A method and system for folding and unfolding a heat-insulating quilt in a greenhouse and a terminal

Abstract

The application relates to a greenhouse heat-retaining quilt folding and unfolding method, system and terminal, and belongs to the technical field of heat-retaining quilt folding and unfolding. The folding and unfolding method comprises the following steps: obtaining a quilt unfolding instruction, and then controlling the start and stop of a quilt motor and a reel motor according to a preset quilt unfolding rule based on the quilt unfolding instruction; obtaining a quilt folding instruction, and then controlling the start and stop of the quilt motor and the reel motor according to a preset quilt folding rule based on the quilt folding instruction. When the quilt is folded and unfolded, the start and stop of the quilt motor and the reel motor are controlled through the pre-adjusted quilt unfolding rule and the quilt folding rule, so that the folding and unfolding of the heat-retaining quilt can be automatically controlled, and therefore the workload of an operator is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of quilt storage and release, and in particular to a greenhouse quilt storage and release method, system and terminal. BACKGROUND

[0002] A high-efficiency energy-saving production facility, which is applied to greenhouse planting by many agricultural producers due to its low construction cost and good heat preservation effect.

[0003] In related technologies, two motors are usually used to control the extension of the quilt and the rotation of the reel during the storage and release of the quilt. One motor controls the extension of the quilt, and the other motor controls the rotation of the reel to store and release the quilt. Since the quilt is usually stored on the reel, the diameter of the quilt on the reel increases and decreases, resulting in different linear speeds in the circumferential direction under the same rotational speed (linear speed = circumference * rotational speed). When the diameter is small, the corresponding linear speed is small, and when the diameter is large, the corresponding linear speed is large. The motor controlling the quilt itself is constant speed, so the speed of the quilt and the reel does not match during use, and the operator can only frequently start and stop the motor, increasing the workload of the operator. SUMMARY

[0004] In order to reduce the workload of the operator, the present application provides a greenhouse quilt storage and release method, system and terminal.

[0005] In a first aspect, the present application provides a greenhouse quilt storage and release method, which adopts the following technical solution:

[0006] A greenhouse quilt storage and release method, comprising:

[0007] Obtaining a quilt release instruction;

[0008] Based on the quilt release instruction, controlling the start and stop of the quilt motor and the reel motor according to a preset quilt release rule;

[0009] Obtaining a quilt release instruction;

[0010] Based on the quilt release instruction, controlling the start and stop of the quilt motor and the reel motor according to a preset quilt release rule.

[0011] By adopting the above technical solution, the quilt motor and the reel motor are controlled by the pre-adjusted quilt release rule and quilt release rule during the storage and release of the quilt, so that the storage and release of the quilt can be automatically controlled, thereby reducing the workload of the operator.

[0012] Optionally, the quilt release rule comprises: the quilt release process is divided into 9 stages.

[0013] In the first paragraph, the reel motor rotates at a speed of 30 Hz for 6 seconds, and the quilt motor does not act;

[0014] In the second to ninth paragraphs, the speed of the reel motor increases from slow to fast in turn, and the rotation time is similar, and the speed of the reel motor in the second paragraph is greater than that in the first paragraph.

[0015] In the second to ninth paragraphs, when the reel motor acts, the quilt motor acts synchronously, and the speed of the quilt motor is full speed, and the rotation time corresponds to the rotation time of the reel motor in the corresponding paragraph.

[0016] By adopting the above technical scheme, the first paragraph is the stage of relaxing the quilt on the reel, so the quilt motor does not need to act; after the quilt is relaxed, the quilt motor is started, and the quilt motor is always rotated at full speed. By dividing the quilt stroke into 8 segments, different speeds of the reel motor can be adjusted, so that the movement and unwinding of the quilt can be adapted, and the quilt motor can drive the quilt to be normally unfolded; the quilt cannot be unfolded too slowly, or the quilt cannot be unwound too fast.

[0017] Optionally, the quilt collecting rule includes a first quilt collecting stage and a second quilt collecting stage.

[0018] The first quilt collecting stage includes 12 segments, and each two segments form a group, a total of six groups; the first segment of each group corresponds to 1 / 12 of the quilt moving stroke, and the second segment of each group is used to tighten the quilt; the speed of the reel motor in each group is the same, and the rotation time is different; when the reel motor in the first segment of each group acts, the quilt motor rotates at full speed, and the rotation time is the same as that of the reel motor in the corresponding segment; when the reel motor in the second segment of each group acts, the quilt motor does not act.

