Greenhouse single-chassis multi-machine-tool operation device, control system and control method

Abstract

The invention relates to a greenhouse single-chassis multi-machine operation device, a control system and a control method.The operation device comprises a movable chassis and matched machines and tools, and the matched machines and tools comprise a spraying machine tool used for pesticide spraying and foliar fertilizer spraying and a fertilizer spreading machine tool used for ground fertilizer spreading; the conveying machine tool is used for conveying agricultural materials; the auxiliary operation machine tool is used for assisting high-position picking and plant adjustment; the mechanical connecting device is used for connecting the matched machine tool and the movable chassis, and the cable connecting device is used for transmitting electric power and signals between the matched machine tool and the movable chassis. Various operation tasks such as foliage pesticide application, foliage dressing, ground fertilizer spreading, agricultural material transportation, fruit and vegetable turnover, pruning assistance and picking assistance are achieved through one movable chassis; a dynamic configuration mode is adopted, the number of used pins is reduced, hardware resources are saved, novel matched operation machines and tools can be flexibly increased or replaced, the whole equipment system does not need to be replaced, and high expandability and technical adaptability are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural equipment, and in particular to a greenhouse single-chassis multi-tool operating device, a control system and a control method. Background Art

[0002] With the progress of agricultural modernization, greenhouse cultivation has gradually become an efficient and controllable agricultural production method. The greenhouse can provide a suitable environment, promote the growth of crops, and improve yield and quality.

[0003] The greenhouse planting process involves multiple links and operations, such as spreading fertilizer on the ground before sowing or transplanting to ensure that the soil has enough nutrients; spraying foliar fertilizer during the crop growth stage to make up for the lack of nutrient absorption by the root system; spraying pesticides regularly to prevent and control pests and diseases; regular pruning to promote growth and increase yields; harvesting and transporting crops after they mature. With the improvement of the mechanization and intelligence level of facility agriculture, all aspects of greenhouse planting have gradually shifted from manual to self-propelled mechanical equipment. However, existing self-propelled mechanical equipment generally only has a single function and cannot share a set of mobile chassis. To achieve different operating tasks in the greenhouse, it is necessary to purchase multiple special equipment with independent mobile chassis, which greatly increases the initial investment cost and subsequent maintenance cost. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a greenhouse single-chassis multi-machine operation device, a control system and a control method, which can realize multiple operation functions such as foliar application of pesticides, foliar fertilization, ground spreading of fertilizers, agricultural material transportation, fruit and vegetable turnover, pruning assistance, picking assistance, etc. through only one control module and a mobile chassis.

[0005] The present invention is realized by the following technical scheme, and provides a greenhouse single chassis multi-tool operation device, comprising: Mobile chassis for walking; Supporting machines, including: spraying machines for spraying pesticides and foliar fertilizers, fertilizer spreaders for spreading fertilizers on the ground, transport machines for transporting agricultural materials, and auxiliary machines for assisting high-altitude picking and plant adjustment; Mechanical connection device, used for connecting the supporting machine and the mobile chassis; Cable connection device, used for power and signal transmission between supporting equipment and mobile chassis.

[0006] This solution quickly connects the mobile chassis and the supporting equipment through a mechanical connection device, and quickly connects the control module located on the mobile chassis and the execution module located on the supporting equipment through a cable connection device, thereby achieving foliar spraying, foliar fertilization, ground spreading, agricultural material transportation, fruit and vegetable turnover, pruning assistance, picking assistance and other operation functions through only one control module and one mobile chassis.

[0007] As an optimization, the mobile chassis includes a frame, a crawler walking mechanism installed on both sides of the bottom of the frame, and a bearing plate fixed to the top of the frame, and both sides of the bearing plate are fixed with ribs. In this solution, walking is achieved through the crawler walking mechanism, the bearing plate is used to support the matching machine, and the ribs can be set to position the machine to prevent it from slipping.

[0008] As an optimization, the mechanical connection device includes a U-shaped clamping plate buckled on the side of the retaining edge and a push plate slidingly connected to the clamping plate on the left and right sides. The clamping plate is threaded with a push plate fixing screw that presses the push plate against the side of the retaining edge. The mechanical connection device also includes a lower end interface fixed to the side of the clamping plate and an upper end interface vertically inserted into the lower end interface, and the upper end interface is fixed to the matching machine. In this solution, the upper port fixed to the matching machine is inserted into the lower end interface fixed to the mobile chassis, thereby realizing the connection between the matching machine and the mobile chassis. The push plate is pressed against the side of the retaining edge to realize the detachable connection between the mechanical connection device and the mobile chassis, thereby realizing the rapid mechanical disassembly and assembly of the matching machine.

