Plant lighting robot, system and working method

Abstract

The embodiment of the present invention provides a plant-lighting robot, system and working method. The robot includes a horizontal moving component, a vertical moving component, a rotating component and a light source component. The first end of the vertical moving component is connected to the bottom of the horizontal moving component, the second end of the vertical moving component is connected to the rotating component, and the light source component is installed on the rotating component. The light source component includes a reflective mirror and a light-filling lamp. The system includes a planting pot device, a control device and the above-mentioned plant-lighting robot. The working method of the light-filling system can automatically track the light position and the light irradiation angle, and adjust the position and angle of the reflective mirror according to the light position and the irradiation angle, to ensure that accurate light-filling can always be provided by using sunlight reflection during the day; and artificial light source light-filling can be provided at night.

Description

Technical Field

[0001] The present invention relates to the field of agricultural technology, and in particular to a plant lighting robot, system and working method. Background Art

[0002] Light is one of the most important factors affecting plant growth and development. For balconies with limited lighting and special architectural layouts, plants are easily affected by shading and insufficient light, leading to slow growth and difficulty in fruiting.

[0003] Existing fill-in lighting devices only provide fill-in lighting for situations where there is insufficient light. There is no good fill-in lighting solution for scenes where there is sufficient light but limited or blocked lighting. Most of the existing fill-in lighting systems and devices use artificial light sources, which wastes electricity resources and cannot utilize sunlight resources. In addition, most of them are fixed light sources, and it is rare to use mobile light sources for fill-in lighting, which cannot achieve all-weather fill-in lighting. The fill-in lighting devices in the existing technology have the following disadvantages:

[0004] 1) Failure to combine the advantages of natural light reflection and artificial light supplement to provide all-weather supplementary lighting, especially for balcony planting with limited lighting conditions;

[0005] 2) When using sunlight reflection to supplement lighting, the moving route of the light source unit is not adjusted according to the daily movement trajectory of the sun, so as to make full use of the sunlight and provide uniform supplementary lighting of the mobile light source for the balcony plants;

[0006] 3) In the existing fill light solution, the irradiation angle of the fill light needs to be adjusted manually, and intelligent automatic adjustment according to environmental conditions is not achieved;

[0007] 4) The position of the planting unit is fixed. Once the planting unit is moved, the lighting equipment needs to be rearranged or manually adjusted. Summary of the invention

[0008] The embodiments of the present invention provide a plant lighting robot, system and working method to solve the defects of the lighting system in the prior art that uses artificial fixed light sources, resulting in waste of power resources, inability to utilize sunlight resources and inability to achieve morning and evening lighting, and realize all-weather lighting by combining natural light reflection with artificial light lighting.

[0009] An embodiment of the present invention provides a plant light-filling robot, comprising: a horizontal moving component, a vertical moving component, a rotating component and a light source component, wherein the first end of the vertical moving component is connected to the bottom of the horizontal moving component, the second end of the vertical moving component is connected to the rotating component, the light source component is installed on the rotating component, and the light source component comprises a reflective mirror and a light-filling lamp.

[0010] The horizontal moving assembly comprises a guide rail, a sliding device and a first driving device, the guide rail is horizontally arranged, the sliding device is slidably arranged on the guide rail and is drivingly connected to the first driving device, and the vertical moving assembly is installed at the lower end of the sliding device;

[0011] The vertical moving component is a pneumatic lifting rod, one end of which is connected to the sliding device, and the rotating component is installed on the other end of the pneumatic lifting rod;

[0012] The rotating assembly includes a second driving device, a third driving device, a first transmission device and a second transmission device, the output shaft of the second driving device is connected to the light source assembly along the length direction of the light source assembly through the first transmission device, and the output shaft of the third driving device is connected to the light source assembly along the width direction of the light source assembly through the second transmission device.

[0013] Among them, the light source assembly includes a focusing structure, the first end of the focusing structure is a contraction opening, the second end is an expansion opening, the contraction opening is fixed to the outer edge of the reflective mirror, the expansion opening extends outward, and the surface of the focusing structure is covered with a reflective coating.

[0014] Wherein, the fill light is installed at the edge of the reflective mirror and is located at the inner side of the contraction opening of the focusing structure.

[0015] The embodiment of the present invention further provides a plant light-filling system, including a planting pot device, a control device, and a plant light-filling robot according to the embodiment of the present invention.

[0016] The light source assembly further comprises a photometric hole, a photometric tube, an angle sensor, a photosensitive plate, and a distance measuring device. The photometric hole penetrates through the front side of the reflective mirror and is connected to the first end of the photometric tube. The second end of the photometric tube is covered on the surface of the photosensitive plate. The angle sensor is installed on the back side of the reflective mirror. The distance measuring device is installed on the photosensitive plate and is located inside the second end of the photometric tube to measure distance along the extension direction of the photometric tube.

[0017] The planting pot device comprises a pot body and a photosensitive sensor located outside the pot body;

[0018] The control device is electrically connected to the horizontal moving assembly, the vertical moving assembly, the rotating assembly, the light source assembly, the angle sensor, the photosensitive plate, the distance measuring device and the photosensor respectively.

[0019] Wherein, at least the first photosensitivity point, the second photosensitivity point, the third photosensitivity point and the fourth photosensitivity point are respectively arranged at the upper, lower, left and right edges of the surface of the photosensitive plate, the second end cover of the photometric tube is arranged at the geometric center position of the photosensitive plate, and the fifth photosensitivity point is arranged at the geometric center position of the photosensitive plate, and the fifth photosensitivity point is covered by the second end of the photometric tube.

[0020] The embodiment of the present invention further provides a working method of the plant supplementary lighting system according to the embodiment of the present invention, comprising:

[0021] S1. Set the initial states of the horizontal moving component, the vertical moving component and the rotating component, drive the distance measuring device to move horizontally through the horizontal moving component, and drive the distance measuring device to rotate through the rotating component, so as to scan and locate the environment where the plant supplementary lighting system is located and the planting pot device;

[0022] S2, determining and enabling the daytime fill light mode or the nighttime fill light mode;

[0023] Daylight fill modes include:

[0024] The horizontal moving component and the vertical moving component move respectively and use the photosensitive points on the photosensitive plate to obtain the light position, and the rotating component rotates and uses the photosensitive points on the photosensitive plate to obtain the light irradiation angle;

[0025] According to the plant lighting system, the position of the planting pot device, the light position and the light angle, the horizontal moving component, the vertical moving component and the rotating component are adjusted to reflect the sunlight to the plants in the pot through the reflective mirror;

[0026] Night light modes include:

[0027] According to the position and inclination of the light source component and the position of the planting pot device, the horizontal moving component, the vertical moving component and the rotating component are adjusted to supplement the light for the plants in the pot through the supplementary light.

