Induction type rain sheltering device for fruit forest and control method of induction type rain sheltering device

Abstract

The invention discloses a fruit forest induction type rain sheltering device and a control method thereof.The fruit forest induction type rain sheltering device comprises a rain sheltering shed frame, rain sheltering cloth laid on the rain sheltering shed frame and an intelligent driving system used for driving the rain sheltering cloth to be automatically opened and closed, and the intelligent driving system comprises a raindrop sensor, an electric trolley and a microcontroller; the microcontroller is electrically connected with the raindrop sensor and the electric trolley. A walking track used for walking of the electric trolley is arranged at the top of the rain shelter frame, a sliding mechanism is further arranged between the rain sheltering cloth and the walking track, the rain sheltering cloth is connected with the sliding mechanism, and the electric trolley is connected with a first sliding piece of the sliding mechanism. The device is simple in structure, high in practicability, convenient to operate and capable of achieving automatic unfolding and folding of the rain shelter and large-range rain sheltering of a fruit tree planting area, the microcontroller is adopted to control the electric trolley to drive the rain sheltering cloth to be folded and unfolded, the opening and closing flexibility of the rain sheltering cloth is improved, the opening and closing range is expanded, and the device is more suitable for large-area rain sheltering.

Description

Technical Field

[0001] The invention relates to the technical field of fruit tree rain shielding facilities, and in particular to an inductive rain shielding device for a fruit forest and a control method thereof. Background Art

[0002] The existing rain shelter facilities usually adopt the greenhouse mode, that is, the entire fruit forest is covered in the greenhouse, so that the fruit forest grows in the greenhouse all year round. Although this mode can effectively prevent cracked and rotten fruits, the taste of the fruit is obviously not as good as that of naturally grown fruits. The fruit trees in the greenhouse are covered for a long time, and the fruit trees cannot grow naturally through ventilation, which affects the quality of the fruit. In addition, the cost of existing greenhouses is high. Usually, the cost of a steel structure or mixed brick greenhouse of 1 mu of land reaches 30,000-60,000, which is relatively high. In addition, electric greenhouses need to be installed in orchards with power facilities, and require equipment such as motors and pulleys. The cost is high, the installation is inconvenient, and the power facilities need to be maintained regularly, which undoubtedly increases the cost of fruit tree planting. For example, the Chinese utility model patent with announcement number CN205431306U discloses "an automatic telescopic shed film multi-row covering rainproof shed for berry crops", which is retracted and rainproofed by a shed film telescopic device composed of a motor, a rotating shaft, a fixed pulley, and a pull wire. This method of shielding from rain by using a greenhouse film expansion and contraction device is not only complex in structure, but also has high electrical equipment and maintenance costs. It also requires manual control to retract and expand the greenhouse, cannot automatically sense rain, and has a low level of intelligence.

[0003] In order to realize the intelligent retracting and unfolding of the rain shelter on rainy days, the Chinese invention patent with publication number CN111802148A discloses "an inductive solar fruit tree rain shelter device and method", which senses rainy weather through a rain sensor, and drives the transmission chains on both sides of the shielding film to move. The transmission chains are driven by motors, and the single-chip controller controls the start of the motors. This method of driving the shielding film to move through transmission chains requires too many motors, and each adjacent support rod is provided with a transmission chain driven by a motor, and the adjacent transmission chains are independent of each other. Therefore, this method has a complex structure, high cost, and inconvenient installation, and is not suitable for large-scale investment.

[0004] Therefore, a rain shelter with a simple structure, intelligent folding ability and low cost is needed in the fruit tree rain shelter facilities to meet the needs of fruit farmers. Summary of the invention

[0005] In order to overcome the defects of the fruit tree rain shielding facilities in the prior art, such as complex structure, inconvenient deployment, and inability to intelligently fold the fruit tree rain shielding awnings on rainy days, the present invention provides a fruit forest induction rain shielding device and a control method thereof.

