Method and system for collecting agricultural products in closed plantation

Abstract

The invention relates to the technical field of intelligent agriculture, and provides a method and system for collecting agricultural products in a closed plantation. When a hanging basket calling instruction triggered by a picker is obtained by the signal emitter, position information of a picking area where the picker is located is obtained and sent to the server side; the server side plans first path information from the starting area to the picking area according to the position information of the picking area and sends the first path information to the hanging basket transportation device; after the hanging basket transportation device moves to a picking area through the aerial track, real-time following is carried out by detecting the position of a picker in real time, so that the picker places picked agricultural products in a hanging basket of the hanging basket transportation device; the signal transmitter sends an agricultural product transportation instruction to the hanging basket transportation device when acquiring a picking completion instruction triggered by a picker; and when receiving the agricultural product transportation instruction, the hanging basket transportation device determines the current position, plans second path information from the current position to the warehouse area and then transports the agricultural products to the warehouse area. The agricultural product collecting efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of smart agricultural technology, and in particular to a method and system for collecting agricultural products in a closed plantation. Background Art

[0002] In the agricultural field, agricultural planting tends to be large-scale, mechanized and specialized. A greenhouse producing specific agricultural products usually grows multiple rows of agricultural products, and the planting area of ​​a row of agricultural products is often as long as 100 meters. When the agricultural products are ripe, they need to be picked. At present, the agricultural products are generally collected by pickers carrying them back and forth in the greenhouse, but this method has the problems of high labor cost and low efficiency. Summary of the invention

[0003] In view of this, an object of the present invention is to provide a method and system for collecting agricultural products in a closed plantation.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0005] In a first aspect, the present invention provides a method for collecting agricultural products in a closed plantation, which is applied to an agricultural product collection system in a closed plantation. The agricultural product collection system in the closed plantation includes a signal transmitter, a service end, and a hanging basket transport device, and the hanging basket transport device is installed on an aerial track. The method includes:

[0006] When the signal transmitter obtains the hanging basket call instruction triggered by the picker, it obtains the location information of the picking area where the picker is located and sends it to the server;

[0007] The server plans the first path information of the hanging basket transport device from the starting area to the picking area according to the location information of the picking area and sends it to the hanging basket transport device;

[0008] After the hanging basket transport device moves to the picking area through the aerial track according to the first path information, the position of the picker is detected in real time for real-time tracking, so that the picker places the picked agricultural products in the hanging basket of the hanging basket transport device;

[0009] The signal transmitter sends an agricultural product transportation instruction to the hanging basket transportation device when obtaining the picking completion instruction triggered by the picker;

[0010] When receiving the agricultural product transportation instruction, the hanging basket transportation device determines the location information of the current location, plans the second path information from the current location to the warehouse area, and then transports the agricultural products to the warehouse area according to the second path information.

[0011] In an optional embodiment, the signal transmitter includes a differential GPS positioning chip or a UWB positioning chip, and the UWB positioning chip has an associated UWB base station;

[0012] When the signal transmitter obtains the hanging basket call instruction triggered by the picker, the position information of the picking area where the picker is located is obtained, including:

[0013] When the signal transmitter obtains the hanging basket call instruction triggered by the picker, it performs positioning through the differential GPS positioning chip to obtain the location information of the picking area; or,

[0014] When the signal transmitter obtains the hanging basket call instruction triggered by the pickers, it obtains the location information collected by the associated UWB base station through the UWB positioning chip to obtain the location information of the picking area.

[0015] In an optional embodiment, when the signal transmitter obtains the hanging basket call instruction triggered by the picker, the position information of the picking area where the picker is located is obtained, including:

[0016] When the signal transmitter obtains the hanging basket call instruction triggered by the picker, it obtains the area number input by the picker to obtain the location information of the picking area.

[0017] In an optional embodiment, the hanging basket transport device includes a control module, a shooting module and a hanging basket;

[0018] The hanging basket transport device detects the position of the picker in real time and follows the picker in real time, so that the picker places the picked agricultural products in the hanging basket of the hanging basket transport device, including:

[0019] The shooting module collects the initial image of the picker and sends it to the control module;

[0020] The control module calculates the initial position of the picker in a preset global coordinate system according to the initial image, controls the hanging basket transport device to move to the initial position, controls the hanging basket to descend to a preset picking height and sets the operation module of the hanging basket transport device to a follow-up mode;

[0021] The shooting module collects the image of the picker in real time and sends it to the control module;

[0022] The control module calculates the position of the picker in real time according to the image of the picker and follows the picker in real time, so that the picker places the picked agricultural products in the hanging basket of the hanging basket transport device.

