阅读说明：本技术 一种温室大棚多功能作业平台及其控制方法 (Greenhouse multifunctional operation platform and control method thereof ) 是由 穆元杰 尚明华 王富军 胡树冉 于 2020-11-26 设计创作，主要内容包括：本发明公开了一种温室大棚多功能作业平台及其控制方法,所述的作业平台包括运行轨道、移动装置、位置定位装置、控制系统、无线通讯系统、电机控制器和能源系统；所述的控制方法包括遥控模式、学习模式、自主导航模式。具有运行通畅、不妨碍棚内农事作业的优点,且悬挂不同的作业装置,可实现温室大棚中喷药、采摘、运输等多种作业。(The invention discloses a greenhouse multifunctional operation platform and a control method thereof, wherein the operation platform comprises an operation track, a mobile device, a position positioning device, a control system, a wireless communication system, a motor controller and an energy system; the control method comprises a remote control mode, a learning mode and an autonomous navigation mode. The greenhouse has the advantages of smooth operation and no interference to farm work in the greenhouse, and different operation devices are hung, so that various operations such as spraying, picking, transporting and the like in the greenhouse can be realized.)

1. A multifunctional operation platform of a greenhouse is characterized by comprising an operation track, a moving device, a position positioning device, a control system, a wireless communication system, a remote controller, a motor controller and an energy system, wherein the operation track is suspended in the greenhouse, the moving device is arranged on the operation track and can move on the operation track, the moving device comprises a motor, a driving wheel, a driven wheel and a hanging platform, the driving wheel, the driven wheel and the operation track are matched, the motor drives the driving wheel to rotate, the hanging platform is provided with the operation device, the position positioning device comprises identification equipment and a plurality of identification cards, the identification equipment is arranged on the moving device, the identification cards are arranged on the operation track, and the control system, the motor controller, the wireless communication system and the energy system are all arranged on the moving device, the control system is wirelessly connected with the remote controller through a wireless communication system, the control system is respectively connected with the motor controller, the identification equipment and the operation device, and the motor is connected with the motor controller.

2. The multifunctional operation platform for greenhouses according to claim 1, wherein the mounting platform is disposed on a lifting device, the lifting device is mounted on a moving device, the lifting device is connected with a lifting controller, and the lifting controller is connected with a control system.

3. A control method of a multifunctional operation platform of a greenhouse is characterized by comprising a remote control mode:

the operation remote controller and the remote controller wireless remote control system are operated, the control system controls the motor of the mobile device to act through the motor controller, so that the moving action of the mobile device is realized, the lifting controller controls the lifting device to act, so that the lifting action of the operation device on the mounting platform is realized, and the control system controls the starting and stopping of the operation device.

4. The control method of the multifunctional operation platform for the greenhouse as claimed in claim 3, further comprising a learning mode:

after entering a learning mode, the mobile device is controlled to act through the remote controller, the learning mode acquires path information of the layout track, the path information comprises the arrangement sequence of the identification cards and the rotation circle number information of the motor in the process that the mobile device travels a road section between two adjacent identification cards, and the path information is transmitted to the remote controller through the wireless communication system after being formed.

5. The method for controlling the multifunctional operation platform of the greenhouse as claimed in claim 4, wherein the method for acquiring the path information in the learning mode comprises:

presetting a starting point and an end point on the running track;

the control system respectively operates in forward rotation and backward rotation for multiple times from a starting point to an end point, generates a piece of temporary path information once the control system operates, and after the number of the temporary path information generated by the control system reaches a preset number, the control system performs operation processing on data between two same identification cards recorded in the multiple pieces of temporary path information by using a median average filtering method to finally form a piece of determined path information and sends the determined path information to the remote controller.

6. The control method of the multifunctional operation platform for the greenhouse as claimed in any one of claims 3 to 5, wherein the control method further comprises a navigation mode:

after entering a navigation mode, the control system receives target path information and controls the mobile device to move according to a target path until the mobile device stops running completely according to the target path, the target path is set by a remote controller and is issued to the control system through a wireless communication system, the target path comprises two types, the first type comprises a plurality of identification cards arranged in sequence, the second type comprises a plurality of identification cards arranged in sequence and the number of motor rotations after the identification cards pass over the last identification card.

