A water-fertilizer machine based on intelligent fertilizer discharge of irrigation water flow and its control method

Abstract

The present invention discloses a water-fertilizer machine with intelligent fertilizer discharge based on irrigation water flow and a control method thereof. The water-fertilizer machine includes a frame, on which a fertilizer box is installed; a fertilizer discharge mechanism is installed at the bottom of the fertilizer box; the fertilizer discharge mechanism is driven by a motor; a solar panel and a battery are installed on the frame, and the solar panel and the battery are electrically connected; a flow sensor is also installed on the frame, and the motor and the flow sensor are both connected to a control system; a mixing mechanism is provided on the lower side of the fertilizer discharge mechanism, and the motor is also connected to the mixing mechanism. In the present invention, on the one hand, the amount of fertilizer discharged is controlled according to flow information, so that the amount of fertilizer discharged can be adapted to the water flow; on the other hand, a detection unit with a compact structure is provided, and the system adjusts the posture of the solar panel according to the photosensitive data of the two photosensitive sensors in each group of detection units; on the third hand, a mixing mechanism is provided to mix the fertilizer dropped into the water, so that the fertilizer is fully dissolved, thereby ensuring that the fertilizer content in the fertilizer water is relatively accurate and uniform.

Description

Technical Field

[0001] The present invention relates to the technical field of crop fertilization, and in particular to a water-fertilizer machine based on intelligent fertilizer discharge based on irrigation water flow and a control method thereof. Background Art

[0002] During the crop planting process, crops need to be fertilized to promote their growth. Currently, fertilization mainly relies on fertilizer machinery or drones. For densely planted crops, fertilizer machinery is difficult to enter the planting area, and the cost of drone fertilization is high. In addition, the fertilizer will be blocked by the stems and leaves of the crops and cannot reach the ground, resulting in a high loss rate.

[0003] For crops like rice that require frequent irrigation, fertilization can be applied during irrigation. For example, patent CN207321898U discloses a device for flushing fertilizer and pesticides through ridge channels. This device applies fertilizer and pesticides to the irrigation water, allowing them to flow through the water to the roots of the crops, achieving the purpose of fertilization and pesticide application. In this solution, the water flow drives the impeller to rotate, which in turn rotates the discharge wheel. In actual use, this method is difficult to debug. If different fertilizer application rates are required, the transmission ratio between the impeller and the discharge wheel needs to be adjusted. However, this purely mechanical structure cannot be precisely adjusted, thus limiting the practicality of this solution.

[0004] The solution of using an electrically driven discharge wheel to operate is subject to the limitation of electric energy and requires timely power replenishment. There is a solution in the prior art that uses solar panels for power replenishment. In order to ensure energy efficiency, patent CN106054939B discloses an adaptive angle solar energy collection device, which has four light shields symmetrically distributed on the bottom plate; photosensitive elements are distributed on the inner side of the four light shields; the bottom plate is connected to the output shaft of the upper motor through a key; the solar panel is fixed to the circuit bottom plate through a connecting plate, and the solar panel is parallel to the circuit bottom plate; the intensity of the projected light in four directions is detected by the four photosensitive elements. According to the different intensities of the light in the four directions, the movement of the upper motor and the lower motor is controlled to adjust the position of the solar panel so that the solar panel is always perpendicular to the sunlight. In this solution, the device for detecting the direction of sunlight needs to occupy a large installation space and has a more complex structure.

[0005] In addition, since some fertilizers are difficult to dissolve, fertilizers that cannot be dissolved in time will accumulate in the water below the fertilizer outlet, causing unstable fertilizer and water concentration. Summary of the Invention

[0006] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a water-fertilizer machine and a control method thereof that can discharge fertilizer accurately and utilize solar energy to supplement electric energy based on irrigation water flow and intelligent fertilizer discharge.

[0007] Technical solution: To achieve the above purpose, the water-fertilizer machine based on the intelligent fertilizer discharge of irrigation water flow of the present invention comprises a frame, a fertilizer box is installed on the frame; a fertilizer discharge mechanism is installed at the bottom of the fertilizer box; the fertilizer discharge mechanism is driven by a motor;

[0008] A solar panel and a battery are installed on the frame, and the solar panel is electrically connected to the battery;

[0009] A flow sensor is also installed on the frame, and the motor and the flow sensor are both connected to a control system;

[0010] A mixing mechanism is provided on the lower side of the fertilizer discharge mechanism, and the motor is simultaneously driven and connected to the mixing mechanism.