[0023] In an optional embodiment, the control module calculates the position of the picker in real time based on the image of the picker and follows the picker in real time, including:

[0024] The control module calculates the position of the picker in real time based on the image of the picker and determines the distance to the picker;

[0025] The control module controls the hanging basket transport device to move to the position of the picker when the distance is greater than a preset distance threshold.

[0026] In an optional embodiment, the hanging basket transport device includes a differential GPS positioning chip or a UWB positioning chip, and the UWB positioning chip has an associated UWB base station;

[0027] The hanging basket transport device determines the location information of the current location upon receiving the agricultural product transport instruction, including:

[0028] When the hanging basket transport device receives the agricultural product transport instruction, it performs positioning through a differential GPS positioning chip to obtain the location information of the current location; or,

[0029] When receiving the agricultural product transportation instruction, the hanging basket transportation device obtains the location information collected by its associated UWB base station through the UWB positioning chip to obtain the location information of the current location.

[0030] In an optional embodiment, the aerial track is provided with a plurality of positioning QR codes representing position information, and the hanging basket transport device includes a control module and a shooting module;

[0031] The hanging basket transport device determines the location information of the current location upon receiving the agricultural product transport instruction, including:

[0032] When the hanging basket transport device receives the agricultural product transport instruction, the control module controls the shooting module to identify the positioning QR code within a preset range to obtain the location information of the current location.

[0033] In an optional embodiment, the hanging basket transport device includes a control module and a shooting module, and the method further includes:

[0034] The control module controls the shooting module to identify the agricultural products, obtain the category and quantity of the agricultural products and send them to the server;

[0035] The server generates picking information based on the current time, the category and quantity of the agricultural products and stores it in a picking information database.

[0036] In an optional embodiment, the method further comprises:

[0037] When the hanging basket transport device detects that the remaining power is less than or equal to a preset power threshold, it moves to the charging area for charging, and returns to the starting area after charging is completed.

[0038] In a second aspect, the present invention provides a closed plantation agricultural product collection system, the closed plantation agricultural product collection system comprising a signal transmitter, a service end and a hanging basket transport device, the hanging basket transport device being installed on an aerial track;

[0039] The signal transmitter is used to obtain the location information of the picking area where the picker is located and send it to the server when obtaining the hanging basket call instruction triggered by the picker;

[0040] The server is used to plan the first path information of the hanging basket transport device from the starting area to the picking area according to the location information of the picking area and send it to the hanging basket transport device;

[0041] The hanging basket transport device is used to move to the picking area through the aerial track according to the first path information, and to follow the position of the picker in real time by real-time detection, so that the picker places the picked agricultural products in the hanging basket of the hanging basket transport device;

[0042] The signal transmitter is also used to send an agricultural product transportation instruction to the hanging basket transportation device when a picking completion instruction triggered by the picker is obtained;

[0043] The hanging basket transport device is also used to determine the location information of the current location when receiving the agricultural product transport instruction, and after planning the second path information from the current location to the warehouse area, transport the agricultural products to the warehouse area according to the second path information.

[0044] The present invention provides a method and system for collecting agricultural products in a closed plantation. When a signal transmitter obtains a hanging basket call instruction triggered by a picker, it obtains the location information of the picking area where the picker is located and sends it to a server. The server plans the first path information from the starting area to the picking area according to the location information of the picking area and sends it to a hanging basket transport device. After the hanging basket transport device moves to the picking area through an aerial track according to the first path information, it follows the position of the picker in real time by real-time detection, so that the picker places the picked agricultural products in the hanging basket of the hanging basket transport device. When the signal transmitter obtains the picking completion instruction triggered by the picker, it sends the agricultural product transportation instruction to the hanging basket transport device. When receiving the agricultural product transportation instruction, the hanging basket transport device determines the location information of the current position, and after planning the second path information from the current position to the cargo warehouse area, the agricultural products are transported to the cargo warehouse area according to the second path information. The signal transmitter, the server and the hanging basket transport device cooperate to realize the automatic collection of agricultural products, thereby improving the collection efficiency of agricultural products.