[0009] As an optimization, the cable connection device includes an interface box fixedly connected to the side of the retaining edge and a protective cover covering the interface box, wherein a plurality of docking terminals are fixedly connected in the interface box. This solution quickly connects the docking terminals through the port cable of the supporting tool execution module, thereby realizing the connection between the supporting tool execution module and the control module.

[0010] As an optimization, the sprayer includes a sprayer frame and two support rods arranged left and right and fixed to the sprayer frame, and a plurality of nozzles arranged up and down are fixed to the support rods. The sprayer also includes a water tank and an electric water pump, and the outlet of the electric water pump is connected to the nozzles of the two support rods through two water pipes, and the water pipes are equipped with electromagnetic valves. In this solution, the nozzles of the two support rods spray medicine to both sides respectively, and the electromagnetic valves can realize non-contact control of the number of nozzles opened, thereby controlling the spray range of the sprayer.

[0011] As an optimization, the fertilizer spreading machine includes a fertilizer box and a horizontally rotating fertilizer spreading disc, the upper end of the fertilizer spreading disc is fixedly connected to a plurality of circumferentially arranged paddles, the lower end of the fertilizer box is connected to a fertilizer delivery pipe, the outlet of the fertilizer delivery pipe is located at the center of the plurality of paddles, and also includes a protective cover wrapped around one side of the fertilizer spreading disc, and both sides of the opening of the protective cover are connected to adjustment plates. In this solution, the fertilizer in the fertilizer box enters the center of the plurality of paddles through the fertilizer delivery pipe, and the fertilizer is thrown out through the rotation of the plurality of paddles, and the protective cover wraps one side of the fertilizer disc so that the fertilizer is thrown out in the other direction, and the adjustment plate provided at the same time can control the throwing angle.

[0012] As an optimization, the transport tool includes two opposite first brackets and two opposite second brackets, one transverse end of the second bracket is hinged to one of the first brackets, and the other transverse end of the second bracket is connected to the other first bracket through a locking assembly. In this solution, the first bracket and the second bracket are connected end to end to form a whole, and the transport tool can be quickly spliced ​​to form a closed space to prevent the transported items from slipping.

[0013] As an optimization, the auxiliary work tool includes a guardrail and a collection bag and a carrier frame that are both detachably fixed to the guardrail. The carrier frame is horizontally slidably connected to two opposing sliding rods, and the sliding rod is fixedly connected to a baffle located above the carrier frame. The carrier frame is threadedly connected to a bolt that fastens the sliding rod. The guardrail of this solution can be used to install a collection bag and a carrier frame while providing protection for workers who are standing. The collection bag can be used to collect pruned branches and leaves during high-altitude pruning of tomatoes, cucumbers and other solanaceous crops, facilitating subsequent centralized processing. The carrier frame is used to place a box body, and the box body is fixed to the carrier frame by clamping two baffles to prevent the box body from slipping.

[0014] A control system for a greenhouse single chassis multi-machine tool operation device, comprising a control module, a human-computer interaction module, a mobile chassis execution module, a mobile feedback module and a matching machine tool execution module; The control module is arranged on the mobile chassis, is responsible for the coordination and scheduling of the overall system, and is connected to other modules by wired connection; The human-computer interaction module is arranged on the mobile chassis and is used to realize communication between the operator and the control module; The mobile chassis execution module is arranged on the mobile chassis, and is used to receive the instruction sent by the control module and drive the mobile chassis to move; The mobile feedback module is arranged on the mobile chassis, and is used to detect the motion data of the mobile chassis and feed back the motion data to the control module; The supporting machine execution module is arranged on the supporting machine and executes specific operation tasks according to the instructions issued by the control module.

[0015] A control method of a control system: The required pins are configured in the control module, wherein the pins required by the human-machine interaction module, the mobile chassis execution module and the mobile feedback module are set as the first type of static pins, the number of pins required by each supporting machine execution module is calculated respectively, and the number of pins that can be shared is counted, the pins that can be shared are set as dynamic pins, and the remaining pins are set as the second type of static pins, and the first type of static pins are connected to the corresponding ports of the human-machine interaction module, the mobile chassis execution module and the mobile feedback module; When performing a specific operation task, the corresponding supporting equipment is connected to the mobile chassis. When the corresponding supporting equipment has a supporting equipment execution module, the corresponding port of the supporting equipment execution module is connected to the dynamic pin or the second type of static pin. According to the type of the current operation task, the corresponding operation mode is selected through the human-computer interaction module. After receiving the instruction, the control module reconfigures the dynamic pin, and sets different working parameters through the human-computer interaction module. After receiving the data, the control module controls the operation of the mobile chassis execution module and the supporting equipment execution module.