[0019] The second quilt collecting stage includes the 13th to 18th segments, and each segment corresponds to 1 / 12 of the quilt moving stroke; when the reel motor in each segment acts, the quilt motor rotates at full speed, and the rotation time is the same as that of the reel motor in the corresponding segment; the speed of the reel motor in the 13th to 18th segments decreases in turn, and the rotation time is similar.

[0020] By adopting the above technical solution, the condition of collecting the quilt is relatively complex, since the speed of the reel motor in the last section is relatively fast after the quilt is finished, the quilt is collected relatively fast after the reel motor is started, so that the pulling force is applied to the quilt motor, thus the quilt motor needs to be started, and since the quilt motor is always rotating at full speed, the quilt may be more and more loose in the process of winding, thus the winding of the quilt is not convenient, thus the quilt motor needs to be started and then stopped, so that the reel has a process of tightening the quilt; and in the 13th section to the 18th section, since the quilt in the half journey has been wound on the reel, and the speed of the reel motor is reduced at this time, thus the quilt motor does not need to be stopped, and the movement and unwinding of the quilt can be well adapted.

[0021] Optionally, in the first quilt collecting stage, the speed of at most 3 groups of reel motors is set to 50hz; the speed of the reel motors in the remaining groups is reduced in turn; the speed of the reel motor in the sixth group is greater than the speed of the reel motor in the 13th section.

[0022] Optionally, in the first quilt collecting stage, the tightness of the quilt is maintained at a wrinkle height of 5cm.

[0023] Optionally, in the second quilt collecting stage, the tightness of the quilt is maintained at a wrinkle height of 2cm.

[0024] Optionally, the rotation time of the reel motor in the last section in the quilt unwinding rule and / or the quilt collecting rule is 10s more than the rotation time of the reel motor in the previous section.

[0025] By adopting the above technical solution, it can be avoided that the quilt is not completely unfolded or not completely wound after the rotation time.

[0026] Optionally, the winding and unwinding method further comprises:

[0027] In the process of collecting or unwinding the quilt, it is judged whether a stop instruction is received;

[0028] If yes, a stop signal is output, and the reel motor and the quilt motor receive and respond to the stop signal to stop the action;

[0029] If no, the reel motor and the quilt motor in the last section stop the action after the rotation time is reached.

[0030] By adopting the above technical solution, the setting of judging whether a stop instruction is received and judging whether the rotation time is reached plays a double role in the unfolding and winding of the quilt, if the stop instruction is received, it means that the quilt reaches the end when the quilt is unwound, and the quilt reaches the beginning when the quilt is collected, thus the situation that the quilt is not completely unfolded or not completely wound is avoided.

[0031] In the second aspect, the application provides a quilt folding and unfolding system in a greenhouse.

[0032] A quilt folding and unfolding system in a greenhouse comprises:

[0033] An instruction obtaining module is configured to obtain a quilt unfolding instruction and a quilt folding instruction.

[0034] A control module is configured to control the start and stop of the quilt motor and the reel motor according to a preset quilt unfolding rule based on the quilt unfolding instruction, and control the start and stop of the quilt motor and the reel motor according to a preset quilt folding rule based on the quilt folding instruction.

[0035] By using the above technical solution, when the quilt is unfolded and folded, the control module controls the start and stop of the quilt motor and the reel motor according to the pre-adjusted quilt unfolding rule and the quilt folding rule, so that the folding and unfolding of the quilt can be automatically controlled, thereby reducing the workload of the operator.

[0036] In the third aspect, the application provides a terminal comprising the following technical solutions.

[0037] A terminal comprises:

[0038] A memory is configured to store the quilt folding and unfolding program in a greenhouse.

[0039] A processor is configured to execute the quilt folding and unfolding program in a greenhouse stored on the memory to realize the steps of the quilt folding and unfolding method in a greenhouse.

[0040] In summary, the application has at least the following beneficial effects.

