阅读说明：本技术 一种植保机器人的控制系统及方法 (Control system and method for plant protection robot ) 是由 魏士臣 徐锋 高强 吕永新 魏士军 于 2019-07-31 设计创作，主要内容包括：本发明公开了一种植保机器人控制系统和方法,所述系统包括控制总站；可与所述控制总站通信的环境参数采集装置；以及可与所述控制总站通信并接收植保任务指令的植保机器人；所述环境参数采集装置,用于采集温室大棚内部的环境参数,并上传给所述控制总站；所述控制总站,用于根据所述环境参数采集装置采集的环境参数,生成植保任务指令并下发给所述植保机器人；所述植保机器人,用于接收并执行所述植保任务指令。根据本发明所述植保机器人控制系统和方法,可以实现智能自动化管理、智能投放和智能采集信息,通过自动化的灌溉、喷药、施肥作业,工作效率高,运行稳定。(The invention discloses a plant protection robot control system and a method, wherein the system comprises a control master station; an environmental parameter acquisition device communicable with the control central station; and a plant protection robot capable of communicating with the control central station and receiving plant protection task instructions; the environment parameter acquisition device is used for acquiring environment parameters in the greenhouse and uploading the environment parameters to the control master station; the control master station is used for generating a plant protection task instruction according to the environmental parameters acquired by the environmental parameter acquisition device and issuing the plant protection task instruction to the plant protection robot; and the plant protection robot is used for receiving and executing the plant protection task instruction. According to the plant protection robot control system and method, intelligent automatic management, intelligent delivery and intelligent information acquisition can be realized, and through automatic irrigation, pesticide spraying and fertilizer application operations, the work efficiency is high and the operation is stable.)

1. A plant protection robot control system, characterized by comprising:

controlling a master station; an environmental parameter acquisition device communicable with the control central station; and a plant protection robot capable of communicating with the control central station and receiving plant protection task instructions;

the environment parameter acquisition device is used for acquiring environment parameters in the greenhouse and uploading the environment parameters to the control master station;

the control master station is used for generating a plant protection task instruction according to the environment parameters and the working state of the plant protection robot and issuing the plant protection task instruction to the plant protection robot;

and the plant protection robot is used for receiving and executing the plant protection task instruction.

2. The system of claim 1, wherein the control station comprises:

a wireless transceiver module which is communicated with the environmental parameter acquisition device/plant protection robot;

the processing module is used for generating a plant protection task instruction according to the environmental parameters uploaded by the environmental parameter acquisition device and the working state uploaded by the plant protection robot;

the display module is used for displaying the environmental parameters and the working state; and

and the input module receives a manual control instruction input by a user.

3. The system of claim 1, wherein the environmental parameter collecting device is disposed inside a greenhouse or on the plant protection robot.

4. The system of claim 1, wherein the plant protection robot comprises:

the suspension type walking mechanism is arranged at the top of the greenhouse;

the spraying mechanism is arranged under the suspension type walking mechanism to operate, slides on the guide rail along the moving path of the guide rail in a hoisting mode, and simultaneously performs irrigation operations such as pesticide spraying, ozone sterilization and the like;

the communication module is arranged below the suspended running mechanism and is used for communicating with the control master station;

and the control module is arranged below the suspended running mechanism and used for controlling the running mechanism and the spraying mechanism according to the plant protection task instruction.

5. The system of claim 4, wherein the communication module is configured to upload the operating status of the plant protection robot to the control station; and receiving a plant protection task instruction issued by the control central station.

6. The system of claim 4, wherein the plant protection robot further comprises:

and the remote control receiving module is used for receiving a remote control instruction of a user, and the remote control instruction is used for independently controlling the plant protection robot to walk, pesticide spraying and mosquito repelling.

7. The system according to claim 1, wherein the generating of the plant protection task instruction according to the environmental parameters collected by the environmental parameter collecting device comprises:

and controlling a walking mechanism of the plant protection robot to walk and a spraying mechanism to spray according to the carbon dioxide concentration, the temperature and the humidity and the illumination intensity.