[0028] The scanning and positioning of the planting pot device in S1 includes:

[0029] S11, specify the displacement value of the horizontal moving component each time as d0, the rotation angle of the rotating component each time as a0, scan the planting pot device through the distance measuring device and specify the distance measuring value as z i , the light intensity received by the planting pot device is obtained through the photosensitive sensor and the light intensity value received is set to u i ;

[0030] S12, obtaining three horizontal displacement values ​​of the horizontal moving component corresponding to the three largest values ​​of the light intensity received by the planting pot device and three rotation angle values ​​of the rotating component corresponding to the three largest values ​​of the light intensity received by the planting pot device, the maximum value of the three horizontal displacement values ​​is named d max , the minimum value is named d min The maximum value of the three rotation angles is named a max , the minimum value is named a min ;

[0031] S13, comparison d max -d min The relationship between the magnitude of the first error setting value and the max -d min If the error is greater than the first error setting value, the d0 value is changed to half of the original value and updated to the d0 value in step S11; otherwise, d0 remains unchanged;

[0032] Compare max -a min The relationship between the magnitude of the second error setting value is: max -a min If the error is greater than the second error setting value, the value of a0 is changed to half of the original value and updated to a0 in step S11; otherwise, the value of a0 remains unchanged;

[0033] If at least one of d0 and a0 has changed, then return to step S11; otherwise, the horizontal displacement value of the horizontal moving component, the rotation angle value of the rotating component and z corresponding to the maximum light intensity value received by the planting pot device are used. i It is the spatial position data of the planting pot device.

[0034] Wherein, the horizontal moving component and the vertical moving component in S2 move respectively and use the photosensitive points on the photosensitive plate to obtain the light position, which includes:

[0035] S201, at least a first photosensitive point, a second photosensitive point, a third photosensitive point and a fourth photosensitive point are respectively set on the four edges of the surface, bottom, left and right of the photosensitive plate, and the average light intensity of the first photosensitive point, the second photosensitive point, the third photosensitive point and the fourth photosensitive point is calculated and named Get the horizontal displacement of the light source component and name it D and the vertical displacement value and name it H;

[0036] S202, comparing the light intensities of the third photosensing point and the fourth photosensing point, and driving the light source assembly to move a unit distance d0 toward the direction of the photosensing point with stronger light intensity by means of the horizontal moving assembly,

[0037] Compare the light intensity of the first photosensing point and the second photosensing point, and drive the light source assembly to move a unit distance in the direction of the photosensing point with stronger light intensity through the vertical moving assembly.

[0038] S203, the displacement value of the light source assembly after horizontal movement is named d, and the displacement value of the light source assembly after vertical movement is named h,

[0039] Calculate the average light intensity of the first, second, third, and fourth photosensitivity points after horizontal and vertical movement and name them

[0040] S204, Comparison and Size, if Then the D value in step S201 is updated to the d value in step S203, the H value in step S201 is updated to the h value in step S203, and the process returns to step S201; otherwise, the position of the light source assembly in step S201 is reversely adjusted through the horizontal moving component and the vertical moving component, and the horizontal displacement D and the vertical displacement H are used as the position data of the light source assembly.

[0041] Wherein, the rotating component in S2 rotates and uses the photosensitizing point on the photosensitive plate to obtain the light irradiation angle, which includes:

[0042] S211, respectively set at least the first photosensitive point, the second photosensitive point, the third photosensitive point, the fourth photosensitive point and the fifth photosensitive point on the surface, bottom, left and right edges and the geometric center of the photosensitive plate, and obtain the inclination angle of the light source assembly along the length direction and name it A x , the inclination along the width direction and named A y And the light intensity U of the fifth photosite c , and stipulate that the rotation component is adjusted at an angle of a0 each time along the length direction and width direction of the light source component;

[0043] S212, compare the light intensity of the first photosensing point and the second photosensing point. If the light intensity difference between the first photosensing point and the second photosensing point is greater than the third error setting value, control the light source assembly to rotate a0 toward the side with stronger light intensity of the photosensing point through the rotating assembly, and record the angle after rotation as a x ; Otherwise the angle remains unchanged;

[0044] S213, compare the light intensity of the third photosensing point and the fourth photosensing point. If the light intensity difference between the third photosensing point and the fourth photosensing point is greater than the fourth error setting value, control the light source assembly to rotate a0 toward the side with stronger light intensity of the photosensing point through the rotating assembly, and record the angle after rotation as a y ; Otherwise the angle remains unchanged;

[0045] S214: If the light intensity difference between the first photosensitive point and the second photosensitive point is less than or equal to the third error setting value and the light intensity difference between the third photosensitive point and the fourth photosensitive point is less than or equal to the fourth error setting value, then record the A at this time. x , A y and U c ; Otherwise, return to step S211;

[0046] S215, the inclination angle of the light source component along the length direction is a x And at the same time the inclination angle along the width direction is a y When the light intensity u of the fifth photosensitizing point is obtained c ;

[0047] Compare U c and u c Size, if u c >U c , then A in step S211 x Value, A y Value and U c The value is updated to a x Value, a y Value and u c value; otherwise, no update;

[0048] S216, change the value of a0 in step S211 to half of the original value, and return to step S212, until a0 is less than the preset value, stop the loop and output the inclination angle A along the length direction at this time x and the inclination angle A along the width direction y The angle of the reflective mirror when light hits it vertically.