[0016] The beneficial effects of the present invention are: (1) The present invention realizes the use of a single controller to control all supporting machines and tools, and adopts a dynamic configuration method to reduce the number of pins used and save hardware resources.

[0017] (2) The present invention adopts the design concept of one machine with multiple uses, and uses a mobile chassis to achieve multiple operation tasks such as foliar application of pesticides, foliar fertilization, ground spreading of fertilizers, agricultural material transportation, fruit and vegetable turnover, pruning assistance, and picking assistance, thereby reducing the cost of purchasing multiple special agricultural machines and facilitating the intelligent scheduling of greenhouse equipment.

[0018] (3) The present invention provides a mechanical and data connection method between a mobile chassis and supporting equipment. Users can flexibly add or replace new supporting equipment as agricultural technology develops and demand changes, without having to replace the entire equipment system. This method has high scalability and technical adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the structure of the mobile chassis of the present invention; Figure 3 It is a schematic diagram of the structure of the spraying machine of the present invention; Figure 4 It is a schematic diagram of the structure of the fertilizer spreading machine of the present invention; Figure 5 It is a schematic diagram of the installation positions of the components at the bottom of the fertilizer box of the fertilizer spreader of the present invention; Figure 6 It is a schematic diagram of the structure of the components at the bottom of the fertilizer box of the fertilizer spreader of the present invention; Figure 7 It is a schematic diagram of the structure of the transport tool of the present invention; Figure 8 This is a schematic diagram of the turnover box structure used in the present invention; Fig. 9 It is a schematic diagram of the guardrail structure of the present invention; Fig.10 It is a schematic diagram of the position of the limit block of the present invention; Fig.11 It is a schematic diagram of the structure of the branch and leaf collecting device of the present invention; Fig.12 It is a structural schematic diagram of the fruit collecting device of the present invention; Fig.13 It is a schematic diagram of the structure of the mechanical connection device of the present invention; Fig.14 It is a schematic structural diagram of the cable connection device of the present invention; Fig.15 Schematic diagram of the mechanical connection device of the present invention connected to the matching machine Fig.16 Schematic diagram of the installation of the transport equipment in the present invention Fig.17 It is a schematic diagram of the control system structure of the present invention; Fig.18 It is a control flow diagram of the present invention; As shown in the figure: 11. Frame, 12. Walking track, 13. Loading plate, 14. Sidewall, 15. Anti-vibration strip, 16. Wheel encoder, 21. Sprayer frame, 22. Support rod, 23. Nozzle, 24. Water tank, 25. Electric water pump, 26. Water pipe, 27. Solenoid valve, 28. Sprayer wire slot, 29. Sprayer execution module box, 301. Fertilizer spreader frame, 302. Fertilizer spreader motor, 303. Fertilizer spreader disc, 304. Protective cover, 305. Adjustment plate, 306. Fixing nut, 307. Fertilizer box, 308. Feeding port, 309. Fertilizer output control plate, 310. Steering gear, 311. Steering gear fixing plate, 312. Fertilizer delivery pipe, 313. Fertilizer spreader wire slot, 314. Fertilizer spreader execution module box, 41. The first Rack, 42, second bracket, 43, lock, 44, lock hook, 45, turnover box, 51, guardrail, 511, opening and closing door, 512, connecting round tube, 513, plugging round tube, 514, first column, 515, second column, 516, limit block, 517, limit tube, 52, branch and leaf collecting device, 521, arc rod, 522, collecting bag, 523, clamping device, 524, limit rod, 53, fruit collecting device, 531, carrier frame, 532, sliding rod, 533, baffle, 61, splint, 62, push plate, 63, push plate fixing screw, 64, lower end interface, 65, upper end interface, 66, interface fixing screw, 71, interface box, 72, docking terminal, 73, navigation chassis wire trough, 74, protective cover. DETAILED DESCRIPTION

[0020] In order to clearly illustrate the technical features of this solution, this solution is described below through a specific implementation method.