[0011] Furthermore, the solar cell panel is mounted on the frame via a dual-axis adjustment mechanism;

[0012] The solar cell panel is square, and a detection unit is installed on at least a pair of mutually perpendicular sides thereof, and the detection unit is installed on the back side of the solar cell panel;

[0013] The detection unit includes a mounting bracket having a sensor mounting plate parallel to the back surface of the solar panel, and two inner and outer light sensors are mounted on the sensor mounting plate; the light sensors are connected to the control system;

[0014] Viewed in a direction perpendicular to the front surface of the solar cell panel, the inner photosensor is blocked by the solar cell panel, while the outer photosensor is not blocked by the solar cell panel.

[0015] Furthermore, the mixing mechanism includes a plurality of mixing containers; the mixing containers are cylindrical with an open top and a water-permeable hole formed on the wall; the upper end of the mixing container is connected to the fertilizer outlet of the fertilizer discharge mechanism through a hose;

[0016] The mixing mechanism also includes a driving mechanism for driving the mixing container to vibrate reciprocatingly.

[0017] Furthermore, the driving mechanism includes a translation slide bar;

[0018] The translation slide bar is slidably mounted on the frame, and the mixing container is rotatably mounted relative to the frame; the translation slide bar is connected to each of the mixing containers;

[0019] The driving mechanism further comprises a cam; a cam groove is formed on the cam, and a roller placed in the cam groove is rotatably mounted on the end of the translation slide rod.

[0020] Furthermore, a driving member with a strip-shaped hole is installed on the mixing container; and driving pins of the same number and corresponding one to one to the driving member are installed on the translation slide rod, and the driving pins are placed in the strip-shaped holes on the corresponding driving members.

[0021] A control method for a water-fertilizer machine based on intelligent fertilizer discharge of irrigation water flow, based on the above-mentioned water-fertilizer machine, the method comprising:

[0022] Step 1.1): Obtain flow data collected by the flow sensor;

[0023] Step 1.2): Calculating a target fertilizer discharge amount based on the flow data and the type of fertilizer currently in the fertilizer box;

[0024] Step 1.3): Calculating a target speed of the motor according to the target fertilizer discharge amount;

[0025] Step 1.4): Control the motor to operate according to the target speed.

[0026] Furthermore, the solar panel is mounted on the frame via a dual-axis adjustment mechanism; the solar panel is square, and a detection unit is mounted on at least one pair of mutually perpendicular sides thereof, the detection unit comprising inner and outer photosensors; viewed in a direction perpendicular to the front of the solar panel, the inner photosensor is blocked by the solar panel, while the outer photosensor is not blocked by the solar panel;

[0027] The method further comprises:

[0028] Step 2.1): respectively obtaining the light-sensing data generated by the light-sensing sensors in each group of the detection units;

[0029] Step 2.2): Obtain codes of the inner and outer photosensors of the corresponding detection unit according to the photosensitivity data, where the codes are 0 or 1;

[0030] Step 2.3): Determine whether the two codes are consistent and obtain a first determination result;

[0031] Step 2.4): When the first judgment result is no, keeping the motion axis corresponding to the detection unit stationary;

[0032] Step 2.5): When the first judgment result is yes, control the motion axis corresponding to the detection unit to operate.

[0033] Furthermore, in step 2.5), controlling the motion axis corresponding to the detection unit to operate includes:

[0034] When both codes are 1, the motion axis corresponding to the detection unit is controlled to operate so that the position of the detection unit is lowered; when both codes are 0, the motion axis corresponding to the detection unit is controlled to operate so that the position of the detection unit is raised.

[0035] Beneficial effects: The water-fertilizer machine based on intelligent fertilizer discharge based on irrigation water flow and the control method thereof of the present invention have the following beneficial effects:

[0036] (1) Using a flow sensor to obtain water flow information, and controlling the discharge amount of the fertilizer discharge mechanism according to the flow information, the discharge amount of fertilizer can be adapted to the water flow. For different types of fertilizers, only the control strategy needs to be adjusted, without the need for complex adjustments to the mechanical structure;

[0037] (2) A solar panel is provided to replenish the battery. The battery can be replenished in the presence of sunlight. A compact detection unit is also provided. The system adjusts the posture of the solar panel based on the light-sensing data of the two photosensors in each detection unit. The strategy is simple and effective. In addition, in rainy weather conditions, the battery can drive the motor for more than 10 hours, so the machine can work for a long time without external force.

