移插取装置4包括一级平移机构24、二级平移机构25、三级平移机构26和插取机构27。一级平移机构24、二级平移机构25、三级平移机构26组合构成水平平移机构，一级平移机构24位于所述第一安装板17上。一级平移机构24的正面安装有重型滑轨的外轨28，二级平移机构25的背面安装于重型滑轨的内轨30，所述一级平移机构24与二级平移机构25通过重型滑轨滑动连接。如图10所示，一级平移机构24上还装有同步齿条29，二级平移机构25的左右两侧分别设有一个与同步齿条29啮合的第一从动同步齿轮31，所述第一驱动同步齿轮33由第二电机32驱动；第一单面齿条带46、第一驱动同步齿轮33与两个第一从动同步齿轮31构成齿带轮系，如图11所示。另外，在该齿带轮系中，第一驱动同步齿轮33两侧分别具有一个第一光面涨紧轮34。As shown in FIG. 9, the translational insertion and removal device 4 includes a first-level translation mechanism 24, a second-level translation mechanism 25, a third-level translation mechanism 26, and an insertion and removal mechanism 27. The first-level translation mechanism 24, the second-level translation mechanism 25, and the third-level translation mechanism 26 combine to form a horizontal translation mechanism, and the first-level translation mechanism 24 is located on the first mounting plate 17. The front side of the first level translation mechanism 24 is installed with the outer rail 28 of the heavy slide rail, the back side of the second level translation mechanism 25 is installed on the inner rail 30 of the heavy slide rail, the first level translation mechanism 24 and the second level translation mechanism 25 pass the heavy slide Rail sliding connection. As shown in Figure 10, the primary translation mechanism 24 is also equipped with a synchronous rack 29, and the left and right sides of the secondary translation mechanism 25 are respectively provided with a first driven synchronous gear 31 meshing with the synchronous rack 29. The first driving synchronous gear 33 is driven by the second motor 32; the first single-sided rack belt 46, the first driving synchronous gear 33 and the two first driven synchronous gears 31 constitute a toothed belt gear train, as shown in FIG. 11. In addition, in the toothed belt gear train, a first smooth tensioning pulley 34 is provided on both sides of the first driving synchronization gear 33 respectively.
如图12所示，三级平移机构26与二级平移机构25滑动连接，包括平移安装板35，平移安装板35的左右两侧边缘各设有一个第二从动同步齿轮36，平移安装板35上安装有第三电机37，第三电机37的正下方设有第二驱动同步轮38，第二驱动同步轮38由第三电机37驱动，第二驱动同步轮38、第二单面齿条带47与两个第二从动同步齿轮36构成齿带轮系，如图13所示。在该齿带轮系中，第二驱动同步轮38两侧分别具有一个第二光面涨紧轮39。在三级平移机构26中也设置有一拉绳位移传感器用于测定插取机构27在水平方向的位移距离。As shown in Figure 12, the three-level translation mechanism 26 is slidably connected to the second-level translation mechanism 25, and includes a translation mounting plate 35. The left and right sides of the translation mounting plate 35 are each provided with a second driven synchronous gear 36. The translation mounting plate A third motor 37 is installed on the 35, and a second driving synchronous wheel 38 is provided directly below the third motor 37. The second driving synchronous wheel 38 is driven by the third motor 37. The second driving synchronous wheel 38 and the second single-sided gear The belt 47 and the two second driven synchronous gears 36 constitute a toothed belt gear train, as shown in FIG. 13. In the toothed belt gear train, a second smooth tensioning pulley 39 is provided on both sides of the second driving synchronous wheel 38 respectively. A rope displacement sensor is also provided in the three-stage translation mechanism 26 for measuring the displacement distance of the insertion mechanism 27 in the horizontal direction.