[0045] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0047] Figure 1 A schematic diagram of a closed plantation agricultural product collection system provided by an embodiment of the present invention is shown;

[0048] Figure 2 A schematic diagram of a process of collecting agricultural products in a closed plantation provided by an embodiment of the present invention is shown;

[0049] Figure 3 Another schematic diagram of a process of collecting agricultural products in a closed plantation provided by an embodiment of the present invention is shown;

[0050] Figure 4 Another schematic flow chart of the method for collecting agricultural products in a closed plantation provided by an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0051] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0052] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0053] It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0054] In the agricultural field, agricultural planting tends to be large-scale, mechanized and specialized. A greenhouse producing specific agricultural products usually grows multiple rows of agricultural products, and the planting area of ​​a row of agricultural products is often as long as 100 meters. When the agricultural products are ripe, they need to be picked. At present, the agricultural products are generally collected by pickers carrying them back and forth in the greenhouse, but this method has the problems of high labor cost and low efficiency. Therefore, the embodiment of the present invention provides a method for collecting agricultural products in a closed plantation to solve the above problems.

[0055] Please refer to Figure 1 , is a schematic diagram of a closed plantation agricultural product collection system provided by an embodiment of the present invention. The closed plantation agricultural product collection system includes a signal transmitter, a service end and a hanging basket transport device connected in communication, and the hanging basket transport device is installed on an aerial track.

[0056] The signal transmitter is used to obtain instructions according to the operations performed by the pickers, and send information to the server and the hanging basket transport device according to the instructions. The server is used to plan the driving path of the hanging basket transport device and store information of agricultural products. The hanging basket transport device is used to load and transport agricultural products, and it can be an electric-driven hanging basket device with integrated charging and battery replacement.

[0057] The above-mentioned closed plantation agricultural product collection system will be used as the execution body to execute each step of each method provided in the embodiment of the present invention and achieve corresponding technical effects.

[0058] See also Figure 2 , Figure 2 The present invention is a flowchart of a method for collecting agricultural products in a closed plantation provided by an embodiment of the present invention.

[0059] Step S202, when the signal transmitter obtains the hanging basket call instruction triggered by the picker, it obtains the location information of the picking area where the picker is located and sends it to the server;

[0060] It is understandable that there are multiple button controls on the signal transmitter, and the pickers can trigger corresponding instructions through the button controls, such as hanging basket call instructions, picking completion instructions, hanging basket control instructions, etc.

[0061] In this embodiment, the pickers will carry a signal transmitter when entering the plantation area. When they need a hanging basket to assist in picking and collecting agricultural products, they can trigger the hanging basket call command by triggering a button control. When the signal transmitter receives the hanging basket call command, it will locate the picking area where the pickers are located, obtain the location information of the picking area and send it to the server.

[0062] Step S204, the server plans the first path information of the hanging basket transport device from the starting area to the picking area according to the location information of the picking area and sends it to the hanging basket transport device;

[0063] It is understandable that the agricultural product collection system in the closed plantation may include multiple hanging basket transport devices, and these hanging basket transport devices are arranged in a queue in the starting area to wait for tasks. When there is a task to be performed, the service end will instruct the first hanging basket transport device in the queue to perform the task. After completing the task, the hanging basket transport device will return to the end of the queue to wait for the next task.

[0064] In this embodiment, after receiving the location information of the picking area sent by the signal transmitter, the server uses the first hanging basket transport device in the queue as the hanging basket transport device to perform this task, and plans multiple path points from the starting area to the picking area to obtain the first path information, and then sends the first path information to the hanging basket transport device.

[0065] It can be understood that the execution process of each hanging basket transportation device is similar. For ease of understanding, a hanging basket transportation device is used as an example for explanation below.

[0066] Step S206, after the hanging basket transport device moves to the picking area through the aerial track according to the first path information, the position of the pickers is detected in real time for real-time tracking, so that the pickers place the picked agricultural products in the hanging basket of the hanging basket transport device;

[0067] In this embodiment, the hanging basket transport device receives the first path information sent by the service end, and moves to each path point in the first path information in turn according to the first path information, so as to move to the picking area through the aerial track, and then follows the pickers in real time by detecting their positions in real time, so that the pickers can place the picked agricultural products in the hanging basket of the hanging basket transport device, so as to assist the pickers in picking and collecting agricultural products.

[0068] It is understandable that the position of the picker may move after the picker issues a basket call command, so the basket transport device in the embodiment of the present invention first reaches the picking area and then detects the position of the picker to follow. The picking area can be understood as a rough position, and the position of the picker can be understood as a precise position, that is, the basket transport device first reaches the rough position according to the planned path, and then detects the position of the picker to reach the precise position.