[0038] (3) A mixing mechanism is provided to mix the fertilizer dropped into the water so that the fertilizer is fully dissolved, thereby ensuring that the fertilizer content in the fertilizer water is relatively accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 This is the first-person perspective structural diagram of the water and fertilizer machine;

[0040] Figure 2 This is the second perspective structural diagram of the water and fertilizer machine;

[0041] Figure 3 This is a side view of the water and fertilizer machine;

[0042] Figure 4 It is the structural diagram of the dual-axis adjustment mechanism;

[0043] Figure 5 for Figure 1 A magnified structural diagram of part A;

[0044] Figure 6 for Figure 2 The enlarged structure diagram of part B;

[0045] Figure 7 for Figure 2 The enlarged structure diagram of the middle C part;

[0046] Figure 8 for Figure 3 The enlarged structure diagram of the D part;

[0047] Figure 9 Schematic diagram of light reception of the photosensor under the first illumination condition;

[0048] Figure 10 Schematic diagram of light reception of the photosensor under the second illumination condition;

[0049] Figure 11 Schematic diagram of light reception of the photosensor under the third illumination condition.

[0050] In the figure: 1-frame; 2-fertilizer box; 3-fertilizer discharge mechanism; 31-middle axis; 4-motor; 5-flow sensor; 6-mixing mechanism; 61-mixing container; 62-driving mechanism; 621-translational slide rod; 622-cam; 623-roller; 624-driving pin; 63-driving member; 631-bar hole; 64-bevel gear set; 65-belt mechanism; 66-hose; 7-solar panel; 7a-side; 8-battery; 91-dual-axis adjustment mechanism; 91a-rotating seat; 91b-middle seat; 91c-connecting seat; 91d-first motor; 91e-second motor; 91f-synchronous belt assembly; 92-mounting bracket; 92a-sensor mounting plate; 92b-photosensitive sensor; 10-control system. DETAILED DESCRIPTION

[0051] The present invention will be further described below with reference to the accompanying drawings.

[0052] like Figure 1-3 The water-fertilizer machine with intelligent fertilizer discharge based on irrigation water flow shown in the figure comprises a frame 1, on which a fertilizer box 2 is mounted; a fertilizer discharge mechanism 3 is mounted at the bottom of the fertilizer box 2; the fertilizer discharge mechanism 3 is driven by a motor 4;

[0053] A solar panel 7 and a battery 8 are installed on the frame 1, and the solar panel 7 is electrically connected to the battery 8; the solar panel 7 can generate electricity under sunlight, and the generated electricity is stored in the battery 8, and the battery 8 supplies power to the motor 4.

[0054] A flow sensor 5 is also installed on the frame 1, and the motor 4 and the flow sensor 5 are both connected to the control system 10; when in use, the flow sensor 5 is an ultrasonic flow meter, which is located directly above the water flow when working and can detect the flow rate of the water flow. The control system 10 controls the speed of the motor 4 according to the flow rate of the water flow, so that the amount of fertilizer discharged by the fertilizer discharge mechanism 3 can correspond to the flow rate of the water.

[0055] A mixing mechanism 6 is provided on the lower side of the fertilizer discharging mechanism 3, and the motor 4 is also drivingly connected to the mixing mechanism 6. Since both the fertilizer discharging mechanism 3 and the mixing mechanism 6 are powered directly or indirectly by the motor 4, the operating speed of the mixing mechanism 6 is adapted to the amount of fertilizer discharged by the fertilizer discharging mechanism 3, and the mixing mechanism 6 can timely assist in dissolving the fertilizer discharged by the fertilizer discharging mechanism 3.

[0056] The solar panel 7 is mounted on the frame 1 via a dual-axis adjustment mechanism 91. The solar panel 7 is square, and detection units are mounted on at least one pair of mutually perpendicular sides 7a thereof, wherein the detection units are mounted on the back side of the solar panel 7. In this embodiment, detection units are mounted on all four sides of the solar panel 7, wherein the detection units located on the two mutually perpendicular sides 7a are of two different types, and the detection units located on the two mutually parallel sides are of the same type.