[0021] like Figure 1-18 As shown, a greenhouse single-chassis multi-tool operating device of the present invention includes a mobile chassis for walking, matching tools, a mechanical connection device and a cable connection device.

[0022] The supporting machines include sprayers for spraying pesticides and foliar fertilizers, fertilizer spreaders for spreading fertilizers on the ground, transporters for transporting agricultural materials, and auxiliary machines for assisting high-altitude picking and plant adjustment. The mechanical connection device is used to connect the supporting machine with the mobile chassis; the cable connection device is used for power and signal transmission between the supporting machine and the mobile chassis.

[0023] like Figure 2As shown, the mobile chassis includes a frame 11, a crawler travel mechanism installed on both sides of the bottom of the frame 11, and a bearing plate 13 fixed to the top of the frame 11. The crawler travel mechanism includes a walking wheel and a walking track 12. A wheel encoder 16 is installed on the walking wheel. The rotating shaft of the wheel encoder 16 is connected to the guide wheel of the walking track 12 and rotates synchronously. Both sides of the bearing plate 13 are fixedly connected with a rib 14. The front and rear ends of the rib 14 extend inward, thereby forming a U-shaped structure on both sides to achieve the front and rear and left and right guidance of the upper matching machine. The rib 14 is provided with a shockproof strip 15.

[0024] like Fig.13 As shown, the mechanical connection device includes a U-shaped clamping plate 61 inverted on the retaining edge 14 and a push plate 62 slidingly connected to the left and right inside the clamping plate 61. Two mechanical connection devices are generally arranged on each retaining edge 14, so a total of four mechanical connection devices are used to realize the connection between the supporting equipment and the mobile chassis.

[0025] The clamping plate 61 is also provided with a plurality of "T"-shaped through holes, and the push plate 62 is slidably connected to the clamping plate 61 through the "T"-shaped through holes to achieve left-right sliding connection. The clamping plate 61 is threadedly connected with a push plate fixing screw 63 for pressing the push plate 62 against the side of the retaining edge 14. The push plate fixing screw 63 is screwed to the side of the clamping plate 61 through the threaded through hole. The mechanical connection device also includes a lower interface 64 fixedly connected to the side of the clamping plate 61 and an upper interface 65 vertically inserted into the lower interface 64, and the upper interface 65 is fixedly connected to the matching machine. The lower interface 64 is a circular tubular component fixedly connected to one side of the clamping plate 61, and the upper interface 65 is a circular tubular component fixedly connected to the matching machine. The outer diameter of the upper interface 65 is smaller than the inner diameter of the lower interface 64. A plurality of threaded through holes are also provided on the outer wall of the lower interface 64, and the interface fixing screws 66 are screwed onto the lower interface 64 through the threaded through holes. This embodiment realizes the flexible setting of the lower interface by clamping and loosening the clamping plate and the push plate on the retaining edge 14, realizes the rapid mechanical disassembly and assembly of the matching machine by plugging and unplugging the lower interface and the upper interface, and locks the upper and lower interfaces by the interface fixing screws to prevent the matching machine from shaking.

[0026] like Fig.15 As shown, the method of using the mechanical connection device is: install the clamping plate 61 on the retaining edge 14, adjust the clamping plate 61 to a suitable position, tighten the push plate fixing screw 63, so that the push plate 62 fits tightly against the retaining edge 14; insert the upper end interface 65 into the lower end interface 64, and tighten the interface fixing screw 66.

[0027] like Fig.14As shown, the cable connection device includes an interface box 71 fixedly connected to the side of the retaining edge 14 and a protective cover 74 covering the interface box 71. A plurality of docking terminals 72 are fixedly connected in the interface box 71. The cables of the docking terminals 72 are connected to the control module through a movable chassis wire groove 73 provided on the frame 11.

[0028] The supporting machines in this embodiment include four types: spraying machines, fertilizer spreading machines, transport machines and auxiliary operation machines. One of the four types of machines is installed on the mobile chassis. The four types of machines are described in detail below.

[0029] like Figure 3 As shown, the sprayer comprises a sprayer frame 21 and two support rods 22 arranged on the left and right sides and fixed to the sprayer frame 21. Two upper end interfaces 65 are fixed to each side of the sprayer frame 21. The support rods 22 are vertically fixed to the left and right sides of the sprayer frame 21. A plurality of nozzles 23 arranged up and down are fixed to the support rods 22, and the nozzles 23 face both sides.

