A greenhouse fully automatic loading and unloading transport vehicle and control method

Abstract

The present invention relates to a fully automatic loading and unloading transport vehicle for a greenhouse and a control method. The entire vehicle includes a frame, travel, lifting, transmission, detection, track limiting, control, protective fence and other devices. The frame includes a chassis, a lifting frame and a lifting platform. The detection device is installed at different positions of the frame body, including a photoelectric switch for packing detection and control, a photoelectric switch for lifting detection, and a photoelectric switch for transport start and stop position detection; the track limiting device is located at both ends of the running track and can be flexibly placed on the track to determine the start and stop position of the transport vehicle; the controller receives each detection signal and realizes automatic control of the transport vehicle according to the logic control algorithm; the protective fence is located behind and on both sides of the lifting platform to prevent the goods from slipping and improve the safety of turning and slope transportation. The patent of this invention realizes the full automation of greenhouse fruit and vegetable transportation, reduces the degree of labor, and improves the efficiency of transportation and loading and unloading.

Description

Technical Field

[0001] The present invention relates to the technical field of facility agriculture equipment, and in particular to transportation equipment in a greenhouse, specifically to a fully automatic loading and unloading transportation vehicle for a greenhouse and a control method thereof. Background Art

[0002] Greenhouses have become the main facilities for agricultural planting. As the length of greenhouses generally increases, the transportation of fruits and vegetables in the greenhouse is a very important issue. In order to save the physical strength of growers, rail transport vehicles are usually installed in the greenhouse. Because the transport vehicles are small in size and easy to move, they are widely used in greenhouse agricultural production and transportation.

[0003] However, the existing greenhouse rail transport vehicles that are widely used in the market are mostly manually pushed and remotely controlled, which requires the transport workers to pay extremely focused attention and be proficient in remote control of the transport vehicles. It is time-consuming and labor-intensive, and is not conducive to the use of workers and farmers who are engaged in physical work for a long time. As a result, ordinary greenhouse rail transport vehicles cannot save labor in an all-round way, and a large amount of labor is still required when loading and unloading goods. Ordinary greenhouse rail transport vehicles do not have any safety measures. If the cargo is large and heavy, and the route is more complicated, it is very easy for the cargo to collapse and bury the farmers and workers, posing a major safety hazard. In view of the shortcomings of existing greenhouse rail transport vehicles, there is an urgent need for an efficient and intelligent transportation device. Summary of the Invention

[0004] In view of the deficiencies in the prior art, the present invention provides a fully automatic loading and unloading transport vehicle for a greenhouse and a control method thereof, which improves the automation level of transportation within the greenhouse and can complete operation, stopping, lifting, and transmission operations in one go.

[0005] The present invention is achieved through the following technical solutions, which provide a fully automatic loading and unloading transport vehicle for a greenhouse, including a chassis, a traveling device that drives the chassis to move back and forth along a track in the greenhouse, and a lifting device and a controller installed on the chassis, wherein a conveying device is installed on the lifting device, and limiting devices are respectively installed at both ends of the track, and the front and rear ends of the chassis are respectively provided with transport start and stop position detection photoelectric switches adapted to the side limiting devices; the lifting device includes a lifting platform and a hydraulic cylinder that drives the lifting platform to move up and down; the conveying device includes a conveyor belt rotatably installed on the lifting platform and a stepper motor that drives the conveyor belt to rotate and feed, and a plurality of basket detection photoelectric switches arranged at intervals along the feeding direction of the conveyor belt are provided on one side in the width direction of the conveyor belt, and the basket detection photoelectric switches are arranged towards the fruit and vegetable baskets on the conveyor belt; the basket detection photoelectric switches, stepper motor, traveling device, and transport start and stop position detection photoelectric switches are all electrically connected to the controller.

[0006] This solution uses a traveling mechanism to drive the chassis along a track within the greenhouse, enabling the transport vehicle to navigate the greenhouse. The conveyor belt transports the fruit and vegetable baskets, replacing manual handling. The height of the baskets can be adjusted by varying the height of the lifting platform to meet varying transport requirements. A loading detection photoelectric switch detects the baskets on the conveyor belt. A controller controls the movement of the traveling mechanism and stepper motor based on the basket's position, enhancing the system's intelligence.