8. The system according to claim 1, wherein the generating of the plant protection task instruction according to the environmental parameters collected by the environmental parameter collecting device further comprises:

and controlling the plant protection robot to perform ozone sterilization operation according to the concentration of the ozone.

9. A method of operating a plant protection robot control system according to any of claims 1-8, characterized by performing the steps of:

the environment parameter acquisition device acquires environment parameters inside the greenhouse and uploads the environment parameters to the control master station;

the control master station generates a plant protection task instruction according to the environmental parameters and the working state of the plant protection robot and issues the plant protection task instruction to the plant protection robot;

and the plant protection robot receives and executes the plant protection task instruction.

[ technical field ] A method for producing a semiconductor device

The invention relates to the field of agricultural automation, in particular to a control system and a control method of a plant protection robot.

[ background of the invention ]

The first greenhouse vegetable production area in China shows the trend of regional and large-scale development gradually. The facility vegetables are mainly out-of-season vegetables, and have the advantages of high yield, good benefit and the like. The problems of high temperature and high humidity of the environment, continuous cropping of soil, soil-borne diseases and the like exist in the sunlight greenhouse, diseases and pests are easily caused, the yield and the quality of vegetables are seriously influenced, and therefore the disease and pest control task in each season in the greenhouse is heavy.

At present, the domestic facility vegetable pest control machinery has a large gap with developed countries, and has a plurality of defects and shortcomings: firstly, the old aging of equipment is prevented, manual operation is mainly adopted, the labor intensity is high, the operation efficiency is low, and the phenomena of 'running, overflowing, dripping and leaking' cause serious pollution; secondly, under the diversified planting mode of the facility vegetables, the existing plant protection machinery has low automation degree, the design of a spraying mode is unreasonable, accurate spraying cannot be realized, the pest control effect is poor, the covering density of the liquid medicine is not uniform, and the effective utilization rate of the pesticide is only 20-30%; the automation and the intelligent degree of the existing equipment are low, and because the spraying direction is controlled by an operator, the pesticide and the human body are not completely isolated in the spraying process, the personal injury to the operator is large in the closed environment of the greenhouse, and the poisoning phenomenon is easy to occur.

In modern agricultural production, machines for planting various crops can be applied to the operation of preventing and treating plant diseases and insect pests, the labor intensity is reduced, the labor is saved, and the working efficiency is improved.

However, for the growth process after the crop is sown, information such as environmental data indexes, water irrigation situations, fertilization situations, situations of whether to use medicine, pest and disease identification and the like is collected and recorded manually, and when water or fertilizer or medicine is needed, manual control is needed, and intelligent automatic management, intelligent delivery and intelligent information acquisition cannot be achieved.

[ summary of the invention ]

The present invention is directed to solving at least one of the problems of the prior art or the related art.

To this end, in one aspect of the present invention, there is provided a plant protection robot control system including:

controlling a master station; an environmental parameter acquisition device communicable with the control central station; and a plant protection robot capable of communicating with the control central station and receiving plant protection task instructions;

the environment parameter acquisition device is used for acquiring environment parameters in the greenhouse and uploading the environment parameters to the control master station;

the control master station is used for generating a plant protection task instruction according to the environment parameters and the working state of the plant protection robot and issuing the plant protection task instruction to the plant protection robot;

and the plant protection robot is used for receiving and executing the plant protection task instruction.

The above aspect and any possible implementation further provides an implementation, where the control center includes:

the wireless transceiving module is communicated with the environmental parameter acquisition device and the plant protection robot;

the processing module is used for generating a plant protection task instruction according to the environmental parameters uploaded by the environmental parameter acquisition device and the working state uploaded by the plant protection robot;

the display module is used for displaying the environmental parameters and the working state; and

and the input module receives a manual control instruction input by a user.