[0041] 1. By presetting the quilt unfolding rule and the quilt folding rule, the start and stop of the quilt motor and the reel motor can be controlled according to the pre-adjusted quilt unfolding rule and the quilt folding rule when the quilt is unfolded and folded, so that the folding and unfolding of the quilt can be automatically controlled, thereby reducing the workload of the operator.

[0042] 2. The purpose of the last reel motor rotation time being 10 seconds longer than the previous reel motor rotation time in the quilt unfolding rule and / or the quilt folding rule is to avoid the quilt not being completely unfolded or not being completely rolled up when the rotation time is up. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1 is a flowchart of an embodiment of the method of the application;

[0044] Figure 2 is an operation screen of a quilt unfolding embodiment;

[0045] Figure 3is an operation screen of one embodiment of the quilt;

[0046] Figure 4 is another operation screen of one embodiment of the quilt;

[0047] Figure 5 is a flowchart of another embodiment of the method of the present application;

[0048] Figure 6 is a block diagram of the system of the present application.

[0049] Reference Signs List: 110, instruction acquisition module; 120, control module; 130, reel motor; 140, quilt motor; 150, judgment module. DETAILED DESCRIPTION

[0050] To make the objectives, technical solutions, and superiorities of the embodiments of the present application clearer, the following will combine the accompanying drawings to further describe the embodiments of the present application in detail. Figure 1 - accompanying drawings Figure 6 The technical solutions in the embodiments of the present application are described clearly and completely. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of the present application.

[0051] One embodiment of the present application discloses a method for folding and unfolding a heat preservation quilt in a greenhouse. Referring to Figure 1 As one embodiment of the folding and unfolding method, the folding and unfolding method can include S110-S140:

[0052] S110, obtaining a folding instruction;

[0053] Specifically, the folding instruction and the following unfolding instruction can be issued by a mobile terminal (such as a smart phone, a smart wearable device, etc.), can be issued by an upper computer, or can be issued by a start button arranged in the greenhouse. The start button can be provided with two, representing folding and unfolding respectively. The start button can also be provided with one, and the folding and unfolding can be represented by rotating or pressing, for example, once for folding and twice for unfolding. The issuing mode of the folding instruction and the unfolding instruction is not limited.

[0054] S120, based on the folding instruction, controlling the start and stop of the quilt motor 140 and the reel motor 130 according to a preset folding rule. When the quilt motor 140 reverses, it will drive the rotation of the winding shaft, thereby realizing the winding or unwinding of the steel wire rope. When the steel wire rope is wound, the steel wire rope will drive the unfolding of the heat preservation quilt. When the reel motor 130 reverses, the reel motor 130 will drive the forward and reverse rotation of the reel, thereby realizing the winding or unwinding of the heat preservation quilt on the reel. When the reel is unwound, the steel wire rope drives the unfolding of the heat preservation quilt.

[0055] S130, obtaining the quilt folding instruction;

[0056] S140, based on the quilt folding instruction, controlling the start and stop of the quilt motor 140 and the reel motor 130 according to the preset quilt folding rule.

[0057] An embodiment of the quilt unfolding rule can be as follows:

[0058] The process of unfolding the quilt is divided into 9 segments; wherein, in the first segment, the reel motor 130 rotates at a speed of 30hz for 6s, and the quilt motor 140 does not act.

[0059] The second segment to the ninth segment respectively correspond to 1 / 8 of the moving stroke of the quilt, and the speed of the reel motor 130 gradually increases from slow to fast, and the rotation time is similar, and the speed of the second segment is greater than that of the first segment; wherein, in the second segment to the ninth segment, when the reel motor 130 acts, the quilt motor 140 acts synchronously, the speed of the quilt motor 140 is full speed, and the rotation time corresponds to the rotation time of the reel motor 130 in the corresponding segment.

[0060] Wherein, the similar rotation time can include the same rotation time, or can be 1-5s up and down based on the rotation time of the second segment; the purpose is to make the stroke of each segment of the quilt reach 1 / 8.

[0061] Further, the rotation time of the reel motor 130 in the ninth segment can be set to be 10s longer than that in the eighth segment; of course, if the rotation time of the reel motor 130 in the ninth segment is 10s longer than the longest rotation time in the ninth segment, it is also acceptable; the purpose is to avoid that the quilt is not completely unfolded when the reel motor 130 reaches the rotation time in the ninth segment.