7. The method as claimed in claim 6, wherein each identification card in the target path and the number of revolutions of the motor after passing the last identification card include an operating attribute of the operating device and a lifting attribute of the lifting device, the operating attribute of the operating device includes two of operating and non-operating, and the lifting attribute of the lifting device includes three of top, middle and bottom.

8. The control method of the multifunctional operation platform for the greenhouse as claimed in claim 6, wherein the navigation mode further comprises a breakpoint recovery method:

the breakpoint recovery means that a breakpoint occurs when the mobile device is in a navigation mode operation process, the mobile device returns to a starting point when the mobile device runs to the breakpoint position, the control system automatically records the breakpoint position, and after the breakpoint recovery, the mobile device automatically moves to the breakpoint position to continue executing operation until a target path set by the whole navigation mode is completed;

the interruption recovery instruction is controlled by a remote controller;

the breakpoint is determined by:

the breakpoint position is determined in real time through a remote controller, or a breakpoint condition is set in a control system, and the breakpoint position is automatically determined after the breakpoint condition is achieved.

9. The method as claimed in claim 8, wherein the breakpoint positions are the arrangement order of the identification cards and the number of rotations of the motor after passing the last identification card.

10. The method as claimed in claim 6, wherein the switching of the working mode is controlled by a remote controller.

Technical Field

The invention relates to the technical field of intelligent devices of greenhouses, in particular to a multifunctional operation platform of a greenhouse and a control method of the multifunctional operation platform.

Background

The vegetable industry belongs to labor-intensive industry, and planting, trimming, fertilizing, pesticide applying, picking, transporting and the like in the production of facility vegetables can not be participated by people. The area and the yield of the facility vegetables in China are continuously enlarged, 6200 ten thousand mu is estimated in 2021 years, and a plurality of problems are faced behind the continuous development of the industry: the agricultural labor is aged and the structure of workers is unbalanced: taking Shandong province as an example, the population proportion of the aged 15-64 years in 2010-2018 is reduced from 74.4% to 66.9%, and the population proportion of the aged 65 years and above is increased from 9.9% to 15% (the data come from the Shandong province statistics yearbook-2019), and the population aging trend is obvious; the number of agricultural workers is reduced, the age structure of the workers is unbalanced, and the number of first industry employment workers in Shandong province is reduced from 2273.1 ten thousands in 2010 to 1718.2 thousands in 2018; the third national agricultural census data shows that 1537 million people are aged 35 years and below, 3894 million people are aged 36-54 years, and 3315 million people are aged 55 years and above in the eastern region of the number of agricultural production and management staff. Secondly, labor cost is greatly increased, agricultural labor cost is continuously increased, investigation shows that the labor cost becomes the main cost of facility vegetable management, and vegetable production enterprises can account for 40-60% of total expenditure, and some of the total expenditure are even higher. The robot is an important measure for promoting the transformation and the upgrade of the vegetable industry, and is beneficial to the continuous development of the vegetable industry. In the aspects of robot technology research and equipment development for greenhouse in China, related research is available: a trackless autonomous mobile platform for a greenhouse (patent publication No. CN206156246U) is provided, which can realize flexible movement in the greenhouse, has a lifting function, can be used for operations such as pesticide application, picking and crop arrangement, but has the defect that a semi-structured road surface is required to be arranged in the greenhouse, is not beneficial to agricultural operations such as land turning in the later period, and has certain influence on agricultural production. The intelligent spraying rail type traveling device for the greenhouse (patent publication number: CN205865353U) is an intelligent spraying rail type traveling device for the greenhouse, the device runs on a running rail at the top of the greenhouse, and agricultural production is not affected by adopting an elevated rail mode, but the intelligent spraying rail type traveling device has the defects that the device is single in function and only used for spraying pesticide, and the efficiency is low because the height adjusting mode adopts an adjusting screw rod for adjustment. A spray lance system and hang special multi-functional deformation atomizer of self-propelled warmhouse booth thereof (patent publication No. CN205389739U) have proposed a spray lance system and hang special multi-functional deformation atomizer of self-propelled warmhouse booth thereof, can come adjusting device according to the different morphological structures of target crop to improve the penetrability of spraying, the device only builds a line track, practices thrift space and cost, but its weak point lies in: single function, which is only applicable to spraying although it is mentioned as multifunctional; the structure of the spraying device determines that the spraying can be only carried out from top to bottom, the penetrability of the spraying mode to the leaf surface is poor, and the spraying mode cannot be effectively sprayed to the bottom of the leaf surface to influence the spraying effect. A multifunctional operation vehicle for greenhouse (patent publication No. CN205011337U) features that its track is arranged in the corridor of greenhouse to influence agricultural production, and its control console is used to control the operation vehicle to move up and down, resulting in low intelligent level. An autonomous navigation pesticide spraying robot for orchard operation and a control method thereof (patent publication No. CN109892311A) disclose that a control system receives and processes data sent by a satellite positioning device, an inertial navigation device and the like to realize the functions of driving control, path learning, autonomous navigation, pesticide spraying control, remote communication and the like of the robot, but the system can only rely on satellite positioning to realize positioning, a satellite antenna is shielded in a greenhouse, no satellite positioning signal exists in the greenhouse when the greenhouse is covered, and the cost is very high through satellite positioning.