[0030] The sprayer also includes a water tank 24 and an electric water pump 25. The water inlet of the electric water pump 25 is connected to the water tank 24 through a water pipe 26. A three-way joint is provided at the water outlet of the electric water pump 25. The two water outlet interfaces of the three-way joint are respectively connected to a plurality of nozzles 23 on both sides from bottom to top through the water pipe 26. The two water outlet interfaces of the three-way joint are also respectively provided with a solenoid valve 27 for achieving a single-side spray effect. The water pipe 26 between adjacent nozzles 23 is also provided with a solenoid valve 27 for controlling the number of nozzles 23 opened on the support rod 22, thereby controlling the spray height of the sprayer. The cable between the electric water pump 25 and the solenoid valve 27 is connected to the sprayer execution module box 29 through a sprayer wire groove 28 provided on the sprayer frame 21.

[0031] like Figure 4-6 As shown, the fertilizer spreader includes a fertilizer spreader frame 301, a fertilizer box 307 and a horizontally rotating fertilizer spreader disc 303, two upper end interfaces 65 are fixedly connected to each side of the fertilizer spreader frame 301, a fertilizer spreader motor 302 with an output shaft facing upward is fixedly connected to the fertilizer spreader frame 301, the center of the fertilizer spreader disc 303 is fixedly connected to the output shaft of the fertilizer spreader motor 302, the bottom of the fertilizer spreader disc 303 is a disc, and a plurality of circumferentially arranged paddles are fixedly connected to the upper end of the fertilizer spreader disc 303, and the fertilizer spreader disc 303 is driven by the fertilizer spreader motor 302 to rotate at a uniform speed to throw out the fertilizer.

[0032] It also includes a protective cover 304 that wraps one side of the fertilizer spreading plate 303. In this embodiment, the protective cover 304 is arranged on one side of the fertilizer spreading plate 303 close to the center of the fertilizer spreading machine frame 301. The bottom of the protective cover 304 is fixedly connected to the fertilizer spreading machine frame 301 and partially wraps the fertilizer spreading plate 303. The protective cover 304 is used to limit the fertilizer to be thrown out in only one direction.

[0033] Two symmetrically distributed adjustment plates 305 are hinged on both sides of the protective cover 304. The adjustment plates 305 can open and close along the hinges and be locked by fixing nuts 306 arranged on the hinge shafts. The spreading width can be adjusted by changing the opening and closing angles of the adjustment plates. A fan-shaped discharge port 308 is provided at the bottom of the fertilizer box 307. A circular fertilizer output control plate 309 is provided below the discharge port 308. A fan-shaped through hole similar to the discharge port 308 is provided on the fertilizer output control plate 309, and the centers of the two fan-shaped circles are located in the same vertical direction. The center of the fertilizer output control plate 309 is also aligned with the output of the servo 310. The shaft is fixed, the servo 310 is fixedly connected to the servo fixing plate 311, the servo fixing plate 311 is fixedly connected to the bottom of the fertilizer box 307, and a fertilizer delivery pipe 312 is also fixedly connected to the servo fixing plate 311. One end of the fertilizer delivery pipe 312 is located below the discharge port 308, and the outlet of the fertilizer delivery pipe 312 is located at the center of multiple paddles. The servo 310 drives the fertilizer output control piece 309 to rotate to control the opening size of the discharge port 308, thereby controlling the fertilizer flow rate. The cable between the fertilizer spreading motor 302 and the servo 310 is connected to the fertilizer spreading machine execution module box 314 through the fertilizer spreading machine wire slot 313 arranged on the fertilizer spreading machine frame 301.

[0034] like Figure 7 As shown, the transport equipment includes two opposite first brackets 41 and two opposite second brackets 42. The first bracket 41 and the second bracket 42 are of the same height and are provided with wire mesh. The lower end of the second bracket 42 is fixedly connected to two upper end interfaces 65. One lateral end of the second bracket 42 is hinged to one of the first brackets 41 through a hinge, and the other lateral end of the second bracket 42 is connected to the other first bracket 41 through a lock assembly. The lock assembly includes a lock 43 connected to the end of the first bracket 41 away from the hinge, and a lock hook 44 connected to the end of the second bracket 42 away from the hinge. The two first brackets 41 and the two second brackets 42 are connected end to end through the lock 43 and the lock hook 44 to form a whole.

[0035] like Figure 8 As shown, the present invention can be used for fruit and vegetable turnover operations. A turnover box 45 used in the operation has a card slot at the bottom, which can be stacked in a nested manner. When it is necessary to perform fruit and vegetable turnover operations, the first row of turnover boxes is first placed on the carrying plate 13, and the retaining edge 14 is used to limit the turnover boxes from falling, and then the remaining turnover boxes are stacked on the first row of turnover boxes in sequence.