[0062] An embodiment of the quilt folding rule can be as follows:

[0063] The quilt folding rule can include two stages, namely a first quilt folding stage and a second quilt folding stage;

[0064] Wherein, the first quilt folding stage can include 12 segments, and each two segments form a group, a total of six groups; the first segment of each group corresponds to 1 / 12 of the quilt folding stroke, and the second segment of each group is used to tighten the quilt; the speed of the reel motor 130 in each group is the same, and the rotation time is different; the different rotation time can be that the rotation time of each group gradually decreases.

[0065] In addition, when the reel motor 130 acts in the first segment of each group, the quilt motor 140 rotates at full speed, and the rotation time is the same as the rotation time of the reel motor 130 in the corresponding segment; when the reel motor 130 acts in the second segment of each group, the quilt motor 140 does not act;

[0066] The second stage of the quilt rolling-up process can include the 13th to 18th segments, each corresponding to 1 / 12 of the rolling-up distance of the quilt; the quilt motor 140 rotates at full speed while the reel motor 130 operates in each segment, and the rotating time is the same as that of the reel motor 130 in the corresponding segment; the speed of the reel motor 130 in the 13th to 18th segments decreases in turn, and the rotating time is similar; the rotating time similar means that it can be floated up and down by 2-10 seconds based on the rotating time of the 13th segment; the purpose is to make the distance of each segment of the quilt reach 1 / 12.

[0067] It should be noted that in the first stage of the quilt rolling-up process, the speed of the front 2-3 groups of reel motors 130 is set to 50hz, and the rotating speed of the remaining groups of reel motors 130 decreases in turn; the speed of the sixth group of reel motors 130 is greater than the rotating speed of the reel motor 130 in the 13th segment.

[0068] In addition, in the first stage of the quilt rolling-up process, the tightness of the quilt can be maintained at a wrinkle height of 5cm.

[0069] In the second stage of the quilt rolling-up process, the tightness of the quilt can be maintained at a wrinkle height of 2cm; and the rotating time of the reel motor 130 in the 18th segment can be set to be 10 seconds more than that of the reel motor 130 in the 17th segment; of course, if the rotating time of the reel motor 130 in the 18th segment is 10 seconds more than the longest rotating time in the 18th segment, it is also acceptable; the purpose is to avoid that the quilt is not completely rolled up when the reel motor 130 in the 18th segment reaches the rotating time.

[0070] For a complete quilt rolling-up and rolling-out operation screen example, please refer to Figure 2 , Figure 3 and Figure 4 ; "east roll-out" means that the quilt in the east side of the greenhouse is rolled out; "east roll-in 1" and "east roll-in 2" mean that the quilt in the east side of the greenhouse is rolled up, and the rolling-up is divided into two operation display interfaces. "Down" means the quilt motor 140, and "up" means the reel motor 130.

[0071] Further, please refer to Figure 5 , the rolling-up and rolling-out method can further include S210-S230:

[0072] S210, during the process of rolling up or rolling out the quilt, it is judged whether a stop instruction is received;

[0073] S220, if yes, a stop signal is output, and the reel motor 130 and the quilt motor 140 receive and respond to the stop signal to stop operating;

[0074] S230, if no, the last section of the reel motor 130 and the quilt motor 140 stop action after reaching the rotation time; the rotation time of the last section of the reel motor 130 and the quilt motor 140 is 10s more than the rotation time of the reel motor 130 and the quilt motor 140 in the previous section.

[0075] Specifically, the position switch can be installed at the end and the beginning of the quilt, and the contact plate is fixed at the end and the beginning of the quilt. When the contact plate contacts the position switch, the position switch will send a reaching signal. If the reaching signal is received, it is judged that the stop instruction is received, and then the stop signal is output.