[0069] Step S208, when the signal transmitter obtains the picking completion instruction triggered by the picker, it sends the agricultural product transportation instruction to the hanging basket transportation device;

[0070] In this embodiment, after the pickers finish picking, they can trigger the picking completion instruction by triggering the button control. When the signal transmitter obtains the picking completion instruction, it sends the agricultural product transportation instruction to the hanging basket transportation device to notify the hanging basket transportation device that the agricultural product picking is completed and the agricultural product transportation process needs to be started.

[0071] Step S210, the hanging basket transport device determines the location information of the current location upon receiving the agricultural product transport instruction, and plans the second path information from the current location to the warehouse area, and then transports the agricultural products to the warehouse area according to the second path information;

[0072] In this embodiment, when the hanging basket transport device receives the agricultural product transport instruction sent by the signal transmitter, it retracts the hanging basket and determines the current position, that is, obtains the location information of the current position; then plans multiple path points from the current position to the warehouse area, that is, obtains the second path information; then the hanging basket transport device moves to each path point in the second path information in turn according to the second path information, so as to move to the warehouse area through the aerial track, and thus transports the agricultural products to the warehouse area.

[0073] It can be understood that the embodiments of the present invention cooperate with the signal transmitter, the service end and the hanging basket transport device to help pickers pick and collect agricultural products, thereby improving the collection efficiency of agricultural products and reducing labor costs.

[0074] It can be seen that based on the above steps, when the signal transmitter obtains the hanging basket call instruction triggered by the picker, it obtains the location information of the picking area where the picker is located and sends it to the server; the server plans the first path information from the starting area to the picking area according to the location information of the picking area and sends it to the hanging basket transportation device; after the hanging basket transportation device moves to the picking area through the aerial track according to the first path information, it follows the position of the picker in real time by real-time detection, so that the picker can place the picked agricultural products in the hanging basket of the hanging basket transportation device; when the signal transmitter obtains the picking completion instruction triggered by the picker, it sends the agricultural product transportation instruction to the hanging basket transportation device; when the hanging basket transportation device receives the agricultural product transportation instruction, it determines the location information of the current position, and after planning the second path information from the current position to the cargo warehouse area, it transports the agricultural products to the cargo warehouse area according to the second path information. Through the cooperation of the signal transmitter, the server and the hanging basket transportation device, the automatic collection of agricultural products is realized, thereby improving the collection efficiency of agricultural products.

[0075] Optionally, for the process in the above step S202 in which the signal transmitter obtains the location information of the picking area where the pickers are located when obtaining the hanging basket call instruction triggered by the pickers, the embodiment of the present invention provides three implementation methods, which will be introduced one by one below.

[0076] Step S202A, when the signal transmitter obtains the hanging basket call instruction triggered by the picker, it uses the differential GPS positioning chip to locate and obtain the location information of the picking area;

[0077] In one possible implementation, the signal transmitter is provided with a differential GPS positioning chip. When the signal transmitter obtains the hanging basket call command triggered by the pickers, it can use the differential positioning technology through the differential GPS positioning chip to perform positioning to obtain the location information of the picking area where the pickers are located.

[0078] Step S202B, when the signal transmitter obtains the hanging basket call command triggered by the picker, it obtains the location information collected by its associated UWB base station through the UWB positioning chip to obtain the location information of the picking area;

[0079] In a possible implementation, a UWB base station is installed in an agricultural greenhouse, a signal transmitter is provided with a UWB positioning chip, and the UWB positioning chip has a binding relationship with the UWB base station in the greenhouse, so that they can communicate with each other.

[0080] When the signal transmitter receives the hanging basket call command triggered by the pickers, it can communicate with the UWB base station associated with it through the UWB positioning chip to obtain the location information collected by the UWB base station, that is, the location information of the picking area where the pickers are located.

[0081] Step S202C, when the signal transmitter obtains the hanging basket call instruction triggered by the picker, it obtains the area number input by the picker and obtains the location information of the picking area;

[0082] It is understandable that in order to prevent the location information of the picking area from being lost after the positioning chip in the signal transmitter is damaged, an embodiment of the present invention further provides an implementation method. That is, the picker can also input the number of the area where he is located when the hanging basket call instruction is triggered, and the signal transmitter obtains the area number when obtaining the hanging basket call instruction triggered by the picker, and obtains the location information of the picking area where the picker is located according to the area number.