本实施例中，插取机构27包括翻转电机40、叉指41、叉指固定座42、U型檩条43和转轴44，翻转电机40安装于三级平移机构26上的翻转电机壳45内，转轴44与翻转电机40 连接，U型檩条43上安装有两个叉指固定座42，叉指41通过叉指固定座42与转轴44固定连接。所述翻转电机40驱动叉指41在所述机器人的两侧方向切换，使得该机器人在同一位点能够分别取放其两侧的物品，简化了路径规划。In this embodiment, the insertion and removal mechanism 27 includes a turning motor 40, an interdigital 41, an interdigital fixing seat 42, a U-shaped purlin 43, and a rotating shaft 44. The turning motor 40 is installed in the turning motor housing 45 on the three-stage translation mechanism 26. , The rotating shaft 44 is connected with the turning motor 40, two interdigital fixing seats 42 are installed on the U-shaped purlin 43, and the interdigital fixing seats 42 are fixedly connected to the rotating shaft 44 through the interdigital fixing seats 42. The turning motor 40 drives the fingers 41 to switch on both sides of the robot, so that the robot can pick and place items on both sides of the robot at the same location, which simplifies path planning.
控制器1固定于所述移动底盘2上，磁导航传感器51和地标传感器54与控制器1相连；两个拉绳位移传感器也与控制器相连。所述控制器中内置有用于规划机器人运动轨迹及搬运指令的指令模块，用于根据磁导航传感器51、地标传感器54的检测数据监控机器人运行轨迹和搬运工作执行情况的监控模块，以及用于微调机器人运动路径的路径规划模块。The controller 1 is fixed on the mobile chassis 2, and the magnetic navigation sensor 51 and the landmark sensor 54 are connected to the controller 1; the two pull-rope displacement sensors are also connected to the controller. The controller has a built-in instruction module for planning the robot's motion trajectory and handling instructions, a monitoring module for monitoring the robot's trajectory and the execution of the handling work according to the detection data of the magnetic navigation sensor 51 and the landmark sensor 54, and a monitoring module for fine-tuning Path planning module of robot motion path.
基于所述的适用于植物工厂立体栽培的多区物流机器人能够构建植物工厂立体栽培的多区物流机器人平台，该平台包括至少一个所述多区物流机器人，以及标识***和控制中心，所述标识***为在植物工厂的地面设置导航线49和磁性标识点50；如图1、图2所示。所述控制中心与多个多区物流机器人通信连接，用于实时监控所述机器人的工作状态、并能够向各个机器人发送工作指令。Based on the multi-zone logistics robot suitable for the three-dimensional cultivation of plant factories, a multi-zone logistics robot platform for the three-dimensional cultivation of plant factories can be constructed. The platform includes at least one of the multi-zone logistics robots, and an identification system and a control center. The system is to set up a navigation line 49 and a magnetic marking point 50 on the ground of the plant factory; as shown in Figure 1 and Figure 2. The control center communicates with a plurality of multi-zone logistics robots, and is used for real-time monitoring of the working status of the robots, and can send work instructions to each robot.
上述实施例的实施原理为：高举升降装置3未开始工作时，一级升降机构5、二级升降机构6、三级升降机构7层层嵌套，均处于初始工位。物流装置行驶至相应工作区域，高举升降装置3开始作业。在电动推杆9的带动下，二级升降机构6从一级升降机构5伸出。当二级升降机构6上升的同时，带动同步带13运动，同步带13带动三级升降机构7上升。滚珠丝杠升降机构8底部的第一电机23开始运行，带动滚珠丝杠21转动，丝杠螺母20向上运动，丝杠螺母20上连接的第一安装板17带动左右两侧的滑块15向上运动。拉绳位移传感器通过位移变化给控制器输入电压量，控制器经过比较输出脉冲，控制电机调整位移以实现高度上的精准定位，使平移插取装置4达到栽培架48目标层数。The implementation principle of the above-mentioned embodiment is: when the high-lift lifting device 3 does not start to work, the first-level lifting mechanism 5, the second-level lifting mechanism 6, and the third-level lifting mechanism 7 are nested layer by layer, all in the initial working position. The logistics device travels to the corresponding work area, and lifts the lifting device 3 to start operation. Driven by the electric push rod 9, the secondary lifting mechanism 6 extends from the primary lifting mechanism 5. When the two-stage lifting mechanism 6 rises, it drives the synchronous belt 13 to move, and the synchronous belt 13 drives the three-stage lifting mechanism 7 to rise. The first motor 23 at the bottom of the ball screw lifting mechanism 8 starts to run, driving the ball screw 21 to rotate, the screw nut 20 moves upward, and the first mounting plate 17 connected to the screw nut 20 drives the slider 15 on the left and right sides to move upward. movement. The rope displacement sensor inputs the voltage to the controller through the displacement change, and the controller compares and outputs pulses, and controls the motor to adjust the displacement to achieve precise positioning in height, so that the translational insertion device 4 reaches the target number of cultivation racks 48.