[0049] The embodiments of the present invention provide a plant light-filling robot, system and working method. With the plant light-filling robot, the operator can adjust the horizontal position, vertical height and rotation angle of the light source component by manipulating the horizontal moving component, the vertical moving component and the rotating component. On the one hand, the need for plant light-filling in the morning and evening is met. During the day, no artificial light source is used, and the plant light is filled by the principle of sunlight reflection, and at night, a fill light is used for fill light. On the other hand, the operator can manipulate the mechanical components of the horizontal moving component, the vertical moving component and the rotating component to adjust the position and angle of the reflective mirror, thereby improving the degree of mechanization, and improving the adjustment accuracy and repeatability. With the plant light-filling system and the corresponding working method, the light position and light irradiation angle can be automatically tracked, and the position and angle of the reflective mirror can be adjusted according to the light position and irradiation angle, ensuring that accurate fill light can always be provided during the day. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0051] Figure 1 This is a front view of a plant light supplement system according to an embodiment of the present invention;

[0052] Figure 2 It is a right view of a plant light supplement system according to an embodiment of the present invention;

[0053] Figure 3 A top view of a plant light supplement system according to an embodiment of the present invention;

[0054] Figure 4 This is a front view of a light source assembly according to an embodiment of the present invention;

[0055] Figure 5 is a side view of a light source assembly according to an embodiment of the present invention;

[0056] Figure 6 The present invention provides a working method of a plant light supplement system according to an embodiment of the present invention.

[0057] Reference numerals:

[0058] 1: guide rail; 11: pulley; 12: stepper motor; 2: lifting rod; 3: rotating assembly; 4: light source assembly; 41: reflective mirror; 42: fill light; 43: focusing structure; 44: photometric hole; 45: angle sensor; 46: photometric tube; 47: photosensing point; 48: photosensing plate; 5: planting pot device; 6: control device. DETAILED DESCRIPTION

[0059] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0060] Combine the following Figure 1-Figure 5The plant lighting robot of an embodiment of the present invention is described, including: a horizontal moving component, a vertical moving component, a rotating component 3 and a light source component 4, the first end of the vertical moving component is connected to the bottom of the horizontal moving component, the second end of the vertical moving component is connected to the rotating component 3, the light source component 4 is installed on the rotating component 3, and the light source component 4 includes a reflective mirror 41 and a fill light 42.

[0061] Specifically, the horizontal moving assembly in this embodiment is used to drive the light source assembly 4 to adjust its horizontal displacement through the vertical moving assembly and the rotating assembly 3, the vertical moving assembly is used to drive the light source assembly 4 to adjust its vertical height through the rotating assembly 3, and the rotating assembly 3 is used to adjust the rotation angle of the light source assembly 4. The reflective mirror 41 of the light source assembly 4 is mainly used to reflect sunlight in daylight conditions and project the reflected light onto the plants, and the fill light 42 is used to fill light to the plants at night.

[0062] If one wishes to enhance the irradiation effect and the effective irradiation period, the size of the reflective mirror 41 may be appropriately increased to ensure that sunlight can irradiate the plants after passing through the reflective mirror 41 .

[0063] An embodiment of the present invention discloses a plant lighting robot. An operator can adjust the horizontal position, vertical height and rotation angle of a light source component 4 by manipulating a horizontal moving component, a vertical moving component and a rotating component 3. On the one hand, the need for plant lighting in the morning and evening is met. During the day, no artificial light source is used. The principle of sunlight reflection is used to light the plants. At night, a fill light is used. On the other hand, the operator can manipulate the mechanical components of the horizontal moving component, the vertical moving component and the rotating component 3 to adjust the position and angle of a reflective mirror 41, thereby improving the degree of mechanization, and improving the adjustment accuracy and repeatability.

[0064] The horizontal moving assembly includes a guide rail 1, a sliding device and a first driving device. The guide rail 1 is horizontally arranged. The sliding device is slidably arranged on the guide rail 1 and is connected to the first driving device. The vertical moving assembly is installed at the lower end of the sliding device. The horizontal moving assembly in this embodiment realizes horizontal position adjustment by driving the sliding device to slide in the guide rail 1 by the first driving device. Specifically, a slot for the sliding device to be inserted is provided in the guide rail 1. The sliding device can be a slider or a pulley 11, etc. The first driving device is a stepping motor 12 with a reducer. The output shaft of the stepping motor 12 converts the rotational motion into a linear reciprocating motion through a screw mechanism or other transmission mechanism, and is finally connected to the sliding device.

[0065] The vertical moving component is a pneumatic lifting rod 2, one end of which is connected to the sliding device, and the rotating component is installed at the other end of the pneumatic lifting rod 2. In this embodiment, the height position of the rotating component 3 can be adjusted by raising and lowering the pneumatic lifting rod 2.

[0066] The rotating assembly 3 includes a second driving device, a third driving device, a first transmission device and a second transmission device. The output shaft of the second driving device is connected to the light source assembly 4 along the length direction of the light source assembly 4 through the first transmission device, and the output shaft of the third driving device is connected to the light source assembly 4 along the width direction of the light source assembly 4 through the second transmission device. The light source assembly 4 in this embodiment is rectangular in shape, and it can be understood that its length direction and width direction are perpendicular, and the rotating assembly 3 is adjusted from the horizontal axis and the vertical axis of the light source assembly 4 respectively. Specifically, the second driving device and the third driving device in this embodiment can adopt a stepper motor with a reducer, and the first transmission device and the second transmission device can adopt a rotating frame that can transmit the rotational motion of the output shaft of the stepper motor.

[0067] The above specific implementations of the horizontal moving assembly, the vertical moving assembly and the rotating assembly are only illustrative. According to different needs, other devices can be used to achieve the same effect, and the present invention is not limited thereto.

[0068] Among them, the light source assembly 4 includes a focusing structure 43, the first end of the focusing structure 43 is a contraction opening, and the second end is an expansion opening. The contraction opening is fixed to the outer edge of the reflective mirror 41, and the expansion opening extends outward. The surface of the focusing structure 43 is covered with a reflective coating. The focusing structure 43 has a focusing effect on light, reduces the scattering of part of the light, and increases the utilization efficiency of the light.

[0069] The fill light 42 is installed at the edge of the reflective mirror 41 and is located inside the contraction opening of the light-collecting structure 43. Specifically, the reflective mirror 41 in this embodiment is located in the center of the light source assembly 4, and the fill light 42 is installed at the edge of the reflective mirror 41. The fill light 42 can be attached to the reflective mirror 41 in the form of an LED light strip, and then the light-collecting structure 43 is installed on the periphery of the fill light 42.

[0070] like Figure 1-5 As shown, the embodiment of the present invention discloses a plant lighting system, including a planting pot device 5, a control device 6 and a plant lighting robot according to the above embodiment of the present invention.