Disclosure of Invention

Aiming at the problems, the invention provides the greenhouse multifunctional operation platform and the control method thereof, which have the advantages of smooth operation, no influence on field operation, easy operation, convenient control and accurate position.

The technical scheme for solving the technical problem of the invention is as follows:

a greenhouse multifunctional operation platform comprises an operation track, a mobile device, a position positioning device, a control system, a wireless communication system, a remote controller, a motor controller and an energy system, wherein the operation track is suspended between planting ridges in a greenhouse, the mobile device is arranged on the operation track and can move on the operation track, the mobile device comprises a motor, a driving wheel and a hanging platform, the driving wheel is matched with the operation track, the motor drives the driving wheel to rotate, the hanging platform is provided with the operation device, the position positioning device comprises identification equipment and a plurality of identification cards, the identification equipment is arranged on the mobile device, the identification cards are arranged on the operation track, the control system, the motor controller, the wireless communication system and the energy system are all arranged on the mobile device, the control system is wirelessly connected with the remote controller through a wireless communication system, the control system is respectively connected with the motor controller, the identification equipment and the operation device, and the motor is connected with the motor controller.

Furthermore, the operation track is an I-shaped steel track and is arranged between the planting ridges in an overhead mode.

Further, the mounting platform is arranged on a lifting device, the lifting device is arranged on a mobile device, the lifting device is connected with a lifting controller, and the lifting controller is connected with a control system.

Further, the identification card is an ID card, and the identification card identification device is an NFC card reader.

A control method of a greenhouse multifunctional operation platform comprises a remote control mode:

the operation remote controller and the remote controller wireless remote control system are operated, the control system controls the motor of the mobile device to act through the motor controller, so that the moving action of the mobile device is realized, the lifting controller controls the lifting device to act, so that the lifting action of the operation device on the mounting platform is realized, and the control system controls the starting and stopping of the operation device.

Further, the control method further includes a learning mode:

after entering a learning mode, the mobile device is controlled to act through the remote controller, the learning mode acquires path information of the layout track, the path information comprises the arrangement sequence of the identification cards and the rotation circle number information of the motor in the process that the mobile device travels a road section between two adjacent identification cards, and the path information is transmitted to the remote controller through the wireless communication system after being formed.

Further, the method for acquiring the path information in the learning mode comprises the following steps:

presetting a starting point and an end point on the running track;

the control system respectively operates in forward rotation and backward rotation for multiple times from a starting point to an end point, generates a piece of temporary path information once the control system operates, and after the number of the temporary path information generated by the control system reaches a preset number, the control system performs operation processing on data between two same identification cards recorded in the multiple pieces of temporary path information by using a median average filtering method to finally form a piece of determined path information and sends the determined path information to the remote controller. The median average filtering method is to remove the maximum value and the minimum value of the data between two same identification cards recorded in the multiple pieces of temporary path information, and take the average value of the remaining data as the final data between the identification cards.