[0076] Finally, it should be noted that the way to judge 1 / 8 and 1 / 12 of the quilt stroke can be artificial observation, and can also be judged by the following way:

[0077] The length from the beginning to the end of the quilt can be divided into 8 sections and 11 sections in advance, and then the divided stroke sections are divided. Since the end and the beginning of the quilt are installed with position switches, only 7 and 11 infrared sensors need to be installed. When the quilt is put, 7 infrared sensors work; when the quilt is collected, 11 infrared sensors work. The 7 infrared sensors and the 11 infrared sensors are divided into two layers, which can be changed by the conveyor belt. The 7 infrared sensors are installed on the upper surface of the conveyor belt, and the 11 infrared sensors are installed on the lower surface of the conveyor belt. For example, initially, 7 infrared sensors work; start the conveyor belt, and after one cycle of the conveyor belt, the position of the 11 infrared sensors changes from the lower surface of the conveyor belt to the upper surface of the conveyor belt; start to work. The infrared sensor includes an infrared emitter and an infrared receiver.

[0078] It should be noted that the infrared sensor of each section can be used to judge whether the quilt stroke reaches the set stroke. If no, the parameters of each section can be adjusted to match the quilt stroke with the divided quilt stroke section; after the adjustment is completed, the reel motor 130 and the quilt motor 140 can be controlled according to the parameters when the quilt is collected, so as to realize the automatic collection and release of the quilt.

[0079] The implementation principle of the embodiment is:

[0080] The acquisition of the quilt instruction; based on the quilt instruction, control the reel motor 130 action, reel on the heat preservation quilt is put on the reel; after the reel motor 130 rotates 6s at the speed of 30hz, control the reel motor 130 speed reduction, while control the quilt motor 140 starts, the quilt motor 140 rotates at full speed, in the reel motor 130 and the quilt motor 140 rotate to reach the set time, the quilt stroke reaches 1 / 8, again control reel motor 130 speed reduction, reel motor 130 and quilt motor 140 rotate to reach the set time, the quilt stroke reaches 1 / 8, in turn to reel motor 130 speed reduction, until the quilt stroke to the last section, after the quilt touches the position switch, control reel motor 130 and quilt motor 140 stop action, at this time the quilt is completely unfolded.

[0081] Based on the above method embodiment, the second embodiment of the application discloses a greenhouse heat preservation quilt folding and unfolding system. Figure 6 As an embodiment of the folding and unfolding system, the folding and unfolding system can include:

[0082] The instruction acquisition module 110 is used for acquiring the quilt instruction and the quilt instruction;

[0083] The control module 120 controls the start and stop of the quilt motor 140 and the reel motor 130 according to the preset quilt unfolding rule based on the quilt instruction; controls the start and stop of the quilt motor 140 and the reel motor 130 according to the preset quilt folding rule based on the quilt instruction.

[0084] The judgment module 150 is used for judging whether the instruction acquisition module 110 receives the stop instruction during the folding and unfolding of the quilt, if yes, outputting the stop signal, the reel motor 130 and the quilt motor 140 receiving and responding to the stop signal to stop action; if not, the last section of the reel motor 130 and the quilt motor 140 stop action after reaching the rotation time.

[0085] The third embodiment of the application further provides a terminal, which can be a computer, a smart phone and the like client, and the above system is built in the terminal, and the terminal can include: a memory and a processor;

[0086] The memory is used for storing the above greenhouse heat preservation quilt folding and unfolding program;

[0087] The processor is used for executing the program of the greenhouse heat preservation quilt folding and unfolding stored on the memory to realize the steps of the above greenhouse heat preservation quilt folding and unfolding method.

[0088] The memory can be connected with the processor in communication through a communication bus, and the communication bus can be an address bus, a data bus, a control bus and the like.

[0089] In addition, the memory can include a random access memory (RAM) and can also include a non-volatile memory (NVM), such as at least one disk memory.

[0090] The processor can be a general purpose processor, including a central processing unit (CPU), a network processor (NP), or the like; and can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or the like.

[0091] The above are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Any feature disclosed in the specification (including the abstract and drawings) can be replaced by other equivalent or similar features, unless specifically stated. That is, each feature is only an example of a series of equivalent or similar features, unless specifically stated.