The above aspects and any possible implementation manners further provide an implementation manner, and the environmental parameter collecting device is disposed inside the greenhouse or on the plant protection robot.

The above aspects and any possible implementations further provide an implementation, where the plant protection robot includes:

the suspension type walking mechanism is arranged at the top of the greenhouse;

the spraying mechanism is arranged under the suspension type walking mechanism to operate, slides on the guide rail along the moving path of the guide rail in a hoisting mode, and simultaneously performs irrigation operations such as pesticide spraying, ozone sterilization and the like;

the communication module is arranged below the suspended running mechanism and is used for communicating with the control master station;

and the control module is arranged below the suspended running mechanism and used for controlling the running mechanism and the spraying mechanism according to the plant protection task instruction.

The above aspect and any possible implementation manner further provide an implementation manner, where the communication module is configured to upload the working state of the plant protection robot to the control central station; and receiving a plant protection task instruction issued by the control central station.

The above aspect and any possible implementation further provide an implementation, where the plant protection robot further includes:

and the remote control receiving module is used for receiving a remote control instruction of a user, and the remote control instruction is used for independently controlling the plant protection robot to walk, pesticide spraying and mosquito repelling.

The above-described aspect and any possible implementation manner further provide an implementation manner, where generating a plant protection task instruction according to the environmental parameters collected by the environmental parameter collecting device includes:

and controlling a walking mechanism of the plant protection robot to walk and a spraying mechanism to spray according to the carbon dioxide concentration, the temperature and the humidity and the illumination intensity.

As to the above-mentioned aspect and any possible implementation manner, there is further provided an implementation manner, where the generating a plant protection task instruction according to the environmental parameters collected by the environmental parameter collecting device further includes:

and controlling the plant protection robot to perform ozone sterilization operation according to the concentration of the ozone.

The working method of any plant protection robot control system comprises the following steps:

the environment parameter acquisition device acquires environment parameters inside the greenhouse and uploads the environment parameters to the control master station;

the control master station generates a plant protection task instruction according to the environmental parameters and the working state of the plant protection robot and issues the plant protection task instruction to the plant protection robot;

and the plant protection robot receives and executes the plant protection task instruction.

The plant protection robot control system and the method provided by the invention can realize automatic acquisition of environmental information and/or the working state of the plant protection robot, intelligent automatic management of the plant protection robot and intelligent spraying of pesticide/water.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

[ description of the drawings ]

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a block diagram of a plant protection robot control system according to the present invention;

fig. 2 is a perspective view of a plant protection robot according to the embodiment of the present invention;

fig. 3 is a structural view of a spraying mechanism of the plant protection robot according to the embodiment of the invention;

fig. 4 is a bottom view of the plant protection robot according to the embodiment of the present invention;

fig. 5 is a bottom view of the tank of the plant protection robot according to the embodiment of the present invention;

fig. 6 is a structural view of a feeding device of the plant protection robot according to the embodiment of the invention;

FIG. 7 is a flow chart of a control method of the security robot according to the present invention;

[ detailed description ] embodiments

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Fig. 1 is a structural diagram of an embodiment of the present invention, disclosing a plant protection robot control system, including:

a control master station 11; an environmental parameter acquisition device 12 communicable with the control central station; and a plant protection robot 100 communicable with the control station;

the environment parameter acquisition device 12 is used for acquiring environment parameters inside the greenhouse and uploading the environment parameters to the control master station;

the control central station 11 is configured to generate a plant protection task instruction according to the environmental parameters acquired by the environmental parameter acquisition device, and issue the plant protection task instruction to the plant protection robot 100;

the plant protection robot 100 is configured to receive and execute the plant protection task instruction.

In a preferred implementation of the control station 11,

the control station 11 includes:

a wireless transceiver module 111 communicating with the environmental parameter acquisition device 12 and the plant protection robot 100;

a processing module 112 for generating a plant protection task instruction according to the environmental parameters uploaded by the environmental parameter collecting device 12 and the working state uploaded by the plant protection robot 100;

a display module 113 for displaying the environmental parameters and the working state; and

and an input module 114 for receiving manual control commands input by a user.