[0057] like Figure 7-8 As shown, the detection unit includes a mounting bracket 92, and the mounting bracket 92 has a sensor mounting plate 92a parallel to the back of the solar panel 7. Two inner and outer photosensitive sensors 92b are installed on the sensor mounting plate 92a; the photosensitive sensors 92b are connected to the control system 10.

[0058] When viewed from a direction perpendicular to the front surface of the solar panel 7, the inner photosensor 92b is blocked by the solar panel 7, while the outer photosensor 92b is not blocked by the solar panel 7. There is a gap between the photosensor 92b and the back surface of the solar panel 7, so that when the posture of the solar panel 7 does not meet the requirement of vertical sunlight exposure, sunlight may obliquely hit the photosensor 92b located on the inner side.

[0059] In the above structure, the dual-axis adjustment mechanism 91 is capable of rotating along a vertical axis relative to the frame 1. After placing the fertilizer dispenser, the user can manually rotate the dual-axis adjustment mechanism 91 so that when both axes of motion of the dual-axis adjustment mechanism 91 are centered, the solar panel 7 tilts toward the south. This reduces the required rotational angle range of the two axes of motion of the dual-axis adjustment mechanism 91, allowing the dual-axis adjustment mechanism 91 to be designed to be more compact. The two axes of motion of the dual-axis adjustment mechanism 91 can adjust the tilt angle of the solar panel 7 in two directions respectively; the two axes of motion correspond one to one with the two detection units located on the mutually perpendicular sides.

[0060] Specifically, the dual-axis adjustment mechanism 91 includes a rotating base 91a, an intermediate base 91b, and a connecting base 91c. The rotating base 91a is manually adjustable relative to the fertilizer bin 2. A first motor 91d is mounted on the rotating base 91a, capable of driving the intermediate base 91b to rotate relative thereto. The first motor 91d is connected to the intermediate base 91b via a timing belt assembly 91f. A second motor 91e is mounted on the connecting base 91c, capable of rotating relative to the intermediate base 91b. The first and second axes are perpendicular. The solar panel 7 is secured to the connecting base 91c.

[0061] The control system 10 separately obtains the light-sensing data generated by the light-sensing sensors 92b in each detection unit group and determines whether the corresponding motion axis of the detection unit is in motion based on the light-sensing data from the two light-sensing sensors 92b in the same detection unit group. This method can keep the light-receiving surface of the solar panel 7 approximately perpendicular to the direction of direct sunlight in real time, achieving the best photoelectric energy conversion effect.

[0062] like Figure 5 As shown, the mixing mechanism 6 includes a plurality of mixing containers 61; the mixing container 61 is cylindrical with an open top, and a water-permeable hole is formed on its wall; the upper end of the mixing container 61 is connected to the fertilizer outlet of the fertilizer discharge mechanism 3 through a hose 66; the mixing mechanism 6 also includes a driving mechanism 62 for driving the mixing container 61 to vibrate reciprocatingly.

[0063] The drive mechanism 62 includes a translational slide 621, which is slidably mounted on the frame 1, and the mixing containers 61 are rotatably mounted relative to the frame 1. The translational slide 621 is connected to each mixing container 61. The drive mechanism 62 also includes a cam 622, which has a cam groove formed therein, and a roller 623 rotatably mounted on the end of the translational slide 621, which is placed in the cam groove. In this embodiment, the fertilizer discharging mechanism 3 has a central shaft 31, which transmits power to the cam 622 via a bevel gear set 64 and a belt mechanism 65.

[0064] like Figure 6 As shown, a driving member 63 with a strip hole 631 is installed on the mixing container 61; the translation slide rod 621 is installed with driving pins 624 that are equal in number and correspond one to one to the driving member 63, and the driving pins 624 are placed in the corresponding strip holes 631 on the driving member 63.

[0065] A control method for a water-fertilizer machine based on intelligent fertilizer discharge of irrigation water flow, based on the above-mentioned water-fertilizer machine, the method comprising:

[0066] Step 1.1): Obtain flow data collected by the flow sensor 5;

[0067] Step 1.2): Calculate the target fertilizer discharge amount based on the flow data and the type of fertilizer currently in the fertilizer box 2;

[0068] Step 1.3): Calculating the target speed of the motor 4 according to the target fertilizer discharge amount;

[0069] Step 1.4): Control the motor 4 to operate according to the target speed.