Claims

1. A method for storing and taking in a greenhouse insulation blanket, characterized in that, include: Get the command to put the blanket in place; Based on the quilt-laying command, the start and stop of the quilt motor (140) and the roller motor (130) are controlled according to the preset quilt-laying rules; Obtain the quilt-collecting instruction; based on the quilt-collecting instruction, control the start and stop of the quilt motor (140) and the roller motor (130) according to the preset quilt-collecting rules; The rules for placing the quilt include: the process of placing the quilt is divided into 9 stages; In the first segment, the roller motor (130) rotates at a speed of 30 Hz for 6 seconds, while the quilt motor (140) does not operate. The 2nd to 9th segments correspond to 1 / 8 of the quilt's travel distance. The speed of the roller motor (130) increases from slow to fast, and the rotation time is similar. The speed of the roller motor (130) in the 2nd segment is greater than that in the 1st segment. The similar rotation time includes the same rotation time or the rotation time of the 2nd segment as the reference, with fluctuations of 1-5 seconds. In the 2nd to 9th segments, when the roller motor (130) operates, the quilt motor (140) operates synchronously, the speed of the quilt motor (140) is full speed, and the rotation time corresponds to the rotation time of the roller motor (130) in the corresponding segment. The rules for putting away the quilt include: a first quilt-putting stage and a second quilt-putting stage; The first stage of folding the quilt includes 12 segments, with each pair of segments forming a group, for a total of six groups. The first segment of each group corresponds to 1 / 12 of the quilt's travel distance, and the second segment of each group is used to tighten the quilt. The speed of the roller motor (130) in each group is the same, but the rotation time is different. When the roller motor (130) in the first segment of each group is activated, the quilt motor (140) rotates at full speed, and the rotation time is the same as the rotation time of the roller motor (130) in the corresponding segment. When the roller motor (130) in the second segment of each group is activated, the quilt motor (140) does not operate. The second quilt-collecting stage includes segments 13 to 18, each segment corresponding to 1 / 12 of the quilt's travel distance; when the roller motor (130) operates in each segment, the quilt motor (140) rotates at full speed, and the rotation time is the same as the rotation time of the roller motor (130) in the corresponding segment; the speed of the roller motor (130) in segments 13 to 18 decreases sequentially, and the rotation time is similar. The similar rotation time means that it fluctuates by 2-10 seconds above or below the rotation time of segment 13.

2. The method for taking in and putting away a greenhouse insulation blanket according to claim 1, characterized in that, In the first quilt-collecting stage, the speed of up to 3 sets of roller motors (130) is set to 50 Hz; the speed of the roller motors (130) in the remaining sets decreases in sequence; the speed of the roller motor (130) in the sixth set is greater than the speed of the roller motor (130) in the 13th stage.

3. The method for taking in and putting away a greenhouse insulation blanket according to claim 2, characterized in that, During the first stage of folding the quilt, the tightness of the quilt is maintained at a fold height of 5cm.

4. The method for taking in and putting away a greenhouse insulation blanket according to claim 3, characterized in that, During the second stage of folding the quilt, the tightness of the quilt is maintained at a fold height of 2cm.

5. A method for taking in and putting away a greenhouse insulation blanket according to claim 1, characterized in that, The rotation time of the reel motor (130) in the last segment of the quilt-laying rule and / or the quilt-collecting rule is 10 seconds longer than the rotation time of the reel motor (130) in the previous segment.

6. The method for taking in and putting away a greenhouse insulation blanket according to claim 5, characterized in that, The retraction and extension method further includes: During the process of putting away or putting away the quilt, determine whether a stop command has been received; If so, a stop signal is output, and the reel motor (130) and the quilt motor (140) receive and respond to the stop signal to stop their operation; If not, the spinning motor (130) and the quilt motor (140) in the last section will stop operating after the rotation time is reached.

7. A system for taking in and storing thermal insulation blankets inside a greenhouse, characterized in that, The method for removing insulation blankets inside a greenhouse as described in any one of claims 1-6 includes: The instruction acquisition module (110) is used to acquire the instructions to put the quilt away and the instructions to take the quilt back in; The control module (120) controls the start and stop of the quilt motor (140) and the roller motor (130) according to the quilt-laying command and the preset quilt-laying rules; and controls the start and stop of the quilt motor (140) and the roller motor (130) according to the quilt-taking command and the preset quilt-taking rules.

8. A terminal, characterized in that, include: The memory is used to store the program for taking in and putting out the insulation blankets inside the greenhouse. A processor is configured to execute a program for taking in and taking out a greenhouse insulation blanket stored in the memory, in order to implement the steps of the method for taking in and taking out a greenhouse insulation blanket as described in any one of claims 1-6.

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