[0007] As an optimization, the lifting device also includes a scissor-type lifting frame connecting the lifting platform and the chassis. At least one lower support point of the scissor-type lifting frame is a movable support point that is slidably connected to the chassis in the front-to-back direction. A lift detection photoelectric switch mounted on the chassis is provided on both the front and rear sides of the movable support point. The lift detection photoelectric switch and the solenoid valve of the hydraulic cylinder are electrically connected to the controller. The lifting device of this optimized solution uses a scissor-type lifting frame, which has good structural stability. At the same time, the distance between one of the movable support points of the scissor-type lifting frame and the lift detection photoelectric switch is used as the basis for the controller to control the action of the hydraulic cylinder. This improves the automation level of the height adjustment of the lifting platform, while ensuring the safety of the lifting process and avoiding damage to the equipment caused by excessive lifting.

[0008] As an optimization, the travel device includes a driving wheel and a driven wheel mounted on a chassis, and a travel motor drivingly connected to the driving wheel. The travel motor is electrically connected to a controller. The wheel surfaces of the driving and driven wheels are each provided with a wheel groove, and the track has a triangular cross-section that matches the wheel groove. This optimization solution has a simple structure, uses a controller to control the movement of the travel motor, and has a high degree of automation. The triangular wheel groove and track cross-section improve the stability of the support for the driving and driven wheels, while also facilitating track installation.

[0009] As an optimization, the lifting platform is equipped with side fences located on the left and right sides of the conveyor belt, as well as a rear fence located behind the conveyor belt. This optimization solution prevents fruit and vegetable baskets from falling from the rear and sides, improving the transportation safety of fruit and vegetable baskets.

[0010] This solution also provides a control method for the above-mentioned greenhouse fully automatic loading and unloading transport vehicle, comprising the following steps:

[0011] 1. Use the basket detection photoelectric switch to detect the fruit and vegetable baskets on the conveyor belt. Whenever the fruit and vegetable basket blocks the infrared signal of the basket detection photoelectric switch, the controller controls the stepper motor to drive the conveyor belt forward by the width of the fruit and vegetable basket. When all the basket detection photoelectric switches are blocked, the controller starts the travel motor to start the transport vehicle and move it forward along the track.

[0012] 2. Photoelectric switches I and II for detecting the start and stop position of transport are provided on the rear end of the chassis and are distributed along the left and right directions. Photoelectric switches III and IV for detecting the start and stop position of transport are provided on the front end of the chassis and are distributed along the left and right directions.

[0013] After the transport vehicle starts running, if the signal of the transport start and stop position detection photoelectric switch Ⅰ or the transport start and stop position detection photoelectric switch Ⅲ does not change, it runs at low speed; when the signal of the transport start and stop position detection photoelectric switch Ⅰ or the transport start and stop position detection photoelectric switch Ⅲ changes, it runs at normal speed; before the transport vehicle stops, if the signal of the transport start and stop position detection photoelectric switch Ⅱ or the transport start and stop position detection photoelectric switch Ⅳ does not change, it runs at normal speed, otherwise it changes to low speed; when the signal of the transport start and stop position detection photoelectric switch Ⅰ or the transport start and stop position detection photoelectric switch Ⅲ changes further, it stops running;

[0014] 3. The lifting detection photoelectric switch on the rear side of the movable fulcrum is lifting detection photoelectric switch I, and the lifting detection photoelectric switch on the front side of the movable fulcrum is lifting detection photoelectric switch II;

[0015] When the lifting platform rises, the movable fulcrum moves away from the lifting detection photoelectric switch Ⅰ and approaches the lifting detection photoelectric switch Ⅱ. When the signal of the lifting detection photoelectric switch Ⅱ is blocked, the lifting platform stops rising. When the lifting platform descends, the movable fulcrum approaches the lifting detection photoelectric switch Ⅰ and moves away from the lifting detection photoelectric switch Ⅱ. When the signal of the lifting detection photoelectric switch Ⅰ is blocked, the lifting platform stops descending. By adjusting the positions of the lifting detection photoelectric switch Ⅰ and the lifting detection photoelectric switch Ⅱ, the limit positions of the lifting platform's descent and ascent are changed, which is used to control the lifting position of the lifting platform.