Further, the control method further comprises a navigation mode:

after entering a navigation mode, the control system receives target path information and controls the mobile device to move according to a target path until the mobile device stops running completely according to the target path, the target path is set by a remote controller and is issued to the control system through a wireless communication system, the target path comprises two types, the first type comprises a plurality of identification cards arranged in sequence, the second type comprises a plurality of identification cards arranged in sequence and the number of motor rotations after the identification cards pass over the last identification card.

The number of revolutions of the motor after each identification card in the target path and the last identification card are crossed comprises working attributes of the working device and lifting attributes of the lifting device, the working attributes of the working device comprise working attributes and non-working attributes, and the lifting attributes of the lifting device comprise a top attribute, a middle attribute and a bottom attribute. Setting an operating attribute of the operating attributes of the operating device to be 1 and setting an inoperative attribute of the operating device to be 0 in the control system; in the lifting attribute of the lifting device, the attribute of the lifting device rising to the topmost part is set to be 0, the attribute of the lifting device falling to the middle part is set to be 1, and the attribute of the lifting device falling to the bottom part is set to be 2. And in the process that the mobile device moves along the target path, simultaneously, the mobile device carries out operation according to the working attribute of the operation device and the lifting attribute of the lifting device.

The number of rotation turns of the motor after the motor passes the last identification card is obtained by multiplying the ratio of the distance between the target point and the last identification card to the distance between the last identification card and the next identification card by the number of rotation turns of the motor of the road section between the last identification card and the next identification card which is traveled by the mobile device. The remote controller end is provided with a map, a line segment in the map is provided with fixed pixel points, and if the distance between a target point and the last identification card is assumed to be a pixel points, and a road section between the last identification card and the next identification card is b pixel points, the proportion is a/b.

Further, the navigation mode further includes a breakpoint restoration method:

the breakpoint recovery means that during the operation process of the navigation mode, the operation of the navigation mode is interrupted due to the reason of an external mounted operation device (for example, the mounted pesticide box has no pesticide), so that a breakpoint appears, the mobile device automatically returns to the starting point, and after the reason of the external mounted operation device is eliminated (the pesticide box is added with pesticide again), the mobile device directly operates to the breakpoint again (when the mobile device operates before the breakpoint, the mounted operation device does not work in coordination with the navigation mode, namely only the navigation operation is carried out, and pesticide is not sprayed); when the device runs after the breakpoint, the navigation mode works together with the mounting operation device;

the breakpoint is determined by:

the breakpoint position is determined in real time through a remote controller, or a breakpoint condition is set in a control system, and the breakpoint position is automatically determined after the breakpoint condition is reached;

the breakpoint condition is that the operation equipment is in failure or the operation equipment needs to be supplemented with materials (such as pesticide).

When the mobile device runs to the breakpoint position, returning to the starting point, and automatically recording the breakpoint position by the control system;

and after the interruption is recovered, the mobile device automatically moves to the breakpoint position to continue executing the operation until the target path set by the whole navigation mode is completed.

Further, the breakpoint positions are the arrangement order of the identification cards and the number of rotations of the motor after the last identification card is passed.

Further, the interruption recovery command is controlled by a remote controller.

Furthermore, the switching of the working modes is controlled by a remote controller.

The effect provided in the summary of the invention is only the effect of the embodiment, not all the effects of the invention, and one of the above technical solutions has the following advantages or beneficial effects:

1. the invention has the advantages of smooth operation and no interference to farm work in the shed by the suspension arrangement mode of the operation track, can realize wireless remote control by matching the wireless communication system with the remote controller, and has the advantages of easy operation and convenient control.

2. According to the invention, through a learning mode, the moving track and the position of the mobile equipment can be accurately controlled by matching the identification equipment with a plurality of identification cards and recording the number of rotation turns of the motor, path data are automatically generated, accurate path information is provided for the autonomous navigation operation of the multifunctional mobile platform, the whole path is divided into a plurality of small paths through the identification cards, the error is reduced, and the accuracy is improved.