平移插取装置4未开始作业时，一级平移机构24、二级平移机构25和三级平移机构26堆叠组合，均处于初始工位。高举升降装置3上升动作结束后，即滚珠丝杠升降机构8达到任务高度，平移插取装置4需要完成伸出动作。首先二级平移机构25在第二电机32的驱动下，驱动第一驱动同步齿轮33带动两侧第一光面涨紧轮34同步逆时针方向转动，第一从动同步齿轮31的外侧在一级平移机构24的同步齿条29上向右移动，带动二级平移机构25向右沿着重型滑轨的外轨28平移，直到拉绳传感器检测到位移变化已达到参考值，停止运动。随后三级平移机构26的第三电机37动作，驱动第二驱动同步轮38，带动两侧第二光面涨紧轮39逆时针方向转动，通过压板与同步带固定在一起的翻转电机壳45随之在滑轨上向右运动，直到拉绳传感器检测到位移变化已达到参考值，停止运动，两只叉指41进行插取。此时，电动推杆9带动整个平移插取装置4向上移动，叉指41将插取的物品抬起脱离栽培架48。When the translational insertion and removal device 4 is not in operation, the first-level translation mechanism 24, the second-level translation mechanism 25, and the third-level translation mechanism 26 are stacked and combined, and they are all in the initial working position. After the lifting action of the high-lift lifting device 3 is completed, that is, the ball screw lifting mechanism 8 reaches the task height, the translational insertion and removal device 4 needs to complete the extension action. First, the two-stage translation mechanism 25 is driven by the second motor 32 to drive the first driving synchronous gear 33 to drive the first smooth tensioning wheels 34 on both sides to rotate counterclockwise synchronously. The outer side of the first driven synchronous gear 31 is one The synchronous rack 29 of the level translation mechanism 24 moves to the right, driving the level 2 translation mechanism 25 to translate to the right along the outer rail 28 of the heavy slide rail until the rope sensor detects that the displacement change has reached the reference value and stops moving. Then the third motor 37 of the three-stage translation mechanism 26 acts to drive the second driving synchronous wheel 38, driving the second smooth tensioning wheels 39 on both sides to rotate in the counterclockwise direction, and the flip motor housing is fixed together by the pressure plate and the synchronous belt. The 45 then moves to the right on the slide rail until the rope sensor detects that the displacement change has reached the reference value, stops the movement, and the two fingers 41 insert and fetch. At this time, the electric push rod 9 drives the entire translational insertion and removal device 4 to move upward, and the interdigital fingers 41 lift the inserted objects away from the cultivation frame 48.
平移插取装置4装载结束后，需要完成回位。首先三级平移机构26的第三电机37反转， 带动单面同步带顺时针转动，使得翻转电机壳45在滑轨上向左移动至初始位置。随后二级平移机构25的第二电机32反转，带动第一光面涨紧轮34顺时针转动，第一从动同步齿轮31的外侧带在一级平移机构24的同步齿条29上向左移动，带动二级平移机构25向左沿着重型滑轨的外轨28平移，直至初始位置。After the loading of the translational insertion and retrieval device 4 is completed, it is necessary to complete the return. First, the third motor 37 of the three-stage translation mechanism 26 is reversed to drive the single-sided timing belt to rotate clockwise, so that the turning motor housing 45 moves to the left on the slide rail to the initial position. Then the second motor 32 of the secondary translation mechanism 25 reverses, driving the first smooth tensioning wheel 34 to rotate clockwise, and the outer side of the first driven synchronous gear 31 is attached to the synchronous rack 29 of the primary translation mechanism 24. Moving to the left, drives the secondary translation mechanism 25 to translate to the left along the outer rail 28 of the heavy slide rail to the initial position.