[0016] The beneficial effects of the present invention are:

[0017] First, the transport vehicle of the present invention achieves automatic start and stop position recognition and two-stage variable speed start and stop control through the cooperation of the track limit device and the transport start and stop position detection photoelectric switch. This reduces the impact on the lifting frame and various joints during start and stop, reduces the failure rate of the entire vehicle, and increases the service life. At the same time, the track limit device is flexible and convenient to use, the positioning point can be changed at any time, and it can be shared by multiple vehicles.

[0018] Secondly, the conveyor belt of the present invention realizes automatic recognition and transportation of the position and quantity of fruit and vegetable boxes during loading and unloading through the cooperation of the stepping motor and the basket detection photoelectric switch, avoiding manual dragging during loading and unloading, reducing the wear of the conveyor belt and the impact on the drive wheel and the motor, and improving the service life.

[0019] Third, the lifting platform of the present invention will automatically rise to the set position after the transport vehicle arrives at the unloading point and stops reliably, and will stop rising after pressing the pause button during the rising process. After the rising stops reliably, the conveyor belt automatically starts to unload the basket; when the unloading is completed and the transport vehicle returns, the lifting platform first lowers to the specified position, and starts to return after the fall is completed.

[0020] Fourthly, the transport vehicle of the present invention realizes automatic conveying, automatic transportation, automatic unloading and automatic return of packaging under the application of variable positioning points, which meets the requirements of full automation of greenhouse production and transportation, and the processing and manufacturing cost of the whole machine is relatively low, which is suitable for promotion and application. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a front view of the transport vehicle of the present invention;

[0022] Figure 2 A top view of the transport vehicle of the present invention;

[0023] Figure 3 This is a front view of the track limiting device of the present invention;

[0024] Figure 4 This is the main view of the function button area of ​​the present invention;

[0025] As shown in the figure:

[0026] 1. Chassis, 2. Distribution box, 3. Controller, 4. Travel motor, 5. Driving wheel, 6. Driven wheel, 7. Track, 8. Limit device, 9. Scissor lift, 10. Hydraulic cylinder, 11. Lifting platform, 12. Side fence, 13. Rear fence, 14. Stepper motor, 15. Pulley, 16. Conveyor belt, 17. Function button area, 17-1. Circuit breaker, 17-2. Pause and run buttons, 18. Basket detection photoelectric switch I, 19. Basket detection photoelectric switch II, 20. Basket detection photoelectric switch III, 21. Lift detection photoelectric switch I, 22. Lift detection photoelectric switch II, 23. Transport start and stop position detection photoelectric switch I, 24. Transport start and stop position detection photoelectric switch II, 25. Transport start and stop position detection photoelectric switch III, 26. Transport start and stop position detection photoelectric switch IV. DETAILED DESCRIPTION

[0027] In order to clearly illustrate the technical features of this solution, this solution is described below through specific implementation methods.

[0028] like Figure 1The figure shows a fully automatic loading and unloading transport vehicle for a greenhouse, comprising a chassis 1, a travel device that drives the chassis 1 to move back and forth along a track 7 in the greenhouse, and a lifting device, a distribution box 2 and a controller 3 installed on the chassis. A conveying device is installed on the lifting device, the travel device is used to provide power for the transport vehicle to move, the conveying device is used to transport fruit and vegetable baskets backward, and the lifting device is used to adjust the height of the conveying device to meet the transportation requirements at different heights.

[0029] The travel device includes a driving wheel 5 and a driven wheel 6 mounted on the chassis, and a travel motor 4 drivingly connected to the driving wheel. The travel motor 4 is electrically connected to a controller 3. The driving and driven wheels are each provided with a wheel groove, and the track 7 has a triangular cross-section that matches the groove. The driving wheel 5 and the driven wheel 6 are arranged below the chassis, tightly fitting with the track 7, and the travel function is achieved by the travel motor 4.