[0006] The technical solution adopted by the present invention to solve its technical problem is: an induction rain-proof device for a fruit forest, comprising a rain-proof shed frame, a rain-proof cloth laid on the rain-proof shed frame, and an intelligent driving system for driving the rain-proof cloth to open and close automatically, the intelligent driving system comprising a raindrop sensor for detecting rainy weather, the intelligent driving system further comprising an electric trolley and a microcontroller, a walking track is arranged on the top of the rain-proof shed frame, the walking track is used to provide a moving track for the electric trolley, a sliding mechanism is arranged between the rain-proof cloth and the walking track, the sliding mechanism comprises a plurality of sliding parts, the rain-proof cloth is connected to the sliding parts, the electric trolley is connected to the first sliding part, and the sliding mechanism is used to drive the rain-proof cloth to open and close automatically under the drive of the electric trolley; The raindrop signal input end of the microcontroller is connected to the output end of the raindrop sensor, the control signal output end of the microcontroller is connected to the motor control end of the electric car, and the microcontroller controls the movement of the electric car.

[0007] The present invention realizes the automatic sensing and retracting and unfolding of the fruit tree awning on rainy days. The microcontroller receives the signal of the raindrop sensor, intelligently judges the rainy weather, controls the electric trolley to move on the walking tracks on the top and side ends of the awning, and drives the awning on both sides of the walking track through the sliding mechanism to realize the automatic folding and unfolding of the awning. Through multiple vertical frames arranged in parallel, the range of the awning frame can be flexibly adjusted to cover the entire fruit tree planting area. At the same time, there is no need to increase the number of electric trolleys, thus saving costs.

[0008] Preferably, the microcontroller is also connected to a first sensor and a second sensor respectively, a starting point and an end point are set on the walking track, the first sensor is used to detect the starting point position and output a starting point start signal, the second sensor is used to detect the end point position and output an end point stop signal, and the microcontroller controls the electric vehicle to start or stop after receiving the starting point start signal or the end point stop signal.

[0009] Preferably, the first sensor is an infrared sensor, and the second sensor is an ultrasonic ranging sensor.

[0010] Preferably, the infrared sensor is connected to an infrared sensor sensitivity adjustment module, and the raindrop sensor is connected to a raindrop detection sensitivity adjustment module.

[0011] Preferably, a groove is provided on the walking track, one end of the sliding member is arranged in the groove, the groove is used to provide a sliding track for the sliding member, the other end of the sliding member is connected to the rain cover, and the electric trolley is connected to the sliding member corresponding to the starting point.

[0012] Preferably, the canopy frame includes two rows of columns, each row of columns has a plurality of columns arranged at intervals, and a plurality of triangular frames are also arranged on the columns, and the plurality of triangular frames are connected by longitudinal beams. The awning includes a first awning and a second awning, which are respectively arranged on two sides of the triangular frame, and the walking track is arranged at the top of the triangular frame and is located between the first awning and the second awning.

[0013] Preferably, the triangular frame includes a first oblique beam, a second oblique beam and a cross beam, the upper end of the first oblique beam is connected to the upper end of the second oblique beam, and the lower end of the first oblique beam and the lower end of the second oblique beam are respectively connected to the inner sides of both ends of the cross beam.

[0014] Preferably, carports are provided at both ends of the travel track, and the carports are used to park the electric trolley.

[0015] Preferably, the sliding member comprises a sliding head and a connecting clip, the first end of the sliding head is arranged in the groove, the second end of the sliding head is connected to the connecting clip, and the connecting clip is used to clamp the rain cover.

[0016] The present invention can be widely used in orchards without power facilities and orchards with large planting areas, and has the characteristics of simple structure, convenience and labor saving, easy construction and low cost. The all-metal frame structure of the rain shelter is durable, and the rain shelter made of waterproof plastic film only needs to be replaced once every 1-2 years, and the replacement cost is low. At the same time, the automatic sensing rain shelter can automatically close the rain shelter on rainy days to prevent the fruit trees from rotting due to excessive rain, thereby ensuring the quality of the fruit and saving manpower.