[0070] In actual use, the control system can be connected to an input device, through which the user can input the discharge amount of each type of fertilizer corresponding to the reference flow rate as a first reference discharge amount. During use, the user can simply select the discharge amount value through the input device. Alternatively, the user can also input a second reference discharge amount corresponding to the reference flow rate through the input device. After the control system obtains the flow rate data, it can calculate the target discharge amount based on the first reference discharge amount or the second reference discharge amount.

[0071] Preferably: the solar panel 7 is mounted on the frame 1 through a dual-axis adjustment mechanism 91; the solar panel 7 is square, and a detection unit is installed on at least one pair of mutually perpendicular sides 7a, and the detection unit includes two inner and outer light sensors 92b; Figure 9 As shown, when viewed in a direction perpendicular to the front surface of the solar cell panel 7, the inner photosensor 92b is blocked by the solar cell panel 7, and the outer photosensor 92b is not blocked by the solar cell panel 7;

[0072] The method further comprises:

[0073] Step 2.1): respectively obtaining the light-sensing data generated by the light-sensing sensors 92b in each group of the detection units;

[0074] Step 2.2): Obtain codes of the inner and outer photosensors 92b of the corresponding detection unit according to the photosensor data, where the codes are 0 or 1;

[0075] In this step, two reference photosensors can be set up to obtain reference data. The first reference photosensor is always exposed to sunlight, while the second reference photosensor is always shielded from sunlight. The data obtained by the first reference photosensor and the second reference photosensor are respectively the first reference data and the second reference data. When the photosensor 92b's photosensor data is closer to the first reference data, it is coded as 1. When the photosensor 92b's photosensor data is closer to the second reference data, it is coded as 0.

[0076] Step 2.3): Determine whether the two codes are consistent and obtain a first determination result;

[0077] Figure 9 It shows a situation where only one light sensor 92b is blocked by the solar panel 7. At this time, the solar panel 7 is positive on the movement axis corresponding to the detection unit; Figure 10 and Figure 11 The diagrams respectively show the situation where both photosensors 92b are not blocked (both are coded as 1) and both are blocked (both are coded as 0). In these two situations, the solar panel 7 is crooked on the motion axis corresponding to the detection unit, and the rotation of the motion axis needs to be controlled to adjust the posture of the solar panel 7.

[0078] Step 2.4): When the first judgment result is no, keeping the motion axis corresponding to the detection unit stationary;

[0079] Step 2.5): When the first judgment result is yes, control the motion axis corresponding to the detection unit to operate.

[0080] The above processes 2.1) to 2.5) are cyclically executed to adjust the posture of the solar cell panel 7 in real time so that sunlight directly hits the solar cell panel 7 to achieve the maximum photoelectric conversion efficiency.

[0081] Preferably, in step 2.5), controlling the motion axis corresponding to the detection unit to operate includes:

[0082] When both codes are 1, the motion axis corresponding to the detection unit is controlled to operate so that the position of the detection unit is lowered; when both codes are 0, the motion axis corresponding to the detection unit is controlled to operate so that the position of the detection unit is raised.