[0030] The two ends of the track are respectively equipped with a limit device 8. The limit device is set at both ends of the running track and can be flexibly placed on the track to determine the start and stop position of the transport vehicle. The limit device of this embodiment is an I-shaped frame. The bottom surface of the I-shaped frame is fixed with a slide supported on the track. The bottom surface of the slide is provided with a slide groove adapted to the upper cross-section of the track. The slide is slidably connected to the track. The front and rear ends of the chassis 1 are respectively provided with a transport start and stop position detection photoelectric switch adapted to the limit device on the side. The height of the transport start and stop position detection photoelectric switch is consistent with the top rod of the I-shaped frame on the side for better detection. Among them, the transport start and stop position detection photoelectric switch I 23 is located on the left side of the rear end surface of the chassis, the transport start and stop position detection photoelectric switch II 24 is located on the right side of the rear end surface of the chassis, the transport start and stop position detection photoelectric switch III 25 is located on the left side of the front end surface of the chassis, and the transport start and stop position detection photoelectric switch IV 26 is located on the right side of the front end surface of the chassis. The installation heights of the transport start and stop position detection photoelectric switch I 23 , the transport start and stop position detection photoelectric switch II 24 , the transport start and stop position detection photoelectric switch III 25 and the transport start and stop position detection photoelectric switch IV 26 are consistent.

[0031] The limit device 8 determines the start and stop positions of the transport vehicle and, in conjunction with the transport start and stop position detection photoelectric switches I 23, II 24, III 25, and IV 26, enables two-stage high and low speed start and stop. It can be flexibly positioned on the track as needed. To improve stability during placement, the contact area between the limit device and the track is lengthened. To ensure that both sides of the transport start and stop position detection photoelectric switches reliably detect the limit device, the top rod of the I-shaped frame is longer than the distance between the transport start and stop position detection photoelectric switches I 23 and II 24, and also longer than the distance between the transport start and stop position detection photoelectric switches III 25 and IV 26. After the transport vehicle starts running, if the signal from either transport start and stop position detection photoelectric switch I 23 or III 25 remains unchanged, the vehicle operates at low speed. If the signal from either transport start and stop position detection photoelectric switch I 23 or III 25 changes, the vehicle operates at normal speed. Before the transport vehicle stops, if the signal of the transport start and stop position detection photoelectric switch II 24 or the transport start and stop position detection photoelectric switch IV 26 does not change, it runs at normal speed, otherwise it runs at low speed. When the signal of the transport start and stop position detection photoelectric switch I 23 or the transport start and stop position detection photoelectric switch III 25 changes further, it stops running.

[0032] The conveying device includes a conveyor belt 16 rotatably mounted on the lifting platform and a stepper motor 14 that drives the conveyor belt 16 to rotate and feed the goods. A pulley 15 supporting the conveyor belt is rotatably mounted on the lifting platform of the lifting device. Driven by the stepper motor, the goods on the conveyor belt are transported. A plurality of basket detection photoelectric switches are provided on one side of the conveyor belt in the width direction, spaced apart along the feeding direction of the conveyor belt. The basket detection photoelectric switches are positioned toward the fruit and vegetable baskets on the conveyor belt. In this embodiment, the basket detection photoelectric switches are, from back to front, basket detection photoelectric switch I 18, basket detection photoelectric switch II 19, and basket detection photoelectric switch III 20. During operation, basket detection photoelectric switches I 18, II 19, and III 20 cooperate with the conveying device and controller to automatically shift the fruit and vegetable baskets during basket loading. Basket loading starts from the rear side of the transport vehicle. When the first basket is placed on the conveyor belt, it blocks the infrared signal of the basket loading detection photoelectric switch I18, thereby changing the output level of the switch. After detecting the level change, the controller drives the stepper motor to drive the conveyor belt forward by the width of the fruit and vegetable basket, so that it blocks the basket loading detection photoelectric switch II19; when the second basket of fruits and vegetables is placed on the conveyor belt, the basket loading detection photoelectric switch I18 and the basket loading detection photoelectric switch II19 are blocked. The controller drives the stepper motor to drive the conveyor belt to move by the width of the fruit and vegetable basket again. At this time, the basket loading detection photoelectric switch II19 and the basket loading detection photoelectric switch III20 are blocked; when the third basket of fruits and vegetables is placed on the conveyor belt, the basket loading detection photoelectric switch I18, the basket loading detection photoelectric switch II19, and the basket loading detection photoelectric switch III20 are blocked, and the basket loading is completed. The controller drives the travel motor to start moving along the track.