装载工作结束后，高举升降装置3需要完成下降动作。首先，滚珠丝杠升降机构8上的第一电机23反转，带动滚珠丝杠21反转，从而使得丝杠螺母20向下运动，丝杠螺母20上的第一安装板17连同左右两侧的滑块15随之向下运动直到拉绳传感器检测到位移变化回零时停止运动。随后电动推杆9开始回位，带动二级升降机构6回到初始位置，同步带13拉动三级升降机构7同时完成回位。After the loading work is finished, the lifting device 3 needs to complete the descending action. First, the first motor 23 on the ball screw lifting mechanism 8 is reversed to drive the ball screw 21 to reverse so that the screw nut 20 moves downward. The first mounting plate 17 on the screw nut 20 together with the left and right sides The slider 15 moves downwards until the rope sensor detects that the displacement changes back to zero and stops moving. Then the electric push rod 9 starts to return, driving the secondary lifting mechanism 6 back to the initial position, and the timing belt 13 pulls the tertiary lifting mechanism 7 to complete the return at the same time.
根据所述的多区物流机器人平台的运作方法，其特征在于，According to the operation method of the multi-zone logistics robot platform, it is characterized in that:
***初始化：启动所述多区物流机器人平台，***进行自检，各项设备工作正常后，平台启动工作；根据不同任务需求，通过控制中心或所述机器人的控制器设定机器人自动巡航的起始点、作业区域、作业路径、工位参数及搬运工作；返回初始位置。System initialization: Start the multi-zone logistics robot platform, and the system will perform self-checking. After the equipment is working normally, the platform will start to work; according to different task requirements, the control center or the controller of the robot can set the starting point of the robot's automatic cruise. Starting point, work area, work path, station parameters and handling work; return to the initial position.
育苗搬运作业：在需要进行育苗搬运作业时，多区物流机器人按预设路径自动巡航，从初始位置出发，根据标识***巡航沿规划路径行走至苗盘存放区，调整插取机构的高度和水平位置，将苗盘插取装载至机器人的插取机构上，而后根据规划路径进入育苗区并放置在预设的位置进行播种育苗作业，如此往复直至所有苗盘放入相应的育苗区位后，作业完成；返回初始位置。Seedling handling operations: When seedling handling operations are required, the multi-zone logistics robot automatically cruises according to the preset path, starting from the initial position, and walking along the planned path according to the identification system to the seedling storage area, adjusting the height and level of the insertion and removal mechanism Position, insert and load the seedling tray to the insertion mechanism of the robot, and then enter the nursery area according to the planned path and place it in the preset position for sowing and seedling operation, and so on until all seedling trays are placed in the corresponding seedling area. Complete; return to the initial position.
移栽搬运作业：在需要进行移栽搬运作业时，多区物流机器人按预设路径自动巡航，从初始位置出发，根据标识***巡航沿规划路径行走至移栽区，调整插取机构的高度和水平位置，将移栽完成后的栽培板插取装载至机器人的插取机构上，而后根据规划路径进入栽培区举升并放置在栽培架48上进行栽培作业，如此往复直至所有栽培板放入相应的栽培区位后，作业完成；返回初始位置。Transplanting and handling operations: When transplanting and handling operations are required, the multi-zone logistics robot automatically cruises according to the preset path, starting from the initial position, and walking along the planned path to the transplanting area according to the identification system, adjusting the height and height of the insertion and removal mechanism In a horizontal position, insert and load the transplanted cultivation plates onto the insertion mechanism of the robot, and then enter the cultivation area according to the planned path, lift them and place them on the cultivation rack 48 for cultivation operations, and reciprocate until all cultivation plates are put in After the corresponding cultivation location, the operation is completed; return to the initial position.
收获搬运作业：在需要进行收获搬运作业时，多区物流机器人按预设路径自动巡航，从初始位置出发，根据标识***巡航沿规划路径行走至栽培区，将成熟待收获作物的栽培板插取装载至机器人的插取机构上，而后根据指定标记点50进入将栽培板卸载至输送带上，输运至收获区和包装区，进行收获分选包装作业；如此往复直至所有栽培板放入相应的区位后，作业完成，返回初始位置。完成平台运输后返回初始位置。Harvesting and handling operations: When harvesting and handling operations are required, the multi-zone logistics robot automatically cruises according to the preset path, starting from the initial position, and walking along the planned path according to the identification system to the cultivation area, inserting the cultivation boards of mature crops to be harvested Load it on the insertion mechanism of the robot, and then enter according to the designated mark 50 to unload the cultivation plates onto the conveyor belt, and transport them to the harvesting area and packaging area for harvesting, sorting and packaging operations; and so on until all the cultivation plates are put into the corresponding After the location, the job is completed and return to the initial position. Return to the initial position after completing the platform transportation.