3. The invention can automatically advance according to the preset target path through the autonomous navigation mode, automatically control the operation device to start/stop the operation according to the operation attribute of the identification card in the target path, reduce the labor cost, simultaneously has the breakpoint function, can automatically generate the work breakpoint by a remote controller setting or a control system according to the actual operation requirement, interrupt the operation, can automatically move to the breakpoint to continue the operation after the interruption reason is eliminated, and has high intelligent degree.

4. The invention can hang different operation devices through the operation device mounting platform, can realize various operations such as spraying, picking, transporting and the like in the greenhouse, has multiple functions, and can adjust the height of the mounting platform through the lifting device, thereby adjusting the height of the operation equipment and having stronger adaptability.

Drawings

FIG. 1 is a schematic diagram of a mobile device according to the present invention;

FIG. 2 is a longitudinal sectional view of the driving wheel;

FIG. 3 is a longitudinal sectional structural view of the driven wheel;

FIG. 4 is a block diagram of the mobile device according to the present invention;

FIG. 5 is a schematic view of the track structure of the present invention;

in the figure: 1. the system comprises a motor, a driving wheel, a running track, an identification card, a recognition device, a driven wheel, a control system, a lifting controller, a lifting device, a lifting platform, a mounting platform, an energy system, a wireless communication system, a motor controller, a planting ridge and a starting point, wherein the driving wheel is 2, the running track is 3, the identification card is 4, the recognition device is 5, the driven wheel is 6, the control system is 7, the lifting controller is 8, the lifting device is 9, the mounting platform is 10, the energy.

Detailed Description

In order to clearly explain the technical features of the present invention, the following detailed description of the present invention is provided with reference to the accompanying drawings. The following disclosure provides many different embodiments, or examples, for implementing different features of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. It should be noted that the components illustrated in the figures are not necessarily drawn to scale. Descriptions of well-known components and processing techniques and procedures are omitted so as to not unnecessarily limit the invention.

A greenhouse multifunctional operation platform comprises an operation track 3, a moving device, a position positioning device, a control system 7, a wireless communication system 12, a remote controller, a motor controller 13 and an energy system 11, wherein the operation track 3 is hung and arranged between 2-3 planting ridges, specifically, the operation track 3 is an I-shaped steel track and is installed between 2-3 planting ridges in an overhead mode. The mobile device set up on orbit 3 and can move on orbit, the mobile device include motor 1, action wheel 2 and carry platform 10, it is specific, the mobile device on rotate and be provided with action wheel 2 and follow driving wheel 6, action wheel 2 with follow driving wheel 6 all with orbit 3 cooperations, motor 1 drive action wheel 2 rotate, carry platform 10 on install the operation device, the operation device open and stop accessible remote controller and control system 7 and control, position positioner include identification equipment 5 and a plurality of identification card 4, it is specific, identification card 4 be the ID card, identification card 4 identification equipment 5 is the NFC card reader. The ID card is installed in on the orbit 3, the mounting point is orbital entry and exit of greenhouse entrance and the crooked between ridge, identification equipment 5 set up on mobile device, the NFC card reader is installed in mobile device one side, control system 7, motor controller 13, wireless communication system 12 and energy system 11 all set up on mobile device, energy system be the lithium cell, for each part on the mobile device provides the energy, just control system be connected with motor controller 13, identification equipment 5, operation device respectively, specifically, operation device's controller and control system be connected, control system passes through wireless communication system and remote controller wireless connection, specifically, wireless communication system adopts NRF24L01, motor 1 be connected with motor controller.

The mounting platform 10 is arranged on a lifting device 9, the lifting device 9 is arranged on a moving device, the lifting device is connected with a lifting controller 8, the lifting controller is connected with a control system, and specifically, the lifting device is a hydraulic lifter.

The control system is used for acquiring identification card information identified by the identification card 4 identification equipment 5, acquiring the rotation number information of the motor 1 in the motor controller and acquiring the lifting state information of the lifting device; the wireless communication system is used for carrying out data communication with the wireless communication system and acquiring the working state information of the operation device; meanwhile, the control system is used for analyzing and processing data, controlling the motor controller and the hydraulic control system to perform corresponding actions, and controlling the operation of the operation device mounted in the mounting platform; preferably, the control system employs a cotex A53 and above processor.