[0083] Optionally, for the process of real-time detection of the position of the pickers in step S206 to perform real-time tracking so that the pickers place the picked agricultural products in the hanging basket of the hanging basket transport device, an embodiment of the present invention provides a possible implementation method.

[0084] Step S206-1, the shooting module captures the initial image of the picker and sends it to the control module;

[0085] Step S206-3: The control module calculates the initial position of the picker in the preset global coordinate system according to the initial image, controls the hanging basket transport device to move to the initial position, controls the hanging basket to descend to the preset picking height and sets the operation module of the hanging basket transport device to the following mode;

[0086] In this embodiment, the hanging basket transport device includes a control module, a shooting model and a hanging basket. The preset global coordinate system is a coordinate system established with the center point of the starting area as the origin.

[0087] After the hanging basket transport device reaches the picking area, the shooting module collects the initial image of the picker and sends the initial image to the control module; the control module calculates the initial position of the picker in the global coordinate system according to the position of the picker in the initial image, controls the hanging basket transport device to move slowly to the initial position, then controls the hanging basket to descend to the preset picking height, and sets the operation module of the hanging basket transport device to the following mode.

[0088] Optionally, the control module may also send the received initial image to the server; the server calculates the picker's initial position in the global coordinate system based on the picker's position in the initial image and sends it to the control module; the control module controls the hanging basket transport device to slowly move to the initial position based on the received initial position, and after controlling the hanging basket to descend to a preset picking height, sets the operation module of the hanging basket transport device to the following mode.

[0089] It can be understood that after the hanging basket transport device first detects the position of the picker, that is, obtains the initial position, it moves to the initial position, lowers the hanging basket to the picking height and sets the operation mode to the following mode, so as to follow the pickers in real time and assist the pickers in picking agricultural products.

[0090] Step S206-5, the camera module collects images of the pickers in real time and sends them to the control module;

[0091] Step S206-7, the control module calculates the position of the picker in real time based on the image of the picker and follows the picker in real time, so that the picker places the picked agricultural products in the hanging basket of the hanging basket transport device;

[0092] In this embodiment, when the operating mode of the hanging basket transport device is the following mode, the shooting module will capture the image of the picker in real time and send it to the control module. The control module will calculate the position of the picker in real time based on the image of the picker received in real time and follow the picker in real time, so that the picker can place the picked agricultural products in the hanging basket of the hanging basket transport device, thereby assisting the picker in picking operations.

[0093] Optionally, for the above step S206-7, an embodiment of the present invention provides a possible implementation method.

[0094] Step S206-7-1, the control module calculates the position of the picker in real time based on the image of the picker and determines the distance to the picker;

[0095] Step S206-7-3, when the distance is greater than a preset distance threshold, the control module controls the hanging basket transport device to move to the position of the picker.

[0096] It is understandable that a distance threshold such as 50 cm can be preset, that is, the picker can place the crops in the hanging basket within 50 cm and its range. It should be understood that the preset distance threshold can also be set according to actual application, and the embodiment of the present invention is not limited thereto.

[0097] In this embodiment, the control module calculates the position of the picker in real time based on the picker's image, and calculates the distance between the hanging basket transport device and the picker based on the picker's position in real time, and then compares the real-time calculated distance with a preset distance threshold.

[0098] If the calculated distance is less than or equal to the preset distance threshold, it means that the distance to the picker is small, that is, the picker can place the crops in the hanging basket normally, and there is no need to move. If the calculated distance is greater than the preset distance threshold, it means that the distance to the picker is large, that is, the picker may not be able to place the crops in the hanging basket normally, and a path needs to be planned to control the hanging basket transport device to move to the picker's position.

[0099] Optionally, for the process of determining the location information of the current location of the hanging basket transport device upon receiving the agricultural product transport instruction in the above step S210, the embodiment of the present invention provides three implementation methods, which will be introduced one by one below.

[0100] Step S210A, when the hanging basket transport device receives the agricultural product transport instruction, it performs positioning through the differential GPS positioning chip to obtain the location information of the current location;

[0101] In one possible implementation, the hanging basket transport device is provided with a differential GPS positioning chip. When the hanging basket transport device receives an agricultural product transport instruction, it can use the differential positioning technology through the differential GPS positioning chip to obtain the location information of the current location of the hanging basket transport device.