Preferably, the processing module 112 is a programmable logic controller PLC or RAM processor, and is connected to the wireless transceiver module 111, the display module 113, and the input module 112 through an RS485 interface.

Preferably, the wireless transceiver module 111 includes a wireless communication module such as ZigBee, so as to realize wireless communication with one or more environmental parameter collecting devices 12 and one or more plant protection robots 100. Preferably, the wireless transceiver module 111 further includes a DTU or a WiFI module, which is used for communicating with a cloud server, so that a client can view and control the client through a client installed on the mobile device.

Preferably, the control central station can be arranged near the greenhouse, and can also be arranged in a machine room far away from the greenhouse through relay equipment.

In a preferred implementation of the environmental parameter acquisition means 12,

preferably, the environmental parameter collecting device is connected with the control central station 11 through a wireless communication module such as ZigBee, and uploads the collected environmental parameters to the control central station 11.

Preferably, the environmental parameters include carbon dioxide concentration, temperature and humidity, illumination intensity, ozone concentration and other parameters. Preferably, the number and the position of the environmental parameter acquisition devices can be determined according to customer requirements or actual analysis, and specifically, the number of the environmental parameter acquisition devices of each greenhouse is determined according to the actual size of the greenhouse.

Preferably, the environmental parameter collection device can include heterogeneous sensor for gather carbon dioxide concentration, humiture, illumination intensity, ozone concentration, soil moisture content parameter respectively. The different types of sensors can be respectively arranged at different positions of the greenhouse, for example, a carbon dioxide concentration sensor, a temperature and humidity sensor and an ozone concentration sensor can be arranged near crops at the lower part of the greenhouse, an illumination intensity sensor can be arranged at an unobstructed area at the upper part of the greenhouse, and a soil moisture content sensor can be arranged in soil at the bottom of the greenhouse; above-mentioned carbon dioxide concentration, humiture, illumination intensity, ozone concentration etc. can also set up on the plant protection robot, constantly acquire the environmental parameter of plant protection robot position according to plant protection robot's removal. Each sensor is provided with a wireless communication module, and the collected environmental parameters can be uploaded to the control central station 11 independently.

Preferably, the processing module 112 controls a walking mechanism of the plant protection robot to walk and a spraying mechanism to irrigate according to the soil moisture content parameters uploaded by the environment parameter acquisition device.

Preferably, the processing module 112 controls a walking mechanism of the plant protection robot to walk and a spraying mechanism to spray according to the carbon dioxide concentration, the temperature and humidity, and the illumination intensity.

Preferably, the processing module 112 controls a traveling mechanism of the plant protection robot to perform traveling operation and a spraying mechanism to perform ozone sterilization operation according to the concentration of ozone.

Preferably, the processing module 112 controls a walking mechanism of the plant protection robot to walk and a spraying mechanism to perform fertilizer application according to the fertilizer application instruction input by the user through the input module 114.

In a preferred implementation of the plant protection robot 100, as shown in figure 2,

preferably, the plant protection robot 100 includes:

a suspended running mechanism 300 arranged on the top of the greenhouse;

the spraying mechanism 200 is arranged under the suspension type walking mechanism 300, runs along the moving path of the guide rail in a hoisting mode, and simultaneously carries out irrigation operations such as pesticide spraying, ozone sterilization and the like;

a communication module 134 disposed under the suspended running gear 300 for communicating with the control center 11;

and the control module 135 is arranged on the suspended running mechanism and is used for controlling the running mechanism 300 and the spraying mechanism 200 according to the plant protection task instruction.

Preferably, the suspended running mechanism 300 may be a double-track running mechanism or a single-track running mechanism.