[0033] The basket detection photoelectric switch, stepper motor, travel device, and transport start and stop position detection photoelectric switch are all electrically connected to the controller. The controller receives various detection signals and realizes automatic control of the transport vehicle according to the logic algorithm.

[0034] The lifting device includes a lifting platform 11 and a hydraulic cylinder 10 that drives the lifting platform up and down, as well as a scissor-type lifting frame 9 connecting the lifting platform 11 and the chassis 1. The extension and retraction of the hydraulic cylinder realizes the lifting of the lifting platform. The structure of the scissor-type lifting frame can adopt existing technology. At least one lower support point of the scissor-type lifting frame 9 is a movable support point that is slidably connected to the chassis in the front and rear directions. The front and rear sides of the movable support point are respectively provided with a lifting detection photoelectric switch installed on the chassis. The lifting detection photoelectric switch and the solenoid valve of the hydraulic cylinder are electrically connected to the controller. Among them, the lifting detection photoelectric switch on the rear side of the movable support point is the lifting detection photoelectric switch I21, and the lifting detection photoelectric switch on the front side of the movable support point is the lifting detection photoelectric switch II22. The lifting detection photoelectric switch I21 and the lifting detection photoelectric switch II22 cooperate with the lifting device and the controller to control the lifting position of the lifting platform. When the lifting platform rises, the movable fulcrum of the lifting frame on the rear side of the chassis moves away from the lifting detection photoelectric switch Ⅰ21 and approaches the lifting detection photoelectric switch Ⅱ22. When the signal of the lifting detection photoelectric switch Ⅱ22 is blocked, the lifting platform stops rising; when the lifting platform descends, the movable fulcrum approaches the lifting detection photoelectric switch Ⅰ21 and moves away from the lifting detection photoelectric switch Ⅱ22. When the signal of the lifting detection photoelectric switch Ⅰ21 is blocked, the lifting platform stops descending; adjusting the positions of the lifting detection photoelectric switch Ⅰ21 and the lifting detection photoelectric switch Ⅱ22 can change the limit positions of the lifting platform's descent and ascent.

[0035] The lifting platform is fixed with side fences 12 located on the left and right sides of the conveyor belt, and a rear fence 13 located behind the conveyor belt, which can prevent the goods from sliding and improve the safety of turning and ramp transportation.

[0036] A function button area 17 is provided on one side of the lifting platform. The function button area 17 is provided with a circuit breaker 17-1 and a pause and run button 17-2. The circuit breaker 17-1 is used to control the power supply of the transport vehicle; the pause and run button 17-2 is used to stop the task being executed and continue to run the paused task.

[0037] The control method of the greenhouse fully automatic loading and unloading transport vehicle of this embodiment includes the following steps:

[0038] 1. Use the basket detection photoelectric switch to detect the fruit and vegetable baskets on the conveyor belt. Whenever a fruit and vegetable basket blocks the infrared signal of the basket detection photoelectric switch, the output level of the switch changes. After the controller detects the level change, the controller controls the stepper motor to drive the conveyor belt forward by the width of the fruit and vegetable basket. When all the basket detection photoelectric switches are blocked, the controller starts the travel motor to start the transport vehicle and move it forward along the track, thus completing the automatic shifting operation of the fruit and vegetable baskets during loading, effectively improving the loading efficiency.