[0102] Step S210B, when the hanging basket transport device receives the agricultural product transport instruction, it obtains the location information collected by the associated UWB base station through the UWB positioning chip to obtain the location information of the current location;

[0103] In one possible implementation, a UWB base station is installed in an agricultural greenhouse, a hanging basket transport device is provided with a UWB positioning chip, and the UWB positioning chip has a binding relationship with the UWB base station in the greenhouse, and can communicate with each other.

[0104] When receiving the agricultural product transportation instruction, the hanging basket transport device can communicate with its associated UWB base station through the UWB positioning chip to obtain the location information collected by the UWB base station, that is, obtain the location information of the current location of the hanging basket transport device.

[0105] Step S210C, when the hanging basket transport device receives the agricultural product transport instruction, the control module controls the shooting module to identify the positioning QR code within the preset range to obtain the location information of the current location;

[0106] In a possible implementation, the aerial guide rail is provided with a plurality of positioning QR codes for indicating position information. The preset range can be understood as a preset scanning range of the camera module.

[0107] When the hanging basket transport device receives an agricultural product transport instruction, it can control the shooting module through the control module to scan within a preset range to obtain and identify the positioning QR code within the preset range, and obtain the location information represented by the positioning QR code, that is, obtain the location information of the current location of the hanging basket transport device.

[0108] In a possible implementation, a photoelectric sensor may be further provided on the aerial guide rail, and the hanging basket transport device may locate itself through the photoelectric sensor to obtain position information of the current position.

[0109] Optionally, after the above step S210, the embodiment of the present invention further provides a possible implementation method, see Figure 3 .

[0110] Step S212, the control module controls the shooting module to identify the agricultural products, obtain the category and quantity of the agricultural products and send them to the server;

[0111] Step S214: the server generates picking information based on the current time, the type and quantity of the agricultural products and stores it in a picking information database.

[0112] In this embodiment, after the basket transport device transports the agricultural products to the warehouse area, the basket can be controlled to descend to a preset height according to the basket descending instruction triggered by the warehouse clerk, so that the warehouse clerk can take out the farm products from the basket. After the warehouse clerk takes out all the farm products, the basket ascending instruction can be triggered, and then the basket transport device controls the basket to rise to the original height according to the basket ascending instruction.

[0113] At the same time, the hanging basket transport device can control the shooting module through the control module to identify the agricultural products, so as to obtain the category and quantity of the agricultural products and send them to the server. After receiving the category and quantity of the agricultural products, the server generates the picking information of this time in combination with the current moment and stores it in the picking information database, that is, the collection information of the agricultural products is stored in the database.

[0114] Optionally, after the above step S210, the embodiment of the present invention further provides a possible implementation method, see Figure 4 .

[0115] Step S216, when the basket transport device detects that the remaining power is less than or equal to the preset power threshold, it moves to the charging area for charging, and returns to the starting area after charging is completed.

[0116] In this embodiment, a power threshold, that is, a power warning value of the hanging basket transport device, can be preset. After the agricultural products are unloaded, that is, the hanging basket transport device completes this task, the hanging basket transport device will then compare the remaining power with the preset power threshold.

[0117] If the remaining power is greater than the preset power threshold, it means that the basket transport device has sufficient power. The basket transport device will plan a third path information from the cargo hold area to the starting area, and return to the starting area according to the third path information.

[0118] If the remaining power is less than or equal to the preset power threshold, it means that the power of the hanging basket transport device is low. The hanging basket transport device will plan the fourth path information from the cargo warehouse area to the charging area, and move to the charging area for charging or battery replacement according to the fourth path information. After the charging or battery replacement is completed, the path will be planned and returned to the starting area to wait for the next task.

[0119] An embodiment of the present invention further provides a closed plantation agricultural product collection system, which includes a communicatively connected signal transmitter, a service end, and a hanging basket transport device, wherein the hanging basket transport device is installed on an aerial track.

[0120] The signal transmitter is used to obtain the location information of the picking area where the picker is located and send it to the server when obtaining the hanging basket call command triggered by the picker;

[0121] The server is used to plan the first path information of the hanging basket transport device from the starting area to the picking area according to the location information of the picking area and send it to the hanging basket transport device;

[0122] The hanging basket transport device is used to move to the picking area through the aerial track according to the first path information, and to follow the position of the pickers in real time by real-time detection, so that the pickers can place the picked agricultural products in the hanging basket of the hanging basket transport device;

[0123] The signal transmitter is also used to send agricultural product transportation instructions to the hanging basket transportation device when obtaining the picking completion instruction triggered by the picker;

[0124] The hanging basket transport device is also used to determine the location information of the current location when receiving the agricultural product transportation instruction, and after planning the second path information from the current location to the warehouse area, transport the agricultural products to the warehouse area according to the second path information.