所述实施例为本发明的优选的实施方式，但本发明并不限于上述实施方式，在不背离本发明的实质内容的情况下，本领域技术人员能够做出的任何显而易见的改进、替换或变型均属于本发明的保护范围。The embodiments are the preferred embodiments of the present invention, but the present invention is not limited to the above-mentioned embodiments. Without departing from the essence of the present invention, any obvious improvement, substitution, or replacement can be made by those skilled in the art without departing from the essence of the present invention. The variants all belong to the protection scope of the present invention.

Claims (10)

  1. 一种适用于植物工厂立体栽培的多区物流机器人，其特征在于，包括控制器(1)、移动底盘(2)、高举升降装置(3)和平移插取装置(4)；A multi-zone logistics robot suitable for three-dimensional cultivation of plant factories, which is characterized by comprising a controller (1), a mobile chassis (2), a lifting device (3) and a translation insertion device (4);
    所述移动底盘(2)上设置有一组磁导航传感器和地标传感器(54)，磁导航传感器和地标传感器(54)与控制器相连；A set of magnetic navigation sensors and landmark sensors (54) are provided on the mobile chassis (2), and the magnetic navigation sensors and landmark sensors (54) are connected to the controller;
    所述高举升降装置(3)固定在移动底盘(2)上，平移插取装置(4)固定在高举升降装置(3)上，能够被高举升降装置(3)举高或降低；The high-lifting and lifting device (3) is fixed on the mobile chassis (2), and the translational insertion and taking device (4) is fixed on the high-lifting and lifting device (3), and can be raised or lowered by the high-lifting and lifting device (3);
    所述平移插取装置(4)包括水平平移机构及插取机构，所述插取机构(27)包括叉指(41)、叉指固定座(42)、固定架，固定架固定在水平平移机构上、且能由水平平移机构带动水平移动，至少两个叉指(41)通过叉指固定座(42)固定在固定架上；The translational insertion and removal device (4) includes a horizontal translation mechanism and an insertion and removal mechanism. The insertion and removal mechanism (27) includes an interdigital (41), an interdigital fixing seat (42), and a fixing frame. The fixing frame is fixed in the horizontal translation On the mechanism, and can be driven by the horizontal translation mechanism to move horizontally, at least two fingers (41) are fixed on the fixing frame through the finger fixing seat (42);
    所述高举升降装置(3)、平移插取装置(4)上分别设有位移传感器，所述位移传感器与控制器相连，用于检测升降或平移的距离；Displacement sensors are respectively provided on the high-lift lifting device (3) and the translational insertion and take-out device (4), and the displacement sensor is connected with the controller for detecting the distance of lifting or translation;
    所述控制器中内置有用于规划机器人运动轨迹及搬运指令的指令模块，用于根据磁导航传感器、地标传感器(54)的检测数据监控机器人运行轨迹和搬运工作执行情况的监控模块，以及用于微调机器人运动路径的路径规划模块。The controller has a built-in instruction module for planning the robot's motion trajectory and handling instructions, a monitoring module for monitoring the robot's trajectory and the execution of the handling work according to the detection data of the magnetic navigation sensor and the landmark sensor (54), and Path planning module for fine-tuning the robot motion path.
  2. 根据权利要求1所述的移动底盘适用于植物工厂立体栽培的多区物流机器人，其特征在于，所述移动底盘(2)包括前后两组驱动单元，每个单元由两个驱动轮、四个万向轮，两组驱动单元之间由底盘钢架与车体连接。The mobile chassis according to claim 1 is suitable for a multi-zone logistics robot for three-dimensional cultivation of plant factories, characterized in that the mobile chassis (2) includes two groups of front and rear drive units, each unit consists of two drive wheels, four With universal wheels, the two sets of drive units are connected to the car body by a chassis steel frame.