Preferably, the suspension type walking mechanism 300 adopts a stepping motor, such as a 57J1880-450 type stepping motor, as a power source for driving the equipment, and the stepping motor has the advantage of precise control, and the number and frequency of the transmission pulses can be controlled by the control module 135 to control the walking distance and speed. The walking speed is stable in the spraying process of pesticide and ozone water, and the working efficiency is improved. Preferably, the forward and backward walking of the stepping motor can be controlled through 2-path high-speed pulse output.

Preferably, the suspension type traveling mechanism 300 is provided with a positioning device for determining the position of the plant protection robot, feeding the position back to the control module 135, uploading the position to the control main station 11 through the communication module 134, and recording the previous stop position, when the plant protection robot 100 returns to the original position (specified position) because the pesticide/ozone water in the tank is exhausted and the control main station 11 controls the feeding device 600 to refill, after the refilling is completed, the control main station 11 can control the plant protection robot 100 to directly go to the original spraying stop position to continue spraying without repeated spraying. When the spraying work has been completed, the control master station 11 controls the plant protection robot 100 to return to the home position.

In a preferred embodiment of the present application, as shown in fig. 3, the spraying mechanism 200 includes a tank 210, a tank holder 220, a side wing plate 230, a pump 240, and a nozzle 250. The pump 240 is symmetrically installed on the side wing 230 for delivering the liquid medicine stored in the tank 210 and spraying to the outside of the side wing 230. The side plate 230 is fixed to the tank bracket 220 and connected to the tank 210. For the plant protection robot 100 using the hoisting structure, the tank 210 needs to contain water or blending liquid medicine with sufficient weight, and the stability of the tank structure is of decisive significance for the working efficiency of the plant protection robot, and in this embodiment, the tank can bear the spraying weight of at least 20 kg. The tank 210 can contain water or liquid medicine according to different task instructions; different sub-tanks can be arranged for respectively containing water and liquid medicine.

Fig. 4 is a bottom view of the plant protection robot according to the present embodiment, and fig. 5 is a bottom view of the tank. The can 210 has an upper cap 211 and a lower cap 212 respectively covering the upper end and the lower end of the can, and the outer circumferential surface of the sidewall of the can 210 has a cylindrical shape, a thin wall, and a sealed hollow structure. The upper cover 211 is extended upward to form a water inlet 213, and the upper part of the water inlet 213 is shaped like a funnel, and the lower part is shaped like a tube and is vertically arranged on the upper cover 211. The upper cover 211 is provided with a water inlet hole having the same diameter as the lower outer diameter with respect to the water inlet 213. The lower cover 212 is formed with a water outlet 214 extending downward. Water or medical solution is poured into the tank 210 from the water inlet 213 to be stored, and the water outlet 214 of the lower cover 212 delivers the water or medical solution to the pump 240 installed at the side wing 230. The tank 210 is filled with water or liquid medicine by welding the upper and lower parts of the joint. Agricultural electric appliance elements can be arranged on the upper cover 211 or the lower cover 212, for example, an ozone generator is arranged on the upper cover 211, ozone generated by the ozone generator is dissolved in water in the tank body 210 through an aerator and then is sprayed on crops, and the concentration of the ozone is controlled to be less than 10%; the liquid level meter is arranged on the lower cover 212, the liquid level in the tank body 210 is monitored, when the liquid level is detected to be not lower than a set value, the tank body 210 is judged to be anhydrous, the spraying operation is stopped, the final spraying point is memorized, the automatic spraying position is found and the spraying is continued, and the operation accuracy is higher.

Preferably, a liquid level sensor 610 is arranged in the tank 210, and the liquid level sensor 610 is used for detecting the liquid level of the tank 210, feeding the liquid level back to the control module 135, and uploading the liquid level to the control main station 11 through the communication module 134, so that the control main station 11 controls the plant protection robot to immediately stop spraying, stop the operation of the pump 240 and the spray pipe 250, and return to the original position when the pesticide/ozone water in the tank 210 is exhausted. The in-situ position switch is arranged, and after the plant protection robot returns to the in-situ position, the position switch is fed back to the control central station 11 through the communication module 134, so that the control central station 11 can control the corresponding feeding device 600 to fill the tank 210. When the water level reaches a preset liquid level, the control center 11 controls the corresponding feeding device 600 to stop feeding the tank 210.