[0125] Optionally, the signal transmitter includes a differential GPS positioning chip or a UWB positioning chip, and the UWB positioning chip has an associated UWB base station;

[0126] The signal transmitter is also used to: when the basket call command triggered by the picker is obtained, the differential GPS positioning chip is used for positioning to obtain the location information of the picking area;

[0127] The signal transmitter is also used to: when a hanging basket call instruction triggered by a picker is obtained, the location information collected by its associated UWB base station is obtained through the UWB positioning chip to obtain the location information of the picking area.

[0128] Optionally, the signal transmitter is also used to: when a hanging basket call instruction triggered by the pickers is obtained, obtain the area number input by the pickers to obtain the location information of the picking area.

[0129] Optionally, the hanging basket transport device includes a control module, a shooting module and a hanging basket;

[0130] The shooting module is used to collect the initial image of the picker and send it to the control module;

[0131] The control module is used to calculate the initial position of the picker in a preset global coordinate system according to the initial image, and after controlling the hanging basket transport device to move to the initial position, control the hanging basket to descend to a preset picking height and set the operation module of the hanging basket transport device to a follow-up mode;

[0132] The camera module is also used to collect images of the pickers in real time and send them to the control module;

[0133] The control module is also used to calculate the position of the picker in real time according to the image of the picker and to follow the picker in real time, so that the picker can place the picked agricultural products in the hanging basket of the hanging basket transport device.

[0134] Optionally, the control module is also used to: calculate the position of the pickers in real time based on the image of the pickers and determine the distance to the pickers; when the distance is greater than a preset distance threshold, control the hanging basket transport device to move to the position of the pickers.

[0135] Optionally, the hanging basket transport device includes a differential GPS positioning chip or a UWB positioning chip, and the UWB positioning chip has an associated UWB base station;

[0136] The hanging basket transport device is also used to: when receiving an agricultural product transport instruction, locate the device through a differential GPS positioning chip to obtain the location information of the current location;

[0137] The hanging basket transport device is also used to: when receiving an agricultural product transport instruction, obtain the location information collected by its associated UWB base station through the UWB positioning chip to obtain the location information of the current location.

[0138] Optionally, the aerial track is provided with a plurality of positioning QR codes representing position information, and the hanging basket transport device includes a control module and a shooting module;

[0139] The hanging basket transport device is also used for: when receiving an agricultural product transport instruction, the control module controls the shooting module to identify the positioning QR code within a preset range to obtain the location information of the current location.

[0140] Optionally, the control module is further used to: control the shooting module to identify the agricultural products, obtain the category and quantity of the agricultural products and send them to the server;

[0141] The server is also used to generate picking information based on the current time, category and quantity of agricultural products and store it in a picking information database.

[0142] Optionally, the hanging basket transport device is also used to: move to the charging area for charging when it is detected that the remaining power is less than or equal to a preset power threshold, and return to the starting area after charging is completed.

[0143] In several embodiments provided by the present invention, it should be understood that each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a sequence different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0144] In addition, the functional modules in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0145] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., various media that can store program codes.

[0146] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for collecting agricultural products in a closed plantation, characterized in that: Applied to a closed plantation agricultural product collection system, the closed plantation agricultural product collection system comprises a signal transmitter, a service end and a hanging basket transport device, the hanging basket transport device is installed on an aerial track, and the method comprises: When the signal transmitter obtains the hanging basket call instruction triggered by the picker, it obtains the location information of the picking area where the picker is located and sends it to the server; The server plans the first path information of the hanging basket transport device from the starting area to the picking area according to the location information of the picking area and sends it to the hanging basket transport device; After the hanging basket transport device moves to the picking area through the aerial track according to the first path information, the position of the picker is detected in real time for real-time tracking, so that the picker places the picked agricultural products in the hanging basket of the hanging basket transport device; The signal transmitter sends an agricultural product transportation instruction to the hanging basket transportation device when obtaining the picking completion instruction triggered by the picker; When receiving the agricultural product transportation instruction, the hanging basket transportation device determines the location information of the current location, plans the second path information from the current location to the warehouse area, and then transports the agricultural products to the warehouse area according to the second path information.