[0071] The light source assembly 4 further includes a photometric hole 44, a photometric tube 46, an angle sensor 45, a photosensitive plate 48, and a distance measuring device (not shown in the figure, which is blocked by the photometric hole 44). The photometric hole 44 is penetrated by the front of the reflective mirror surface 41 and is connected to the first end of the photometric tube 46. The second end of the photometric tube 46 is covered on the surface of the photosensitive plate 48. The angle sensor 45 is installed on the back side of the reflective mirror surface 41. The distance measuring device is installed on the photosensitive plate 48 and is located inside the second end of the photometric tube 46 to measure the distance along the extension direction of the photometric tube 46. Specifically, the photometric hole 44 is located at the center of the reflective mirror surface 41, and is a small circular hole for light to pass through. The photometric tube 46 is a cylindrical hard thin tube, the diameter of which is consistent with the diameter of the photometric hole 44. The inner wall of the photometric tube 46 is black, and is vertically installed between the back of the reflective mirror 41 and the photosensitive plate 48, and the photometric tube 46 is connected to the center of the reflective mirror 41 and the photosensitive plate 48. The photosensitive plate 48 has the same shape as the reflective mirror 41 and a slightly smaller area than the reflective mirror 41. It is arranged parallel to the reflective mirror 41, and the central axis of the photosensitive plate 48 coincides with the central axis of the reflective mirror 41. The reflective mirror 41 has a certain light shielding effect on the photosensitive plate 48, because the photosensitive plate 48 is less sensitive to light with stronger intensity, so it reduces direct light exposure, and reflects the light intensity through diffuse reflection of light with higher accuracy. One end of the photometric tube 46 collects light through the photometric hole 44, and the other end of the photometric tube 46 completely covers the center position of the photosensitive plate 48 (i.e., the "fifth photosensitive point" hereinafter) and the distance measuring device in the tube, forming a photometric channel perpendicular to the mirror surface. The distance measuring device can be an infrared rangefinder, which can be emitted from the photometric hole 44 along the photometric tube 46 to scan and measure the distance of obstacles. The angle sensor 45 is specifically a dual-axis tilt sensor, which can monitor the tilt angle of the reflective mirror surface 41 along the length direction and the tilt angle along the width direction.

[0072] The planting pot device 5 includes a pot body and a photosensitive sensor located outside the pot body. The photosensitive sensor can monitor the light intensity to reflect the light intensity received by the plant in the pot body. Further, the planting pot device 5 also includes a network module for transmitting information, which includes but is not limited to the light intensity information of the photosensitive sensor; and also includes a power supply module for supplying power to the photosensitive sensor.

[0073] The control device 6 is electrically connected to the horizontal moving component, the vertical moving component, the rotating component 3, the light source component 4, the angle sensor 45, the photosensitive plate 48, the distance measuring device and the photosensitive sensor. Specifically, the control device 6 also includes a communication module for transmitting information, and the communication module can adopt a wireless network or a wireless transmission protocol such as Bluetooth; it also includes a microprocessor for processing and calculating the collected information, and the processing flow and logical judgment process of the microprocessor can be seen in the working method of the plant planting light supplement system below; it also includes a PLC control module, which transmits the output instruction to each execution module (horizontal moving component, vertical moving component and rotating component 3, etc.), and the instruction can be seen in the working method of the plant planting light supplement system below.

[0074] Among them, at least the first photosensitive point, the second photosensitive point, the third photosensitive point and the fourth photosensitive point are respectively arranged at the upper, lower, left and right edges of the surface of the photosensitive plate 48, the second end cover of the light measuring tube 46 is arranged at the geometric center position of the photosensitive plate 48, and the fifth photosensitive point is arranged at the geometric center position of the photosensitive plate 48, and the fifth photosensitive point is covered by the second end of the light measuring tube 46. The first photosensitive point, the second photosensitive point, the third photosensitive point, the fourth photosensitive point and the fifth photosensitive point are used for intelligent light finding in this system. The first photosensing point, the second photosensing point, the third photosensing point and the fourth photosensing point are symmetrically arranged along the fifth photosensing point, and can identify the position of the light. When there is a photosensing point with stronger light intensity in the upper and lower directions of the photosensitive plate 48 and a photosensing point with stronger light intensity in the left and right directions, the reflective mirror 41 can be moved in that direction to be closer to a position where there is sufficient light exposure, and obstructions such as balconies can be avoided. The first photosensing point, the second photosensing point, the third photosensing point, the fourth photosensing point and the fifth photosensing point can identify the angle of light exposure, and when the light intensity of the fifth photosensing point is the strongest, it can be determined that the light is perpendicular to the reflective mirror 41. Figure 5 The photosensing point 47 in FIG. 1 represents the first photosensing point, the second photosensing point and the third photosensing point, wherein the fourth photosensing point and the fifth photosensing point are blocked.

[0075] like Figure 6 As shown, the embodiment of the present invention further discloses a working method of a plant light supplement system, including:

[0076] S1. Set the initial states of the horizontal moving component, the vertical moving component and the rotating component 3. The horizontal moving component drives the distance measuring device to move horizontally, and the rotating component 3 drives the distance measuring device to rotate, so as to scan and locate the environment of the plant lighting system and the planting pot device 5.

[0077] Specifically, first, the initial state is set in step S1, including installing the guide rail 1 on the top of the inner side of the balcony (or indoors), setting the sliding device at the end of the guide rail 1 as the initial position, the pneumatic lifting rod 2 is in a retracted state as the initial state, and the reflecting surface of the reflective mirror 41 of the rotating component 3 is in a vertical state, and the reflective mirror 41 is parallel to the surface where the balcony window is located as the initial state. The balcony is scanned by the ranging device, and the sliding device is translated on the guide rail 1 with a step length of d0, and each step is paused for a while to allow the ranging device to scan, and the rotating component 3 is rotated around the horizontal axis in the range of 0-90° by a0 each time, and the horizontal displacement d of the light source component 4 is recorded. i 、Tilt rotation a i 、Infrared ranging distance z i And the light intensity detected by the photosensors on each basin, taking three basins as an example (respectively denoted as u, v, and w), the corresponding light intensities are u i 、v i and w i , the light source assembly 4 reaches the end point and returns to the initial position and state. Finally, the spatial data of the balcony can be obtained, and each measurement can form a vector data (d i , a i , z i ,u i , v i , w i d0 can be set as the length of the reflective mirror surface 41, and a0 = 3°. It can be understood that the above settings can be set according to actual applications.