[0036] like Fig.16As shown, when agricultural material transportation operations are required, the items to be transported are first stacked on the load-bearing plate 13, and then the upper end interfaces 65 of the two second brackets 42 of the agricultural material transportation equipment are respectively inserted into the lower end interfaces 64 on both sides, and the interface fixing screws 66 are tightened, and finally the lock buckles 43 and lock hooks 44 of the two fences are connected.

[0037] like Figure 9-12 As shown, the auxiliary working machine includes a guardrail 51, and the bottom of both sides of the guardrail 51 is fixed with an upper end interface 65. The main body of the guardrail is spliced ​​by a circular column and a horizontal crossbar. The guardrail 51 is also provided with an opening and closing door 511, and the opening and closing door 511 is provided with a connecting round tube 512 and a plug-in round tube 513. The opening and closing door 511 is slidably connected to the first column 514 of the guardrail through the connecting round tube 512, and can rotate around the first column 514, so as to realize the rotation and opening of the opening and closing door 511. The first column 514 is also provided with a limit block 516 for limiting the downward sliding of the opening and closing door 511. The opening and closing door 511 can be slidably connected to the second column 515 through the plug-in round tube 513, and the locking and opening of the opening and closing door 511 can be realized by plugging and pulling up and down. The device provides protection for workers when standing and working, and is convenient for workers to enter and exit.

[0038] The auxiliary working tool includes a branch and leaf collecting device 52 which is detachably fixed to the guardrail 51, and the branch and leaf collecting device 52 includes an arc-shaped rod 521, and a hanging device is provided on both sides of the arc-shaped rod 521, specifically a hook, and a limiting rod 524 is provided between the hooks. A plurality of downward limiting tubes 517 are also provided on the horizontal cross bar of the guardrail. Through the contact between the limiting tubes 517 and the limiting rods 524 of the branch and leaf collecting device, the collection bag 522 is kept in a fixed position, which is convenient for the staff to put branches and leaves.

[0039] The arc rod 521 is also connected to a collecting bag 522, which is fixed to the arc rod by a clamping device 523, which is specifically a clip, and the branch and leaf collecting device 52 is hung on the horizontal crossbar of the guardrail 51 by a hook. The device realizes the use of a collecting bag to collect pruned branches and leaves when performing high-altitude pruning operations on solanaceous crops such as tomatoes and cucumbers, facilitating subsequent centralized processing.

[0040] The auxiliary working machine comprises a fruit collecting device 53 detachably fixed to the guardrail 51 , and the fruit collecting device comprises a supporting frame 531 , and both sides of the supporting frame 531 are provided with a hanging device, specifically a hook.

[0041] Two opposing sliding rods 532 are horizontally slidably connected to the support frame 531. Specifically, a pipe is extended from the support frame 531, in which the sliding rod 532 is slidably connected. The sliding rod 532 is provided with a baffle 533 located above the support frame 531, and the support frame 531 is threadedly connected with bolts for fastening the sliding rod 532.

[0042] The support frame 531 is also provided with a box for collecting fruits, specifically a turnover box 45, which is fixedly connected to the support frame 531 by clamping with a baffle 533 to prevent the turnover box 45 from sliding off, and the fruit collecting device 53 is hung on the horizontal crossbar of the guardrail 51 by a hook. The device reduces the bending action of workers when collecting fruits during the high-altitude picking of tomatoes, cucumbers and other solanaceous crops, and facilitates subsequent transportation turnover.

[0043] like Fig.17 , 18 As shown, a control system for a greenhouse single-chassis multi-tool operation device includes a control module, a human-computer interaction module, a mobile chassis execution module, a mobile feedback module and a matching tool execution module.

[0044] The control module is arranged on the mobile chassis, specifically an STM32 single-chip microcomputer, which is responsible for the coordination and scheduling of the overall system, can communicate with the human-computer interaction module, and distribute instructions to each execution module, and at the same time, receive and process real-time feedback data from the mobile feedback module.

[0045] The human-machine interaction module is arranged on the mobile chassis, specifically a touch screen, which is used to realize communication between the operator and the control module. The operator can set the operation mode and operation parameters and monitor the working status of the operation device through the human-machine interaction module.

[0046] The mobile chassis execution module is arranged on the mobile chassis, and specifically comprises two mobile motors and two mobile motor drivers, and is used for receiving instructions sent by the control module and driving the mobile chassis.