A control method of a greenhouse multifunctional operation platform comprises the following steps:

the first embodiment is as follows: the remote control system controls the motor 1 of the mobile device to move through the motor controller, so that the moving motion of the mobile device is achieved, wherein the moving motion comprises advancing and retreating along the running track, the lifting device is controlled to move through the remote controller in a wireless mode, the lifting motion of the operation device on the mounting platform is achieved, and the operation device is controlled to be started and stopped through the remote controller in a wireless mode.

Example two: the difference from the first embodiment is that the control method further comprises a learning mode, after the learning mode is entered, the mobile device is controlled to act through the remote controller, the learning mode obtains path information of the laid track, the path information comprises an arrangement sequence of the identification cards and rotation circle number information of the motor 1 in a process that the mobile device travels a road section between two adjacent identification cards, the arrangement sequence of the path information comprises the identification cards 1, the rotation circle number 1 of the motor, the identification cards 2, the rotation circle number 2 of the motor, the identification cards 3 and the rotation circle number 3 … … of the motor, and the path information is sent to the remote controller through the wireless communication system after the path information is formed.

Optimally, the method for acquiring the path information in the learning mode comprises the following steps: presetting a starting point and a terminal point on a running track, respectively carrying out forward running and backward running for multiple times from the starting point, generating a piece of temporary path information by the control system once running, carrying out operation processing on data between two same identification cards recorded in the multiple pieces of path information by the control system by using a median average filtering method after the number of the temporary path information generated by the control system reaches a preset number, finally forming a piece of determined path information, and sending the determined path information to the remote controller. The median average filtering method is to remove the maximum value and the minimum value of the data between two same identification cards recorded in the multiple pieces of temporary path information, and take the average value of the remaining data as the final data between the identification cards.

For a new operation track, the learning mode only needs to be operated once, and the final path is stored in the remote controller and the control system without repeatedly operating the mode.

The specific working example is as follows: as shown in fig. 5, 4 pieces of temporary path information are preset in the controller, the device sets the greenhouse entrance as the starting point 2-4, the device takes the last identification card passing through after the greenhouse entrance runs for one circle along the pointer as the end point, controls the remote controller, controls the mobile device to act and drive the device to run clockwise along the running track, sequentially passes through the first identification card and the last identification card … … to form the first piece of temporary path information, runs clockwise for one circle and then continues to run clockwise, controls the remote controller to stop the mobile device after passing through the first identification card and the last identification card … … again, forms the second piece of temporary path information, controls the remote controller to rotate the motor 1 of the mobile device in the reverse direction to drive the device to rotate counterclockwise for two circles along the running track, and forms the third piece of temporary path information, And fourthly, calculating a final value of the number of rotation turns of the motor between all two same identification cards in the four pieces of temporary path information by the control system according to a median average filtering method, forming the final value into determined path information, and sending the determined path information to the remote controller.

The third embodiment is different from the second embodiment in that the control method further includes a navigation mode, after the navigation mode is entered, the control system receives target path information and controls the mobile device to travel according to a target path until the mobile device stops after running completely according to the target path, the target path is set by the remote controller and is issued to the control system through the wireless communication system, the target path includes two types, the first type includes a plurality of identification cards arranged in sequence, and includes a working attribute of the operation device and a lifting attribute of the lifting device, and if the target path is: { (badcard 1, job attribute, hoist attribute), (badcard 2, job attribute, hoist attribute), (badcard 3, job attribute, hoist attribute) … … }, the final stopping point of the target path for type one is the position of a certain badge, type two includes a plurality of badges arranged in order and the number of motor revolutions after passing the last badge, and contains the job device job attribute and the hoist attribute, as the target path: { (id card 1, working attribute, lifting attribute), (id card 2, working attribute, lifting attribute), } … … (id card n, working attribute, lifting attribute), (number of revolutions of the motor, working attribute, lifting attribute), }, the final stop point of the target path of type two is the position reached by the mobile device after the motor 1 has rotated again a set number of revolutions after passing the set last id card.