[0083] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A water-fertilizer machine with intelligent fertilizer discharge based on irrigation water flow, comprising a frame with a fertilizer box mounted on the frame; a fertilizer discharge mechanism mounted at the bottom of the fertilizer box; the fertilizer discharge mechanism being driven by a motor; and characterized in that: A solar panel and a battery are mounted on the frame, and the solar panel is mounted on the frame via a dual-axis adjustment mechanism; the dual-axis adjustment mechanism includes a rotating base, an intermediate base, and a connecting base; the rotating base can be rotated and adjusted relative to the fertilizer box, and is manually adjusted by the user; a first motor capable of driving the intermediate base to rotate relative to the rotating base is mounted on the rotating base, and the rotating shaft thereof is the first axis; a second motor capable of driving the intermediate base to rotate relative to the rotating base is mounted on the connecting base, and the rotating shaft thereof is the second axis; the first axis is perpendicular to the second axis; the solar panel is fixed to the connecting base; and the solar panel is electrically connected to the battery; A flow sensor is also installed on the frame, and both the motor and the flow sensor are connected to the control system. The flow sensor is an ultrasonic flow meter, which is located directly above the water flow during operation to detect the flow rate of the irrigation water. The control system controls the speed of the motor according to the flow rate of the irrigation water, so that the amount of fertilizer discharged by the fertilizer discharge mechanism corresponds to the flow rate of the irrigation water. A mixing mechanism is provided on the lower side of the fertilizer discharging mechanism, and the motor is simultaneously connected to the mixing mechanism; the operating speed of the mixing mechanism is adapted to the amount of fertilizer discharged by the fertilizer discharging mechanism, and the mixing mechanism can assist in dissolving the fertilizer discharged by the fertilizer discharging mechanism; The mixing mechanism includes a plurality of mixing containers; the mixing container is cylindrical with an open top and a water-permeable hole formed on its wall; the upper end of the mixing container is connected to the fertilizer outlet of the fertilizer discharge mechanism through a hose; The mixing mechanism also includes a driving mechanism for driving the mixing container to vibrate reciprocatingly; The driving mechanism includes a translation slide rod; The translation slide bar is slidably mounted on the frame, and the mixing container is rotatably mounted relative to the frame; the translation slide bar is connected to each mixing container; The driving mechanism also includes a cam; a cam groove is formed on the cam, and a roller placed in the cam groove is rotatably mounted on the end of the translation slide rod; A driving member with a strip hole is installed on the mixing container; a driving pin having the same number as the driving members and corresponding to each other is installed on the translation slide bar, and the driving pins are placed in the strip holes on the corresponding driving members.

2. The water-fertilizer machine based on intelligent fertilizer discharge based on irrigation water flow according to claim 1 is characterized in that: The solar cell panel is square, and a detection unit is installed on at least a pair of mutually perpendicular sides thereof, and the detection unit is installed on the back side of the solar cell panel; The detection unit includes a mounting bracket having a sensor mounting plate parallel to the back surface of the solar panel, and two inner and outer light sensors are mounted on the sensor mounting plate; the light sensors are connected to the control system; Viewed in a direction perpendicular to the front surface of the solar cell panel, the inner photosensor is blocked by the solar cell panel, while the outer photosensor is not blocked by the solar cell panel.

3. A control method for a water-fertilizer machine based on intelligent fertilizer discharge of irrigation water flow, which is based on the water-fertilizer machine according to claim 1, characterized in that: The method comprises: Step 1.1): Obtain flow data collected by the flow sensor; Step 1.2): Calculate the target fertilizer discharge amount based on the flow data and the type of fertilizer currently in the fertilizer box; Step 1.3): Calculate the target speed of the motor according to the target fertilizer discharge amount; Step 1.4): Control the motor to operate according to the target speed.

4. The control method of the water-fertilizer machine based on the intelligent fertilizer discharge of irrigation water flow according to claim 3 is characterized in that: The solar panel is mounted on the frame via a dual-axis adjustment mechanism; the solar panel is square, and a detection unit is mounted on at least one pair of mutually perpendicular sides thereof, the detection unit comprising inner and outer photosensors; viewed in a direction perpendicular to the front of the solar panel, the inner photosensor is blocked by the solar panel, while the outer photosensor is not blocked by the solar panel; The method further comprises: Step 2.1): respectively obtaining the light-sensing data generated by the light-sensing sensors in each group of the detection units; Step 2.2): Obtain codes of the inner and outer photosensors of the corresponding detection unit according to the photosensitivity data, where the codes are 0 or 1; Step 2.3): Determine whether the two codes are consistent and obtain a first judgment result; Step 2.4): When the first judgment result is no, keep the motion axis corresponding to the detection unit stationary; Step 2.5): When the first judgment result is yes, control the motion axis corresponding to the detection unit to operate.

5. The control method of the water-fertilizer machine based on the intelligent fertilizer discharge of irrigation water flow according to claim 4 is characterized in that: Controlling the motion axis corresponding to the detection unit in step 2.5) includes: When both codes are 1, the motion axis corresponding to the detection unit is controlled to operate so that the position of the detection unit is lowered; when both codes are 0, the motion axis corresponding to the detection unit is controlled to operate so that the position of the detection unit is raised.

Images