[0047] The mobile feedback module is arranged on the mobile chassis, and specifically comprises two wheel encoders, which are connected to the running wheels and are used to detect the motion data of the mobile chassis and feed back to the control module.

[0048] The supporting machine execution module is arranged on the supporting machine and performs specific operation tasks according to the instructions issued by the control module. The supporting machine execution module in this embodiment includes a spraying machine execution module and a fertilizer spreading machine execution module.

[0049] The sprayer execution module is arranged on the sprayer, and specifically includes six solenoid valves, six relays, an electric water pump and a water pump driver, and is used to execute the spraying operation and adjust the spray height and the spray pressure according to the instructions issued by the control module.

[0050] The fertilizer spreading machine execution module is arranged on the fertilizer spreading machine, and specifically includes a steering gear, a fertilizer spreading motor and a fertilizer spreading motor driver, and is used to perform fertilizer spreading operations and adjust the spreading range and spreading speed according to the instructions issued by the control module.

[0051] A control method of a control system: Configure the required pins in the STM32 single-chip computer, wherein the pins required for the human-computer interaction module, the mobile chassis execution module, and the mobile feedback module are configured as first-class static pins, calculate the number of pins required for the sprayer execution module and the fertilizer spreader execution module, and count the number of pins that can be shared, configure the shared pins as dynamic pins, and configure the remaining pins as second-class static pins, wherein the static pins refer to pins whose pin types do not change once configured, and the dynamic pins refer to pins that can be reconfigured in the program, connect the first-class static pins to the corresponding ports of the human-computer interaction module, the mobile chassis execution module, and the mobile feedback module, and connect the second-class static pins and the dynamic pins to the docking terminals on the cable connection device; When the operating device performs spraying operation, the sprayer is connected to the mobile chassis, and the relevant ports of the sprayer execution module are connected to the docking terminals on the cable connection device through cables. The operation mode is selected as the spray mode through the touch screen. After receiving the instruction, the STM32 single-chip microcomputer reconfigures the dynamic pins. According to whether the current spraying operation is pesticide spraying or foliar fertilizer spraying, different working parameters are set through the touch screen. After receiving the data, the STM32 single-chip microcomputer controls the mobile chassis execution module and the sprayer execution module to work; When the operating device performs fertilizer spreading operation, the fertilizer spreading machine is connected to the mobile chassis, and the relevant ports of the fertilizer spreading machine execution module are connected to the docking terminals on the cable connection device through cables. The operation mode is selected as the fertilizer spreading mode through the touch screen. After receiving the instruction, the STM32 single-chip microcomputer reconfigures the dynamic pins, and sets the working parameters through the touch screen. After receiving the data, the STM32 single-chip microcomputer controls the mobile chassis execution module and the fertilizer spreading machine execution module to work; When the operating device is used for agricultural material transportation, fruit and vegetable turnover, pruning assistance, and picking assistance operations, the supporting equipment is connected to the mobile chassis, the operating mode is selected as the mobile mode through the touch screen, and the working parameters are set through the touch screen. After receiving the data, the STM32 microcontroller controls the mobile chassis execution module to work.

[0052] 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 using existing technologies, which will not be described here. The above embodiments and drawings are only used to illustrate the technical scheme 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 greenhouse single chassis multi-tool operation device, characterized in that: include: Mobile chassis for walking; Supporting machines, including: spraying machines for spraying pesticides and foliar fertilizers, fertilizer spreaders for spreading fertilizers on the ground, transport machines for transporting agricultural materials, and auxiliary machines for assisting high-altitude picking and plant adjustment; Mechanical connection device, used for connecting the supporting machine and the mobile chassis; Cable connection device, used for power and signal transmission between supporting equipment and mobile chassis.

2. A greenhouse single chassis multi-tool operation device according to claim 1, characterized in that: The mobile chassis comprises a vehicle frame (11), a crawler walking mechanism installed on both sides of the bottom of the vehicle frame (11), and a bearing plate (13) fixedly connected to the top of the vehicle frame (11), and both sides of the bearing plate (13) are fixedly connected with retaining edges (14).