[0017] A control method using the fruit forest induction rain shielding device comprises the following steps: S1: Initialize the electric car to make it at the starting position, and detect the first mark through the infrared sensor to determine whether the electric car is at the starting point. At this time, the awning is in a folded state. If the electric car is not at the starting point, the car moves backward until it reaches the starting point. S2: When the electric car is at the starting position, the rain sensor detects whether it is raining. When the rain sensor continuously detects signals within the set time, the microcontroller determines that it is raining and controls the electric car to start. The electric car moves forward along the walking track and drives the awning to unfold. When the rain sensor does not continuously detect signals within the set time, the microcontroller determines that it is not raining and the electric car does not start. S3: When the electric car is moving forward, the ultrasonic distance sensor detects the distance between the second mark and the electric car. When the electric car and the second mark meet the set distance, that is, the electric car reaches the end point, the microcontroller controls the electric car to stop, and the awning is unfolded; S4: After the electric car reaches the end point, it detects whether the rain has stopped through the raindrop sensor. If the raindrop sensor continues to send no signal within the set time, the microcontroller determines that the rain has stopped, and then controls the electric car to start. The electric car runs backward along the walking track, driving the awning to fold. If the raindrop sensor continues to send a signal within the set time, the microcontroller determines that it is raining, the electric car stops, and the awning remains unfolded; S5: When the infrared sensor detects the first mark during the backward movement of the electric trolley, that is, the electric trolley reaches the starting point, the electric trolley stops, the awning is folded, and the awning returns to the initial state.

[0018] The present invention realizes automatic rain shelter control of the awning by controlling the electric trolley intelligently, controlling the electric trolley to move forward when it rains and simultaneously pulling the awning to unfold, thereby achieving rain shelter; controlling the electric trolley to turn back after the rain stops and simultaneously pulling the awning to fold, thereby ending rain shelter; and realizing the intelligent control of the raindrop sensor, thereby improving the accuracy of rain judgment, reducing the probability of erroneous rain shelter, and improving the degree of intelligence. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The following is a further detailed description of an orchard induction rain shielding device and a control method thereof according to the present invention in conjunction with the accompanying drawings: Figure 1 It is a schematic diagram of the structure of the device of the present invention; Figure 2 It is a schematic diagram of the structure of the rain shelter frame of the device of the present invention; Figure 3 It is a structural schematic diagram of the intelligent drive system of the device of the present invention; Figure 4 It is a principle block diagram of the intelligent drive system of the device of the present invention; Figure 5 It is a wiring diagram of the intelligent drive system of the device of the present invention; Figure 6 It is a method block diagram of the control method of the present invention.

[0020] Explanation of the reference numerals: 1. rain shelter frame, 101. upright column, 1021. first oblique beam, 1022. second oblique beam, 1023. cross beam, 1024. longitudinal beam, 201. first rain shelter cloth, 202. second rain shelter cloth, 301. raindrop sensor, 302. electric trolley, 303. microcontroller, 304. infrared sensor, 305. ultrasonic ranging sensor, 306. infrared sensor sensitivity adjustment module, 307. raindrop detection sensitivity adjustment module, 401. walking track, 402. groove, 403. carport, 501. sliding part. DETAILED DESCRIPTION

[0021] like Figure 1-4As shown, the present invention provides an orchard induction rain-shielding device, comprising a rain-shielding shed frame 1, a rain-shielding cloth laid on the rain-shielding shed frame 1, and an intelligent driving system for driving the rain-shielding cloth to automatically open and close.

[0022] The canopy frame 1 includes two rows of columns, each row of columns has a plurality of columns 101 arranged at intervals, and the interval between adjacent columns 101 in each row is 30m. The columns 101 are square steel structures, and a plurality of triangular frames made of galvanized steel pipes are also arranged on the columns 101. The triangular frames include a first oblique beam 1021, a second oblique beam 1022, and a cross beam 1023. The upper end of the first oblique beam 1021 and the upper end of the second oblique beam 1022 are welded with a horizontal round tube with a length of 25-30cm. The lower end of the first oblique beam 1021 and the lower end of the second oblique beam 1022 are respectively connected to the inner sides of the two ends of the cross beam 1023, and the plurality of triangular frames are connected by longitudinal beams 1024.