[0078] The planting pot device 5 in S1 scans and locates, and locates the multiple planting pots in sequence. The detailed positioning steps include:

[0079] S11, set the displacement value of the horizontal moving component to d0 each time, the rotation angle of the rotating component 3 to a0 each time, scan the planting pot device 5 through the distance measuring device and set the distance measuring value to z i , obtain the light intensity received by the planting pot device 5 through the photosensitive sensor and set the received light intensity value to u i .

[0080] S12, obtaining three horizontal displacement values ​​of the horizontal moving component corresponding to the three largest values ​​of the light intensity received by the planting pot device and three rotation angle values ​​of the rotating component 3 corresponding to the three largest values ​​of the light intensity received by the planting pot device, and the maximum value of the three horizontal displacement values ​​is named d max , the minimum value is named d min The maximum value of the three rotation angles is named a max , the minimum value is named a min .

[0081] The maximum light intensity value of the planting pot device u is recorded as U, and the corresponding maximum light intensity vector is recorded as (d U ,a U ,z U ,U).

[0082] The horizontal displacement value can be calculated by multiplying d0 by the number of times the sliding device moves, and the rotation angle value can be calculated by multiplying a0 by the number of times of rotation.

[0083] S13, comparison d max -d min The relationship between the magnitude of the first error setting value and the max -d min If the error is greater than the first error setting value, the d0 value is changed to half of the original value and updated to the d0 value in step S11; otherwise, d0 remains unchanged;

[0084] Compare max -a min The relationship between the magnitude of the second error setting value is: max -a min If the error is greater than the second error setting value, the value of a0 is changed to half of the original value and updated to a0 in step S11; otherwise, the value of a0 remains unchanged;

[0085] If at least one of d0 and a0 has changed, then return to step S11; otherwise, the horizontal displacement value of the horizontal moving component, the rotation angle value of the rotating component 3 and z corresponding to the maximum light intensity value received by the planting pot device are used. i is the spatial position data of the planting pot device 5. At this time, the horizontal displacement of the planting pot device 5 is d U , the rotation angle is a U , infrared ranging distance is z U , the light intensity detected by the photosensor is U. Update the maximum light intensity vector (d U ,a U ,z U ,U).

[0086] In step S13, by gradually narrowing the search range, the binary method is used to quickly narrow the search range and gradually accurately locate the location of the pot. It can be understood that when the light intensity value received by the planting pot device is the largest, that is, the reflective mirror 41 is adjusted to the optimal position, and the light of the distance measuring device directly hits the photosensor of the planting pot device. At this time, it can be concluded that for the planting pot device 5:

[0087] Horizontal displacement = d U , vertical displacement = z U *sin a U , longitudinal displacement = z U *cos a U

[0088] The inclination angle with the horizontal direction (i.e. the inclination angle along the length direction) = a U , the inclination angle with the vertical direction (i.e. the inclination angle along the width direction) = arc tan (d U / (z U *cos a U )) The above result data is saved to the control device 6, the positioning of the planting pot u is completed, and the process returns to S12 to start positioning the planting pot v and the planting pot w in turn until all the planting pot units are positioned.

[0089] After the measurement is completed, the light source unit returns to the starting point of the guide rail and resumes the initial spatial position.

[0090] It is understandable that if the light intensity U monitored by the photosensor remains unchanged during the above process, the angle of the reflective mirror 41 is fine-tuned. If the light intensity still remains unchanged, it indicates that the photosensor is faulty or the basin has been moved, and an alarm message is issued.

[0091] If it can be determined that the basin body has been moved, it is necessary to re-establish the scanning and positioning task, that is, return to step S11 to re-scan and position the basin body.

[0092] S2, determining and enabling the daytime fill light mode or the nighttime fill light mode;

[0093] Daylight fill modes include:

[0094] The horizontal moving component and the vertical moving component move respectively and use the photosensitive points on the photosensitive plate 48 to obtain the light position, and the rotating component 3 rotates and uses the photosensitive points on the photosensitive plate 48 to obtain the light irradiation angle.

[0095] The horizontal moving component and the vertical moving component in S2 move respectively and use the photosensitive points on the photosensitive plate 48 to obtain the light position, including:

[0096] S201, at least a first photosensitive point, a second photosensitive point, a third photosensitive point and a fourth photosensitive point are respectively set at the four edges of the top, bottom, left and right of the photosensitive plate 48, and the average light intensity of the first photosensitive point, the second photosensitive point, the third photosensitive point and the fourth photosensitive point is calculated and named Obtain the horizontal displacement of the light source assembly 4 and name it D and the vertical displacement value and name it H;

[0097] S202, compare the light intensities of the third photosensing point and the fourth photosensing point, and drive the light source assembly 4 to move a unit distance d0 in the direction of the photosensing point with stronger light intensity through the horizontal moving assembly. When the light intensities of the third photosensing point and the fourth photosensing point are equal, do not move.

[0098] The light intensities of the first photosensing point and the second photosensing point are compared, and the light source assembly 4 is driven by the vertical moving assembly to move a unit distance in the direction of the photosensing point with stronger light intensity. When the light intensities of the first photosensing point and the second photosensing point are equal, the light source assembly does not move.

[0099] S203, the displacement value of the light source assembly 4 after horizontal movement is named d, and the displacement value of the light source assembly 4 after vertical movement is named h,

[0100] Calculate the average light intensity of the first, second, third, and fourth photosensitivity points after horizontal and vertical movement and name them

[0101] S204, Comparison and Size, if The D value in step S201 is updated to the d value in step S203, the H value in step S201 is updated to the h value in step S203, and the process returns to step S201; otherwise, the position of the light source assembly 4 in step S201 is adjusted in reverse through the horizontal moving component and the vertical moving component, and the horizontal displacement D and the vertical displacement H are used as the position data of the light source assembly 4.

[0102] By detecting the light intensity in four directions of the photosensitive plate 48 (i.e., detecting at the first photosensitive point, the second photosensitive point, the third photosensitive point, and the fourth photosensitive point), if the light intensity in a certain direction is strong, it means that there is less obstruction at that position; if the light intensity in a certain direction is weak, it means that there is more obstruction at that position, which may be caused by the balcony obstruction. By gradually moving in the direction of strong light, the light position can be accurately located, and then the average light intensity of the four positions is used for verification, and the position with the larger average light intensity is taken as the final light irradiation position.