  3. 根据权利要求1所述的移动底盘适用于植物工厂立体栽培的多区物流机器人，其特征在于，所述插取机构(27)还包括翻转电机(40)、转轴(44)，所述转轴(44)与翻转电机(40)的输出轴连接，转轴(44)装在固定架上，所述叉指(41)固定在转轴(44)上；所述固定架为悬臂式，截面为U形的U型檩条(43)，转轴(44)位于U型檩条(43)的凹槽内。The mobile chassis according to claim 1 is suitable for a multi-zone logistics robot for three-dimensional cultivation of a plant factory, wherein the insertion mechanism (27) further includes a turning motor (40), a rotating shaft (44), and the rotating shaft ( 44) Connected with the output shaft of the turning motor (40), the rotating shaft (44) is mounted on a fixed frame, and the interdigital fingers (41) are fixed on the rotating shaft (44); the fixed frame is of a cantilever type with a U-shaped cross section The U-shaped purlin (43), the rotating shaft (44) is located in the groove of the U-shaped purlin (43).
  4. 根据权利要求1所述的移动底盘适用于植物工厂立体栽培的多区物流机器人，其特征在于，所述高举升降装置(3)包括依次嵌套的一级升降机构(5)、二级升降机构(6)、三级升降机构(7)，以及滚珠丝杠升降机构(8)、电动推杆(9)，The mobile chassis according to claim 1 is suitable for a multi-zone logistics robot for three-dimensional cultivation of a plant factory, wherein the high-lift lifting device (3) comprises a first-level lifting mechanism (5) and a second-level lifting mechanism nested in sequence (6) Three-stage lifting mechanism (7), ball screw lifting mechanism (8), electric push rod (9),
    所述一级升降机构(5)固定于所述移动底盘(2)上，电动推杆(9)的一端固定在在底座上，另一端与二级升降机构(6)连接；The primary lifting mechanism (5) is fixed on the mobile chassis (2), one end of the electric push rod (9) is fixed on the base, and the other end is connected with the secondary lifting mechanism (6);
    所述二级升降机构(6)的顶部安装有同步带轮(12)，所述同步带(13)绕过同步带轮(12)、两端由同步带压板(14)分别固定在一级升降机构(5)的顶部和三级升级机构(7)的底部；A timing belt wheel (12) is installed on the top of the secondary lifting mechanism (6), the timing belt (13) bypasses the timing belt wheel (12), and both ends are fixed on the primary stage by the timing belt pressure plate (14). The top of the lifting mechanism (5) and the bottom of the three-stage upgrade mechanism (7);
    三级升降机构(7)上装有两个平行的导轨(16)，滚珠丝杠升降机构(8)位于两个导轨 (16)之间，所述滚珠丝杠升降机构(8)包括第一电机(23)、滚珠丝杠(21)、丝杠螺母(20)、滑块(15)，所述第一电机(23)安装于所述三级升降机构(7)的底部，所述第一电机(23)的输出轴与所述滚珠丝杠(21)连接，所述滚珠丝杠(21)纵贯所述三级升降机构(7)，丝杠螺母(20)装在滚珠丝杠(21)上，第一安装板(17)固定在丝杠螺母(20)上，且第一安装板(17)上与导轨(16)对应的位置固定有滑块(15)，所述滑块(15)滑动安装于所述导轨(16)上。The three-stage lifting mechanism (7) is equipped with two parallel guide rails (16), the ball screw lifting mechanism (8) is located between the two guide rails (16), and the ball screw lifting mechanism (8) includes a first motor (23), a ball screw (21), a screw nut (20), a sliding block (15), the first motor (23) is installed at the bottom of the three-stage lifting mechanism (7), the first The output shaft of the motor (23) is connected to the ball screw (21), the ball screw (21) runs through the three-stage lifting mechanism (7), and the screw nut (20) is mounted on the ball screw ( 21), the first mounting plate (17) is fixed on the screw nut (20), and a sliding block (15) is fixed at a position corresponding to the guide rail (16) on the first mounting plate (17), the sliding block (15) Slidingly mounted on the guide rail (16).