[0039] 2. A transport start / stop position detection photoelectric switch I 23 and a transport start / stop position detection photoelectric switch II 24 are provided on the rear end face of the chassis and are distributed in the left and right directions. A transport start / stop position detection photoelectric switch III 25 and a transport start / stop position detection photoelectric switch IV 26 are provided on the front end face of the chassis and are distributed in the left and right directions.

[0040] After the transport vehicle starts running, if the signal of the transport start and stop position detection photoelectric switch I 23 or the transport start and stop position detection photoelectric switch III 25 does not change, it runs at low speed; when the signal of the transport start and stop position detection photoelectric switch I 23 or the transport start and stop position detection photoelectric switch III 25 changes, it runs at normal speed; before the transport vehicle stops, if the signal of the transport start and stop position detection photoelectric switch II 24 or the transport start and stop position detection photoelectric switch IV 26 does not change, it runs at normal speed, otherwise it changes to low speed; when the signal of the transport start and stop position detection photoelectric switch I 23 or the transport start and stop position detection photoelectric switch III 25 changes further, it stops running;

[0041] 3. The lifting detection photoelectric switch on the rear side of the movable fulcrum is the lifting detection photoelectric switch I 21, and the lifting detection photoelectric switch on the front side of the movable fulcrum is the lifting detection photoelectric switch II 22;

[0042] When the lifting platform rises, the movable fulcrum moves away from the lifting detection photoelectric switch I 21 and approaches the lifting detection photoelectric switch II 22. When the signal of the lifting detection photoelectric switch II 22 is blocked, the lifting stops;

[0043] When the lifting platform descends, the movable fulcrum approaches the lifting detection photoelectric switch I 21 and moves away from the lifting detection photoelectric switch II 22. When the signal of the lifting detection photoelectric switch I 21 is blocked, the platform stops descending.

[0044] By adjusting the positions of the lifting detection photoelectric switch I 21 and the lifting detection photoelectric switch II 22, the lowering and ascending limit positions of the lifting platform are changed to control the lifting position of the lifting platform.

[0045] The greenhouse fully automatic loading and unloading transport vehicle of the present invention can complete the operation, stopping, lifting and transporting operations at one time. It has comprehensive functions. One machine completely replaces manpower, reduces the intensity of manual work, improves the efficiency of cargo transportation, and enhances the safety of the transportation process. It solves the time-consuming and labor-intensive problems of ordinary greenhouse rail transport vehicles, and can automatically complete the transportation and unloading of cargo at one time, thereby realizing the full automation of fruit and vegetable transportation in the greenhouse, reducing the degree of labor, and improving the efficiency of transportation and loading and unloading.

[0046] Of course, the above description is not limited to the above examples. Technical features not described in the present invention can be achieved by or by adopting existing technologies, which will not be described here. The above embodiments and drawings are only used to illustrate the technical solutions of the present invention and are not limitations of the present invention. The present invention is described in detail with reference to the preferred implementation methods. Ordinary technicians in this field should understand that changes, modifications, additions or substitutions made by ordinary technicians in this technical field within the essential scope of the present invention do not depart from the purpose of the present invention and should also fall within the scope of protection of the claims of the present invention.