[0103] The rotating component 3 in S2 rotates and uses the photosensitive points on the photosensitive plate 48 to obtain the light irradiation angle, including:

[0104] S211, respectively set at least the first photosensitive point, the second photosensitive point, the third photosensitive point, the fourth photosensitive point and the fifth photosensitive point on the surface, bottom, left and right edges and the geometric center of the photosensitive plate 48, and obtain the inclination angle of the light source assembly 4 along the length direction and name it A x , the inclination along the width direction and named A y And the light intensity U of the fifth photosite c , and stipulate that the rotation component 3 is adjusted at an angle a0 each time along the length direction and the width direction of the light source component 4;

[0105] S212, compare the light intensity of the first photosensitive point and the second photosensitive point. If the light intensity difference between the first photosensitive point and the second photosensitive point is greater than the third error setting value, control the light source component 4 to rotate a0 to the side with stronger light intensity of the photosensitive point through the rotating component 3, and record the angle after rotation as a x ; Otherwise the angle remains unchanged;

[0106] S213, compare the light intensity of the third photosensitive point and the fourth photosensitive point. If the light intensity difference between the third photosensitive point and the fourth photosensitive point is greater than the fourth error setting value, control the light source component 4 to rotate a0 to the side with stronger light intensity of the photosensitive point through the rotating component 3, and record the angle after rotation as a y ; Otherwise the angle remains unchanged;

[0107] S214: If the light intensity difference between the first photosensitive point and the second photosensitive point is less than or equal to the third error setting value and the light intensity difference between the third photosensitive point and the fourth photosensitive point is less than or equal to the fourth error setting value, then record the A at this time. x , A y and U c ; Otherwise, return to step S211;

[0108] S215, the inclination angle of the light source assembly 4 along the length direction is a x And at the same time the inclination angle along the width direction is a y When the light intensity u of the fifth photosensitizing point is obtained c ;

[0109] Compare U c and u c Size, if u c >U c , then A in step S211 x Value, A y Value and U c The value is updated to a x Value, a y Value and u c value; otherwise, no update;

[0110] S216, change the value of a0 in step S211 to half of the original value, and return to step S212, until a0 is less than the preset value, stop the loop and output the inclination angle A along the length direction at this time x and the inclination angle A along the width direction y The angle of the reflective mirror 41 when the light irradiates the reflective mirror 41 vertically.

[0111] It should be understood that steps S212 and S213 may be interchanged.

[0112] In this embodiment, the light intensity in four directions is monitored by the photosensitive points. It can be understood that since the photosensitive points on the photosensitive plate 48 are more sensitive to weak light intensity and less sensitive to strong light, the reflective mirror 41 plays a certain degree of light shielding effect, effectively preventing the photosensitive plate 48 from being directly exposed to strong light, thereby ensuring the stability of the system operation. The photosensing point near the direction of light irradiation will detect a larger light intensity due to the diffuse reflection of light. When the light intensity difference of the symmetrical points is large, it reflects that the light irradiation angle is not perpendicular to the reflective mirror 41. Therefore, the reflective mirror 41 is gradually rotated in the direction of larger light intensity. When the reflective mirror 41 is adjusted to an angle that is about to be perpendicular to the light, that is, when the light intensity difference of the symmetrical points is small, the angle is accurately adjusted through the photosensing point in the center: Since the sunlight felt by the fifth photosensing point is irradiated through the photometric tube 46, and the inner wall of the photometric tube 46 is black and basically does not reflect light, the light intensity of the fifth photosensing point is the largest only when the light is incident along the photometric tube 46. Since the photometric tube 46 is vertically installed between the reflective mirror 41 and the photosensitive plate 48, when the light intensity of the fifth photosensing point is the largest, the light irradiation angle is perpendicular to the reflective mirror 41. At this time, the light irradiation angle can be converted according to the inclination angle of the reflective mirror 41, that is, the sunlight irradiation angle: horizontal (along the length direction) inclination angle = 90°-A x ; Vertical (along the width direction) inclination = 90°-A y .

[0113] According to the position and inclination of the light source assembly 4 and the position, light position and light angle of the planting pot device 5, the horizontal moving assembly, the vertical moving assembly and the rotating assembly 3 are adjusted to reflect the sunlight to the plants in the pot through the reflective mirror 41.

[0114] It can be deduced that the spatial angle of the basin relative to the light source assembly 4 is:

[0115] Horizontal deflection = arc tan[(z U *sin a U -H) / (z U *cos a U )]

[0116] Vertical deflection angle = arc tan[(d U -D) / (z U *cos a U )]

[0117] From the previous text, we know that the angle of sunlight is: horizontal inclination = 90°-A x , vertical inclination = 90°-A y .

[0118] Then the angle at which the reflective mirror surface 41 needs to be tilted is:

[0119] Horizontal inclination angle = {arc tan[(z U *sin a U -H) / (z U *cos a U )]-90°+A x} / 2

[0120] Vertical inclination angle = {arc tan[(d U -D) / (z U *cos a U )]-90°+A y} / 2

[0121] For daytime dynamic fill light:

[0122] 1) Monitor the light intensity through the photosensor. If the light intensity increases significantly, start timing;

[0123] 2) If the light intensity does not change continuously, the angle of the reflective mirror 41 is fine-tuned. If the light intensity still does not change, it means that the photosensor is faulty or the basin is moved, then an alarm message is issued and the scanning and positioning task is re-established.

[0124] 3) If the light intensity increases significantly and then decreases after a period of time, the reflective mirror 41 is rotated at an angle of ±20° along the length direction and at an angle of ±20° along the width direction at the existing angle.

[0125] 4) During this process, if the light intensity of the fill light unit is restored, the rotation will stop immediately and the timing will continue.

[0126] 5) If the light intensity is not restored during this process, restart the intelligent light search.

[0127] 6) When the fill-light duration reaches a certain value, the fill-light task for the implant is terminated, the timer is cleared, and the fill-light task for the next implant is started.

[0128] 7) If there is no new fill light task, the light source assembly 4 returns to the initial position.