  5. 根据权利要求4所述的适用于植物工厂立体栽培的多区物流机器人，其特征在于，所述三级升降机构(7)的底部外表面安装有滚动滑轮(11)，所述滚动滑轮(11)与所述二级升降机构(6)的框架内表面相切；所述二级升降机构(6)底部的前后表面均安装有滚动滑轮(11)和滑轮(10)，所述滚动滑轮(11)和所述滑轮(10)分别与所述一级升降机构(5)的内表面相切。The multi-zone logistics robot suitable for three-dimensional cultivation of plant factories according to claim 4, characterized in that a rolling pulley (11) is installed on the outer surface of the bottom of the three-stage lifting mechanism (7), and the rolling pulley (11) ) Is tangent to the inner surface of the frame of the secondary lifting mechanism (6); the front and rear surfaces of the bottom of the secondary lifting mechanism (6) are both installed with a rolling pulley (11) and a pulley (10), the rolling pulley ( 11) and the pulley (10) are respectively tangent to the inner surface of the primary lifting mechanism (5).
  6. 根据权利要求4所述的适用于植物工厂立体栽培的多区物流机器人，其特征在于，所述滚珠丝杠(21)的顶部末端安装有支撑座(18)；所述第一电机(23)与滚珠丝杠(21)的连接处设有第一联轴器(22)。The multi-zone logistics robot suitable for three-dimensional cultivation of plant factories according to claim 4, characterized in that a support seat (18) is installed at the top end of the ball screw (21); the first motor (23) A first coupling (22) is provided at the joint with the ball screw (21).
  7. 根据权利要求3所述的适用于植物工厂立体栽培的多区物流机器人，其特征在于，两根所述叉指(41)互相平行，所述叉指(41)的两面均为锯齿状。The multi-zone logistics robot suitable for three-dimensional cultivation of a plant factory according to claim 3, characterized in that the two fingers (41) are parallel to each other, and both sides of the fingers (41) are zigzag-shaped.
  8. 根据权利要求1所述的移动底盘适用于植物工厂立体栽培的多区物流机器人，其特征在于，所述水平平移机构包括一级平移机构(24)、二级平移机构(25)、三级平移机构(26)，The mobile chassis according to claim 1 is suitable for a multi-zone logistics robot for three-dimensional cultivation of a plant factory, wherein the horizontal translation mechanism includes a first-level translation mechanism (24), a second-level translation mechanism (25), and a third-level translation mechanism. Institution (26),
    所述一级平移机构(24)位于所述第一安装板(17)上，所述一级平移机构(24)与二级平移机构(25)通过重型滑轨滑动连接；所述一级平移机构(24)上装有同步齿条(29)，The first-level translation mechanism (24) is located on the first mounting plate (17), and the first-level translation mechanism (24) and the second-level translation mechanism (25) are slidably connected by a heavy-duty slide; The mechanism (24) is equipped with a synchronous rack (29),
    所述二级平移机构(25)两端装有与同步齿条(29)啮合的第一从动同步齿轮(31)，所述第一驱动同步齿轮(33)由第二电机(32)驱动；第一驱动同步齿轮(33)与两个第一从动同步齿轮(31)构成齿带轮系；The two ends of the secondary translation mechanism (25) are equipped with a first driven synchronous gear (31) meshing with a synchronous rack (29), and the first driving synchronous gear (33) is driven by a second motor (32) ; The first driving synchronous gear (33) and the two first driven synchronous gears (31) constitute a toothed belt gear train;
    所述三级平移机构(26)与二级平移机构(25)滑动连接，包括平移安装板(35)，所述平移安装板(35)的左右两侧边缘各设有一个第二从动同步齿轮(36)，所述平移安装板(35)上安装有第三电机(37)，第二驱动同步轮(38)由第三电机(37)驱动，第二驱动同步轮(38)与两个第二从动同步齿轮(36)构成齿带轮系。The three-stage translation mechanism (26) is slidably connected with the two-stage translation mechanism (25), and includes a translation mounting plate (35). The left and right sides of the translation mounting plate (35) are each provided with a second slave synchronous Gear (36), a third motor (37) is installed on the translational mounting plate (35), the second driving synchronous wheel (38) is driven by the third motor (37), and the second driving synchronous wheel (38) is connected to two A second driven synchronous gear (36) constitutes a toothed belt gear train.