Specifically, the working attributes of the working device comprise working and non-working, and the lifting attributes of the lifting device comprise a top, a middle and a bottom. Setting an operating attribute of the operating attributes of the operating device to be 1 and setting an inoperative attribute of the operating device to be 0 in the control system; in the lifting attribute of the lifting device, the attribute of the lifting device rising to the topmost part is set to be 0, the attribute of the lifting device falling to the middle part is set to be 1, and the attribute of the lifting device falling to the bottom part is set to be 2. And in the process that the mobile device moves along the target path, simultaneously, the mobile device carries out operation according to the working attribute of the operation device and the lifting attribute of the lifting device.

The number of rotation turns of the motor after the motor passes the last identification card is obtained by multiplying the ratio of the distance between the target point and the last identification card to the distance between the last identification card and the next identification card by the number of rotation turns of the motor of the road section between the last identification card and the next identification card which is traveled by the mobile device. The remote controller end is provided with a map, a line segment in the map is provided with fixed pixel points, and if the distance between a target point and the last identification card is assumed to be a pixel points, and a road section between the last identification card and the next identification card is b pixel points, the proportion is a/b.

The fourth embodiment is different from the third embodiment in that the navigation mode further includes a breakpoint recovery method, where the breakpoint recovery means that a breakpoint occurs when the operation of the navigation mode is interrupted due to external hanging of an operation device, for example, a hung pesticide box has no pesticide and needs to be replenished with a pesticide liquid, the mobile device automatically returns to the starting point, and after the reason for the external hanging of the operation device is eliminated (the pesticide box is loaded with pesticide again), the mobile device directly operates to the breakpoint again (when the mobile device operates before the breakpoint, the hanging operation device does not coordinate with the navigation mode, that is, only performs navigation operation, and does not spray pesticide); when the device runs after the breakpoint, the navigation mode works together with the mounting operation device;

the breakpoint is determined by:

the breakpoint position is determined in real time through a remote controller, or a breakpoint condition is set in a control system, and the breakpoint position is automatically determined after the breakpoint condition is reached;

the breakpoint condition is that the operation equipment is in failure or the operation equipment needs to be supplemented with materials (such as pesticide).

When the mobile device runs to the breakpoint position, returning to the starting point, and automatically recording the breakpoint position by the control system;

and after the interruption is recovered, the mobile device automatically moves to the breakpoint position to continue executing the operation until the target path set by the whole navigation mode is completed.

The breakpoint position is determined according to the number of rotations of the motor after the identification card and the last identification card pass through.

The interruption recovery command is controlled by a remote controller.

The switching of the working modes is controlled by a remote controller.

Specific working examples of the navigation mode: selecting to enter a navigation mode in a remote controller, and setting path information as an identification card 1, which does not work, a middle part, (an identification card 2, which does not work, a middle part), (an identification card 3, which works, a top part), (an identification card 4, which works, a top part), (an identification card 5, which works, a bottom part), (10 circles, which works, a bottom part), so that the equipment starts to operate from the indication card 1 in a clockwise direction, an operation device does not work when operating between the identification card 1 and the identification card 3, the operation device is in an operating state and is positioned at the top part between the identification card 3 and the identification card 5, and the operation device is in an operating state and is positioned at the bottom part after the identification card 5 passes over the identification card 5 and the;

the breakpoint condition is set in the controller to be that the liquid medicine in the mounting equipment is not more than one liter, in the process, the liquid medicine is not more than one liter when the motor rotates for 20 circles after the equipment runs over the identification card 4, the breakpoint condition is triggered, the control system automatically controls the operation device to stop working, controls the mobile device to drive the equipment to run to the starting point, the staff sends an interruption recovery instruction through the remote controller after supplementing the liquid medicine, and controls the mobile device to run to the position where the motor rotates for 20 circles after the identification card 4 is crossed to continue working.

Although the embodiments of the present invention have been described with reference to the accompanying drawings, the scope of the present invention is not limited thereto, and various modifications and variations which do not require inventive efforts and which are made by those skilled in the art are within the scope of the present invention.