Preferably, the home position and the position of the charging device 600 may be the same position or different positions.

Preferably, the present embodiment uses a diaphragm pump, and controls the pressure of the liquid medicine output by the pump 240 through controlling the central station 11, so as to switch various irrigation modes.

In a preferred embodiment of the present application, as shown in fig. 6, the feeding device 600 is disposed on the guide rail, preferably, at a specified position on both sides and/or top end of the guide rail, and the guide rail may be a single rail and/or a double rail, so as to realize automatic filling of the liquid medicine into the tank 210 under the control of the control station 11. A supply nozzle 620 for injecting the liquid medicine into the water inlet 213 of the tank 210 is provided, and the supply nozzle 620 is supported by a supply bracket 630. The supply stand 630 has a stand body 631 arranged vertically; the feeding device is further provided with a sliding arm 632, the lower end of the sliding arm 632 is provided with the feeding nozzle 620, a rack and pinion mechanism 640 is vertically arranged at the top end of the sliding arm 632, a motor is arranged on the rack and pinion mechanism, and the sliding arm 632 is connected with a gear 641 so that a rack 642 can slide in the vertical direction to drive the feeding nozzle 620 to move up and down. The feed nozzle 620 is connected to the reservoir via a water line 643. After the spraying mechanism moves to the predetermined position, the rack and pinion mechanism 640 drives the sliding arm 632 to move so as to make the feeding nozzle 620 extend into the water inlet 213.

The frame body 631 has a machine position detector 650, i.e., the position switch, and the machine position detector 650 detects the position of the plant protection robot 100 docked to the charging device 600, so as to ensure that the material feeding nozzle 620 can accurately inject the liquid medicine into the charging port. When the machine position detector 650 detects that the spraying mechanism 200 is far from the feeding nozzle 6201m, the plant protection robot 100 starts to decelerate, the moving speed is less than 0.2m/s, when the water inlet 213 is accurately positioned right below the feeding nozzle 620 in the vertical direction, the plant protection robot 100 stops moving, and the feeding device 600 stretches the feeding nozzle 620 into the water inlet 213 through the sliding arm 632 to inject the liquid medicine into the tank body 210. When the liquid level detector 610 detects that the liquid medicine reaches the set liquid capacity, the feeding device 600 stops feeding, the gear 641 drives the sliding arm 632 to move upward, and the plant protection robot 100 continues to spray the liquid medicine at the previous position or the initial point.

Preferably, the plant protection robot further comprises: and the trap lamp is arranged on the suspended running mechanism. Preferably, the processing module 112 of the control central station 11 controls the traveling mechanism of the plant protection robot to travel to a preset position and the pest trapping lamp to perform pest trapping operation according to default settings or a pest killing instruction input by a user.

Preferably, the preset insecticidal position may be one or more, and the insecticidal instruction may include a position order in which the pest attracting work is performed, a work time for each position, and the like.

Fig. 7 is a flowchart of an embodiment of the present invention, disclosing a plant protection robot control method, including:

s11, the environmental parameter collecting device collects environmental parameters inside the greenhouse and uploads the environmental parameters to the control master station;

step S12, the control central station generates a plant protection task instruction according to the environmental parameters and the working state of the plant protection robot and issues the plant protection task instruction to the plant protection robot;

and step S13, the plant protection robot receives and executes the plant protection task instruction.

It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the control method described above may refer to the corresponding process in the foregoing system embodiment, and is not described herein again.

According to the plant protection robot control system and method, intelligent automatic management, intelligent delivery and intelligent information acquisition can be realized, and through automatic irrigation, pesticide spraying and fertilizer application operations, the work efficiency is high and the operation is stable.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.