  9. 基于权利要求1所述的适用于植物工厂立体栽培的多区物流机器人的植物工厂立体栽培的多区物流机器人平台，其特征在于，包括至少一个所述多区物流机器人，以及标识***和控制中心，所述标识***为在植物工厂的地面设置导航线(49)和磁性标识点(50)；所述控制中心与多个多区物流机器人通信连接，用于实时监控所述机器人的工作状态、并能够向 各个机器人发送工作指令。The multi-zone logistics robot platform for the three-dimensional cultivation of the plant factory based on the multi-zone logistics robot suitable for the three-dimensional cultivation of the plant factory according to claim 1, characterized in that it comprises at least one of the multi-zone logistics robot, as well as an identification system and a control center The identification system is to set up a navigation line (49) and a magnetic identification point (50) on the ground of the plant factory; the control center communicates with multiple multi-zone logistics robots for real-time monitoring of the working status of the robots, And can send work instructions to each robot.
  10. 权利要求9所述的植物工厂立体栽培的多区物流机器人平台的运作方法，其特征在于，The operation method of a multi-zone logistics robot platform for three-dimensional cultivation of a plant factory according to claim 9, characterized in that:
    ***初始化：启动所述多区物流机器人平台，***进行自检，各项设备工作正常后，平台启动工作；根据不同任务需求，通过控制中心或所述机器人的控制器设定机器人自动巡航的起始点、作业区域、作业路径、工位参数及搬运工作；System initialization: Start the multi-zone logistics robot platform, and the system will perform self-checking. After the equipment is working normally, the platform will start to work; according to different task requirements, the control center or the controller of the robot can set the starting point of the robot's automatic cruise. Starting point, work area, work path, station parameters and handling work;
    育苗搬运作业：在需要进行育苗搬运作业时，多区物流机器人按预设路径自动巡航，从初始位置出发，根据标识***巡航沿规划路径行走至苗盘存放区，调整插取机构的高度和水平位置，将苗盘插取装载至机器人的插取机构上，而后根据规划路径进入育苗区并放置在预设的位置进行播种育苗作业，如此往复直至所有苗盘放入相应的育苗区位后，作业完成；Seedling handling operations: When seedling handling operations are required, the multi-zone logistics robot automatically cruises according to the preset path, starts from the initial position, and cruises along the planned path to the seedling storage area according to the identification system, and adjusts the height and level of the insertion and removal mechanism Position, insert and load the seedling tray to the insertion mechanism of the robot, and then enter the nursery area according to the planned path and place it in the preset position for sowing and seedling operation, and so on until all seedling trays are placed in the corresponding seedling area. carry out;
    移栽搬运作业：在需要进行移栽搬运作业时，多区物流机器人按预设路径自动巡航，从初始位置出发，根据标识***巡航沿规划路径行走至移栽区，调整插取机构的高度和水平位置，将移栽完成后的栽培板插取装载至机器人的插取机构上，而后根据规划路径进入栽培区举升并放置在栽培架上进行栽培作业，如此往复直至所有栽培板放入相应的栽培区位后，作业完成；Transplanting and handling operations: When transplanting and handling operations are required, the multi-zone logistics robot automatically cruises according to the preset path, starting from the initial position, and walking along the planned path to the transplanting area according to the identification system, adjusting the height and height of the insertion and removal mechanism In the horizontal position, insert and load the transplanted cultivation board to the insertion mechanism of the robot, and then enter the cultivation area according to the planned path and place it on the cultivation rack for cultivation operations, and reciprocate until all the cultivation boards are put into the corresponding After the cultivation location, the operation is completed;
    收获搬运作业：在需要进行收获搬运作业时，多区物流机器人按预设路径自动巡航，从初始位置出发，根据标识***巡航沿规划路径行走至栽培区，将成熟待收获作物的栽培板插取装载至机器人的插取机构上，而后根据指定磁性标识点进入将栽培板卸载至输送带上，输运至收获区和包装区，进行收获分选包装作业；如此往复直至所有栽培板放入相应的区位后，作业完成。Harvesting and handling operations: When harvesting and handling operations are required, the multi-zone logistics robot automatically cruises according to the preset path, starting from the initial position, and walking along the planned path according to the identification system to the cultivation area, inserting the cultivation boards of mature crops to be harvested Load it on the insertion mechanism of the robot, and then enter according to the designated magnetic marking point to unload the cultivation plates onto the conveyor belt, and transport them to the harvesting area and packaging area for harvesting, sorting and packaging operations; and so on until all the cultivation plates are put into the corresponding After the location, the job is complete.
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