3. A greenhouse single chassis multi-tool operation device according to claim 2, characterized in that: The mechanical connection device comprises a U-shaped clamping plate (61) buckled on the retaining edge (14) and a push plate (62) slidably connected to the clamping plate (61) on the left and right sides, and the clamping plate (61) is threadedly connected with a push plate fixing screw (63) for pressing the push plate (62) against the side of the retaining edge (14). The mechanical connection device also comprises a lower end interface (64) fixedly connected to the side of the clamping plate (61) and an upper end interface (65) vertically inserted into the lower end interface (64), and the upper end interface (65) is fixedly connected to a matching machine.

4. The greenhouse single chassis multi-tool operation device according to claim 1, characterized in that: The cable connection device comprises an interface box (71) fixedly connected to a side of a retaining edge (14) and a protective cover (74) covering the interface box (71); a plurality of docking terminals (72) are fixedly connected in the interface box (71).

5. The greenhouse single chassis multi-tool operation device according to claim 1, characterized in that: The sprayer comprises a sprayer frame (21) and two support rods (22) arranged in left and right directions and fixedly connected to the sprayer frame (21); a plurality of spray heads (23) arranged in upper and lower directions are fixedly connected to the support rods (22); the sprayer further comprises a water tank (24) and an electric water pump (25); an outlet of the electric water pump (25) is respectively connected to the spray heads (23) of the two support rods (22) through two water pipes (26); and a solenoid valve (27) is installed on the water pipe (26).

6. The greenhouse single chassis multi-tool operation device according to claim 1, characterized in that: The fertilizer spreading machine comprises a fertilizer box (307) and a horizontally rotating fertilizer spreading disc (303), the upper end of the fertilizer spreading disc (303) being fixedly connected to a plurality of circumferentially arranged paddles, the lower end of the fertilizer box (307) being connected to a fertilizer delivery pipe (312), the outlet of the fertilizer delivery pipe (312) being located at the center of the plurality of paddles, and further comprising a protective cover (304) wrapping one side of the fertilizer spreading disc (303), and both sides of the opening of the protective cover (304) being connected to adjustment plates (305).

7. The greenhouse single chassis multi-tool operation device according to claim 1, characterized in that: The transport equipment comprises two opposite first brackets (41) and two opposite second brackets (42), one transverse end of the second bracket (42) is hinged to one of the first brackets (41), and the other transverse end of the second bracket (42) is connected to the other first bracket (41) via a locking assembly.

8. The greenhouse single chassis multi-tool operation device according to claim 1, characterized in that: The auxiliary working tool comprises a guardrail (51), a collecting bag (522) and a supporting frame (531) both of which are detachably fixed to the guardrail (51); two sliding rods (532) are horizontally slidably connected to the supporting frame (531); a baffle (533) located above the supporting frame (531) is fixedly connected to the sliding rod (532); and bolts for fastening the sliding rods (532) are threadedly connected to the supporting frame (531).

9. A control system for the greenhouse single chassis multi-tool operation device according to claim 1, characterized in that: It includes control module, human-machine interaction module, mobile chassis execution module, mobile feedback module and supporting machine execution module; The control module is arranged on the mobile chassis, is responsible for the coordination and scheduling of the overall system, and is connected to other modules by wired connection; The human-computer interaction module is arranged on the mobile chassis and is used to realize communication between the operator and the control module; The mobile chassis execution module is arranged on the mobile chassis, and is used to receive the instruction sent by the control module and drive the mobile chassis to move; The mobile feedback module is arranged on the mobile chassis, and is used to detect the motion data of the mobile chassis and feed back the motion data to the control module; The supporting machine execution module is arranged on the supporting machine and executes specific operation tasks according to the instructions issued by the control module.

10. A control method for the control system according to claim 9, characterized in that: The required pins are configured in the control module, wherein the pins required by the human-machine interaction module, the mobile chassis execution module and the mobile feedback module are set as the first type of static pins, the number of pins required by each supporting machine execution module is calculated respectively, and the number of pins that can be shared is counted, the pins that can be shared are set as dynamic pins, and the remaining pins are set as the second type of static pins, and the first type of static pins are connected to the corresponding ports of the human-machine interaction module, the mobile chassis execution module and the mobile feedback module; When performing a specific operation task, the corresponding supporting equipment is connected to the mobile chassis. When the corresponding supporting equipment has a supporting equipment execution module, the corresponding port of the supporting equipment execution module is connected to the dynamic pin or the second type of static pin. According to the type of the current operation task, the corresponding operation mode is selected through the human-computer interaction module. After receiving the instruction, the control module reconfigures the dynamic pin, and sets different working parameters through the human-computer interaction module. After receiving the data, the control module controls the operation of the mobile chassis execution module and the supporting equipment execution module.

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