2. The method according to claim 1, characterized in that The signal transmitter includes a differential GPS positioning chip or a UWB positioning chip, and the UWB positioning chip has an associated UWB base station; When the signal transmitter obtains the hanging basket call instruction triggered by the picker, the position information of the picking area where the picker is located is obtained, including: When the signal transmitter obtains the hanging basket call instruction triggered by the picker, it performs positioning through the differential GPS positioning chip to obtain the location information of the picking area; or, When the signal transmitter obtains the hanging basket call instruction triggered by the pickers, it obtains the location information collected by the associated UWB base station through the UWB positioning chip to obtain the location information of the picking area.

3. The method according to claim 1, characterized in that When the signal transmitter obtains the hanging basket call instruction triggered by the picker, the position information of the picking area where the picker is located is obtained, including: When the signal transmitter obtains the hanging basket call instruction triggered by the picker, it obtains the area number input by the picker to obtain the location information of the picking area.

4. The method according to claim 1, characterized in that: The hanging basket transport device comprises a control module, a shooting module and a hanging basket; The hanging basket transport device detects the position of the picker in real time and follows the picker in real time, so that the picker places the picked agricultural products in the hanging basket of the hanging basket transport device, including: The shooting module collects the initial image of the picker and sends it to the control module; The control module calculates the initial position of the picker in a preset global coordinate system according to the initial image, controls the hanging basket transport device to move to the initial position, controls the hanging basket to descend to a preset picking height and sets the operation module of the hanging basket transport device to a follow-up mode; The shooting module collects the image of the picker in real time and sends it to the control module; The control module calculates the position of the picker in real time according to the image of the picker and follows the picker in real time, so that the picker places the picked agricultural products in the hanging basket of the hanging basket transport device.

5. The method according to claim 4, characterized in that The control module calculates the position of the picker in real time according to the image of the picker and follows the picker in real time, including: The control module calculates the position of the picker in real time based on the image of the picker and determines the distance to the picker; The control module controls the hanging basket transport device to move to the position of the picker when the distance is greater than a preset distance threshold.

6. The method according to claim 1, characterized in that The hanging basket transport device includes a differential GPS positioning chip or a UWB positioning chip, and the UWB positioning chip has an associated UWB base station; The hanging basket transport device determines the location information of the current location upon receiving the agricultural product transport instruction, including: When the hanging basket transport device receives the agricultural product transport instruction, it performs positioning through a differential GPS positioning chip to obtain the location information of the current location; or, When receiving the agricultural product transportation instruction, the hanging basket transportation device obtains the location information collected by its associated UWB base station through the UWB positioning chip to obtain the location information of the current location.

7. The method according to claim 1, characterized in that The aerial track is provided with a plurality of positioning QR codes representing position information, and the hanging basket transport device includes a control module and a shooting module; The hanging basket transport device determines the location information of the current location upon receiving the agricultural product transport instruction, including: When the hanging basket transport device receives the agricultural product transport instruction, the control module controls the shooting module to identify the positioning QR code within a preset range to obtain the location information of the current location.

8. The method according to claim 1, characterized in that The hanging basket transport device includes a control module and a shooting module, and the method further includes: The control module controls the shooting module to identify the agricultural products, obtain the category and quantity of the agricultural products and send them to the server; The server generates picking information based on the current time, the category and quantity of the agricultural products and stores it in a picking information database.

9. The method according to claim 1, characterized in that: The method further comprises: When the hanging basket transport device detects that the remaining power is less than or equal to a preset power threshold, it moves to the charging area for charging, and returns to the starting area after charging is completed.

10. A closed plantation agricultural product collection system, characterized in that: The agricultural product collection system in the closed plantation includes a signal transmitter, a service end and a hanging basket transport device, and the hanging basket transport device is installed on an aerial track; The signal transmitter is used to obtain the location information of the picking area where the picker is located and send it to the server when obtaining the hanging basket call instruction triggered by the picker; The server is used to plan the first path information of the hanging basket transport device from the starting area to the picking area according to the location information of the picking area and send it to the hanging basket transport device; The hanging basket transport device is used to move to the picking area through the aerial track according to the first path information, and to follow the position of the picker in real time by real-time detection, so that the picker places the picked agricultural products in the hanging basket of the hanging basket transport device; The signal transmitter is also used to send an agricultural product transportation instruction to the hanging basket transportation device when a picking completion instruction triggered by the picker is obtained; The hanging basket transport device is also used to determine the location information of the current location when receiving the agricultural product transport instruction, and after planning the second path information from the current location to the warehouse area, transport the agricultural products to the warehouse area according to the second path information.

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