[0129] 8) If there is a task to re-identify the planting pot device 5, start to re-collect and update the balcony space data, and identify and update the spatial position of the planting pot device 5.

[0130] 9) It can realize intelligent lighting supplement for multiple implants from morning to night during the day.

[0131] 10) When it is detected that it is dark (which can be detected by the photosensitive points on the photosensitive plate 48), the night mode is activated and the light source assembly 4 returns to the initial position.

[0132] Night light fill mode includes:

[0133] According to the position and inclination of the light source assembly 4 and the position of the planting pot device 5, the horizontal moving assembly, the vertical moving assembly and the rotating assembly 3 are adjusted, and the plants in the pot are supplemented with light by the supplementary light 42.

[0134] Analyze the intensity and duration of light exposure to the implant during the day to determine whether nighttime supplementary lighting is needed;

[0135] If multiple implants require nighttime supplementary lighting, a queue task will be arranged.

[0136] For implants that require nighttime supplementary lighting, the supplementary light 42 is turned on, and the supplementary light 42 is adjusted by the horizontal moving component, the vertical moving component and the rotating component 3 to be as close to the implant as possible;

[0137] If the light sensor detects a significant change in light intensity, it starts timing. When a certain lighting duration is reached, the lighting task ends and the timing is reset to zero. The lighting task for the next implant begins;

[0138] If there is no new fill light task, the light source assembly 4 returns to the initial position.

[0139] Fill-light strategies include:

[0140] Different lighting strategies can be customized according to the different requirements of multiple implants. To achieve continuous maximum lighting for a single implant, or to evenly distribute lighting to multiple implants in turn.

[0141] When the reflective mirror 41 is large enough, or the implants are placed relatively concentratedly, the reflective mirror 41 at the same position and angle can be used to fill in light for multiple implants at the same time. The specific fill-in light angle and movement strategy are determined by the weighted optimal value of the light intensity of multiple photosensors.

[0142] When LED lights are used to fill in the light at night, the proportion of red, blue and green can be adjusted according to the different characteristics of plants, and the absorption of plants can be further utilized.

[0143] The embodiment of the present invention discloses a plant lighting system and a working method thereof, which can automatically track and locate sunlight, automatically adjust the dual-axis inclination angle of the light source component 4, and accurately measure the irradiation angle of sunlight; through the initialization measurement, detailed spatial data of the balcony can be obtained, and the spatial positions of multiple implants can be intelligently identified through iteration; the angle of the reflective mirror 41 is intelligently adjusted according to environmental conditions, and timely adjusted according to the movement of light; when the implant is moved and the position changes, the lighting system can still detect it in time, and automatically measure and update the position data to ensure that accurate lighting can always be provided; the advantages of natural light reflection and artificial light lighting are combined to perform all-weather lighting during the day and at night, especially for balcony planting lighting with limited lighting conditions; in the use of sunlight reflection lighting, the moving route of the light source component 4 is adjusted according to the daily movement trajectory of the sun, so as to make full use of sunlight and provide balcony plants with uniform lighting of a "mobile light source".

[0144] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0145] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A plant lighting robot, characterized in that: include: A horizontal moving component, a vertical moving component, a rotating component and a light source component, wherein the first end of the vertical moving component is connected to the bottom of the horizontal moving component, the second end of the vertical moving component is connected to the rotating component, the light source component is installed on the rotating component, and the light source component includes a reflective mirror and a fill light. The light source assembly further includes a photometric hole, a photometric tube, an angle sensor, a photosensitive plate, and a distance measuring device. The photometric hole penetrates through the front side of the reflective mirror and is connected to the first end of the photometric tube. The second end of the photometric tube is covered on the surface of the photosensitive plate. The angle sensor is installed on the back side of the reflective mirror. The distance measuring device is installed on the photosensitive plate and is located inside the second end of the photometric tube to measure the distance along the extension direction of the photometric tube. At least a first photosensitive point, a second photosensitive point, a third photosensitive point and a fourth photosensitive point are respectively arranged at the upper, lower, left and right edges of the surface of the photosensitive plate, the second end cover of the photometric tube is arranged at the geometric center position of the photosensitive plate, and a fifth photosensitive point is arranged at the geometric center position of the photosensitive plate, and the fifth photosensitive point is covered by the second end of the photometric tube, The photosensitive plate is arranged parallel to the reflective mirror surface, the shape of the photosensitive plate is the same as that of the reflective mirror surface, and the area of ​​the photosensitive plate is smaller than that of the reflective mirror surface. The light measuring tube is vertically installed between the back side of the reflective mirror and the photosensitive plate.

2. The plant-lighting robot according to claim 1, characterized in that: The horizontal moving assembly includes a guide rail, a sliding device and a first driving device, the guide rail is horizontally arranged, the sliding device is slidably arranged on the guide rail and is drivingly connected to the first driving device, and the vertical moving assembly is installed at the lower end of the sliding device; The vertical moving component is a pneumatic lifting rod, one end of which is connected to the sliding device, and the rotating component is installed on the other end of the pneumatic lifting rod; The rotating assembly includes a second driving device, a third driving device, a first transmission device and a second transmission device, the output shaft of the second driving device is connected to the light source assembly along the length direction of the light source assembly through the first transmission device, and the output shaft of the third driving device is connected to the light source assembly along the width direction of the light source assembly through the second transmission device.

3. The plant-lighting robot according to claim 1, characterized in that: The light source assembly comprises a focusing structure, the first end of the focusing structure is a contraction opening, the second end is an expansion opening, the contraction opening is fixed to the outer edge of the reflective mirror surface, the expansion opening extends outward, and the surface of the focusing structure is covered with a reflective coating.

4. The plant-lighting robot according to claim 3, characterized in that: The fill light is installed at the edge of the reflective mirror and is located inside the contraction opening of the light focusing structure.

5. A plant lighting system, characterized in that: It comprises a planting pot device, a control device and a plant-planting light-filling robot according to any one of claims 1 to 4, The planting pot device comprises a pot body and a photosensitive sensor located outside the pot body; The control device is electrically connected to the horizontal moving assembly, the vertical moving assembly, the rotating assembly, the light source assembly, the angle sensor, the photosensitive plate, the distance measuring device and the photosensor respectively.