Claims

1. A control method for a fully automatic loading and unloading vehicle for a greenhouse, characterized by: The greenhouse fully automatic loading and unloading transport vehicle comprises a chassis (1), a travel device for driving the chassis (1) to move back and forth along a track in the greenhouse, and a lifting device and a controller (3) mounted on the chassis, wherein a conveying device is mounted on the lifting device, and limiting devices (8) are respectively mounted at both ends of the track, and transport start and stop position detection photoelectric switches adapted to the limiting devices on the respective sides are respectively provided at the front and rear ends of the chassis (1); The lifting device comprises a lifting platform (11) and a hydraulic cylinder (10) for driving the lifting platform to move up and down; The conveying device comprises a conveyor belt (16) rotatably mounted on the lifting platform and a stepping motor (14) driving the conveyor belt (16) to rotate and feed materials. A plurality of basket-loading detection photoelectric switches are provided on one side of the conveyor belt in the width direction and are arranged at intervals along the feeding direction of the conveyor belt. The basket-loading detection photoelectric switches are arranged toward the fruit and vegetable baskets on the conveyor belt. The basket detection photoelectric switch, stepper motor, travel device, and transport start and stop position detection photoelectric switch are all electrically connected to the controller; The lifting device further comprises a scissor-type lifting frame (9) connecting the lifting platform and the chassis, at least one lower support point of the scissor-type lifting frame (9) is a movable support point connected to the chassis in a sliding manner along the front-back direction, and a lifting detection photoelectric switch mounted on the chassis is respectively provided on the front and rear sides of the movable support point, and the lifting detection photoelectric switch and the solenoid valve of the hydraulic cylinder are electrically connected to the controller; The control method comprises the following steps: 1) Use the basket detection photoelectric switch to detect the fruit and vegetable baskets on the conveyor belt. Whenever a fruit and vegetable basket blocks the infrared signal of the basket detection photoelectric switch, the controller controls the stepper motor to drive the conveyor belt forward by the width of the fruit and vegetable basket. When all the basket detection photoelectric switches are blocked, the controller starts the travel motor, causing the transport vehicle to start running and move forward along the track. 2) A transport start / stop position detection photoelectric switch I (23) and a transport start / stop position detection photoelectric switch II (24) are provided on the rear end surface of the chassis and are distributed in the left and right directions, and a transport start / stop position detection photoelectric switch III and a transport start / stop position detection photoelectric switch IV (26) are provided on the front end surface of the chassis and are distributed in the left and right directions; After the transport vehicle starts running, if the signal of the transport start / stop position detection photoelectric switch Ⅰ (23) or the transport start / stop position detection photoelectric switch Ⅲ (25) does not change, the vehicle runs at a low speed; when the signal of the transport start / stop position detection photoelectric switch Ⅰ (23) or the transport start / stop position detection photoelectric switch Ⅲ (25) changes, the vehicle runs at a normal speed; before the transport vehicle stops, if the signal of the transport start / stop position detection photoelectric switch Ⅱ (24) or the transport start / stop position detection photoelectric switch Ⅳ (26) does not change, the vehicle runs at a normal speed, otherwise it runs at a low speed; when the signal of the transport start / stop position detection photoelectric switch Ⅰ (23) or the transport start / stop position detection photoelectric switch Ⅲ (25) changes further, the vehicle stops running; 3) The lifting detection photoelectric switch on the rear side of the movable fulcrum is the lifting detection photoelectric switch I (21), and the lifting detection photoelectric switch on the front side of the movable fulcrum is the lifting detection photoelectric switch II (22); When the lifting platform rises, the movable fulcrum moves away from the lifting detection photoelectric switch I (21) and approaches the lifting detection photoelectric switch II (22). When the signal of the lifting detection photoelectric switch II (22) is blocked, the lifting stops; When the lifting platform descends, the movable fulcrum approaches the lifting detection photoelectric switch I (21) and moves away from the lifting detection photoelectric switch II (22). When the signal of the lifting detection photoelectric switch I (21) is blocked, the platform stops descending; By adjusting the positions of the lifting detection photoelectric switch I (21) and the lifting detection photoelectric switch II (22), the lowering and ascending limit positions of the lifting platform are changed to control the lifting position of the lifting platform.

2. The control method of a greenhouse fully automatic loading and unloading transport vehicle according to claim 1, characterized in that: The traveling device comprises a driving wheel (5) and a driven wheel (6) mounted on a chassis, and a travel motor (4) connected to the driving wheel in a transmission manner, wherein the travel motor is electrically connected to a controller, and the wheel surfaces of the driving wheel and the driven wheel are both provided with wheel grooves, and the cross section of the track is a triangle adapted to the wheel grooves.

3. The control method of a greenhouse fully automatic loading and unloading transport vehicle according to claim 1, characterized in that: The lifting platform is fixedly provided with side fences (12) located on the left and right sides of the conveyor belt, and a rear fence (13) located behind the conveyor belt.

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