6. A working method of the plant supplementary lighting system according to claim 5, characterized in that: include: S1. Set the initial states of the horizontal moving component, the vertical moving component and the rotating component, drive the distance measuring device to move horizontally through the horizontal moving component, and drive the distance measuring device to rotate through the rotating component, so as to scan and locate the environment where the plant supplementary lighting system is located and the planting pot device; S2, determining and enabling the daytime fill light mode or the nighttime fill light mode; Daylight fill modes include: The horizontal moving component and the vertical moving component move respectively and use the photosensitive points on the photosensitive plate to obtain the light position, and the rotating component rotates and uses the photosensitive points on the photosensitive plate to obtain the light irradiation angle; According to the plant lighting system, the position of the planting pot device, the light position and the light angle, the horizontal moving component, the vertical moving component and the rotating component are adjusted to reflect the sunlight to the plants in the pot through the reflective mirror; Night light fill mode includes: According to the position and inclination of the light source component and the position of the planting pot device, the horizontal moving component, the vertical moving component and the rotating component are adjusted to supplement the light for the plants in the pot through the supplementary light.

7. The working method of the plant supplementary lighting system according to claim 6, characterized in that: The scanning and positioning of the planting pot device in S1 includes: S11, specify the displacement value of the horizontal moving component each time as d0, the rotation angle of the rotating component each time as a0, scan the planting pot device through the distance measuring device and specify the distance measuring value as z i , the light intensity received by the planting pot device is obtained through the photosensitive sensor and the light intensity value received is set to u i ; S12, obtaining three horizontal displacement values ​​of the horizontal moving component corresponding to the three largest values ​​of the light intensity received by the planting pot device and three rotation angle values ​​of the rotating component corresponding to the three largest values ​​of the light intensity received by the planting pot device, the maximum value of the three horizontal displacement values ​​is named d max , the minimum value is named d min The maximum value of the three rotation angles is named a max , the minimum value is named a min ; S13, comparison d max -d min The relationship between the magnitude of the first error setting value and the max -d min If the error is greater than the first error setting value, the d0 value is changed to half of the original value and updated to the d0 value in step S11; otherwise, d0 remains unchanged; Compare max -a min The relationship between the magnitude of the second error setting value is: max -a min If the error is greater than the second error setting value, the value of a0 is changed to half of the original value and updated to a0 in step S11; otherwise, the value of a0 remains unchanged; If at least one of d0 and a0 has changed, then return to step S11; otherwise, the horizontal displacement value of the horizontal moving component, the rotation angle value of the rotating component and z corresponding to the maximum light intensity value received by the planting pot device are used. i It is the spatial position data of the planting pot device.

8. The working method of the plant supplementary lighting system according to claim 6, characterized in that: In S2, the horizontal moving component and the vertical moving component move respectively and use the photosensitive points on the photosensitive plate to obtain the light position, which includes: S201, respectively setting at least a first photosensitive point, a second photosensitive point, a third photosensitive point and a fourth photosensitive point at the four edges of the surface, bottom, left and right of the photosensitive plate, calculating the average light intensity of the first photosensitive point, the second photosensitive point, the third photosensitive point and the fourth photosensitive point and naming it as `u1, obtaining the horizontal displacement of the light source assembly and naming it as D and the vertical displacement value and naming it as H; S202, comparing the light intensities of the third photosensing point and the fourth photosensing point, and driving the light source assembly to move a unit distance d0 toward the direction of the photosensing point with stronger light intensity by means of the horizontal moving assembly, Compare the light intensity of the first photosensing point and the second photosensing point, and drive the light source assembly to move a unit distance in the direction of the photosensing point with stronger light intensity through the vertical moving assembly. S203, the displacement value of the light source assembly after horizontal movement is named d, and the displacement value of the light source assembly after vertical movement is named h, Calculate the average light intensity of the first, second, third and fourth photosensitivity points after horizontal and vertical movement and name them ; S204, Comparison and Size, if > , then the D value in step S201 is updated to the d value in step S203, the H value in step S201 is updated to the h value in step S203, and the process returns to step S201; otherwise, the position of the light source assembly in step S201 is reversely adjusted by the horizontal moving component and the vertical moving component, and the horizontal displacement D and the vertical displacement H are used as the position data of the light source assembly.

9. The working method of the plant supplementary lighting system according to claim 6, characterized in that: The rotating component in S2 rotates and uses the photosensitizing point on the photosensitive plate to obtain the light irradiation angle, which includes: S211, respectively set at least the first photosensitive point, the second photosensitive point, the third photosensitive point, the fourth photosensitive point and the fifth photosensitive point on the surface, bottom, left and right edges and the geometric center of the photosensitive plate, and obtain the inclination angle of the light source assembly along the length direction and name it A x , the inclination along the width direction and named A y And the light intensity U of the fifth photosite c , and stipulate that the rotation component is adjusted at an angle of a0 each time along the length direction and width direction of the light source component; S212, compare the light intensity of the first photosensing point and the second photosensing point. If the light intensity difference between the first photosensing point and the second photosensing point is greater than the third error setting value, control the light source assembly to rotate a0 toward the side with stronger light intensity of the photosensing point through the rotating assembly, and record the angle after rotation as a x ; Otherwise the angle remains unchanged; S213, compare the light intensity of the third photosensing point and the fourth photosensing point. If the light intensity difference between the third photosensing point and the fourth photosensing point is greater than the fourth error setting value, control the light source assembly to rotate a0 toward the side with stronger light intensity of the photosensing point through the rotating assembly, and record the angle after rotation as a y ; Otherwise the angle remains unchanged; S214: If the light intensity difference between the first photosensitive point and the second photosensitive point is less than or equal to the third error setting value and the light intensity difference between the third photosensitive point and the fourth photosensitive point is less than or equal to the fourth error setting value, then record the A at this time. x , A y and U c ; Otherwise, return to step S211; S215, the inclination angle of the light source component along the length direction is a x At the same time, the inclination angle along the width direction is a y When the light intensity u of the fifth photosensitizing point is obtained c ; Compare U c and u c Size, if u c >U c , then A in step S211 x Value, A y Value and U c The value is updated to a x Value, a y Value and u c value; otherwise, no update; S216, change the value of a0 in step S211 to half of the original value, and return to step S212, until a0 is less than the preset value, stop the loop and output the inclination angle A along the length direction at this time x and the inclination angle A along the width direction y The angle of the reflective mirror when light hits it vertically.

Images