[0023] like Figure 1 As shown, the awning includes a first awning 201 and a second awning 202, which are respectively set on two sides of the triangular frame and can completely cover the fruit tree. The first awning 201 and the second awning 202 are both made of waterproof thin plastic film with a thickness of 0.88mm-1.5mm. The split awning setting can conveniently control the opening and closing of the fruit tree awning, and timely cover the awning to shelter from rain and timely open the awning.

[0024] A walking track 401 made of a smooth plastic tile is provided on the top of the rain shelter frame 1. The walking track 401 is used to provide a track for the electric trolley to move. The walking track is provided at the top of the triangular frame and is located between the first rain shelter cloth and the second rain shelter cloth. A carport 403 is provided at both ends of the walking track, and the carport 403 is used to park the electric trolley.

[0025] A sliding mechanism is provided between the first tarpaulin 201 and the second tarpaulin 202 and the running track, and the sliding mechanism includes a plurality of sliding members, a groove 402 is provided on the running track 401, one end of the sliding member 501 is provided in the groove 402, and the groove 402 is used to provide a sliding track for the sliding member, the other end of some sliding members 501 is connected to the first tarpaulin 201, and the other end of another part of the sliding members 501 is connected to the second tarpaulin 202, and the electric trolley 302 is connected to the sliding member 501 corresponding to the starting point. In this embodiment, the sliding member 501 includes a sliding head and a connecting clip, the first end of the sliding head is provided in the groove, the second end of the sliding head is connected to the connecting clip, and the connecting clip is used to clamp the tarpaulin, and specifically, the connecting clip adopts a push-pull tent clip, and the second end of the sliding head is connected to the connecting clip by a rope.

[0026] An intelligent driving system is provided on the walking track 401, and the intelligent driving system includes a raindrop sensor 301 for detecting rainy weather, an electric trolley 302, and a microcontroller 303. The electric trolley 302 is connected to the first sliding member 501 corresponding to the starting point through a steel wire rope. The raindrop signal input end of the microcontroller 303 is connected to the output end of the raindrop sensor 301, and the control signal output end of the microcontroller 303 is connected to the motor control end of the electric trolley 302. The microcontroller 303 controls the electric trolley 302 to move forward and backward on the walking track.

[0027] The microcontroller 303 is also connected to the first sensor and the second sensor respectively. The first sensor is an infrared sensor 304, and the second sensor is an ultrasonic ranging sensor 305. A starting point and an end point are set on the walking track. The first mark and the second mark are respectively set at the starting point and the end point. The first mark is a white background and a black line set on the white background board, and the second mark is a white background board and an obstacle set on the white background board. The white background board is used to eliminate interference for the identification of the infrared sensor 304 and the ultrasonic ranging sensor 305 and remove other obstacles. The infrared sensor 304 is used to detect the first mark at the starting point and output a starting start signal. The ultrasonic ranging sensor 305 is used to detect the second mark at the end point and output an end stop signal. After receiving the starting start signal or the end stop signal, the microcontroller 303 controls the electric car 302 to start or stop. The infrared sensor 304 is connected to the infrared sensor sensitivity adjustment module 306, and the raindrop sensor is connected to the raindrop detection sensitivity adjustment module 307 for adjusting the sensitivity.

[0028] In the present invention, the signal of the raindrop sensor 301 is received by the microcontroller 303, and the rainy weather is intelligently judged, and the electric car 302 is controlled to move on the walking track on the top of the rain shelter frame 2. At the same time, the rain shelter cloths on both sides of the walking track are driven by the sliding mechanism 5 to realize the automatic folding and unfolding of the first rain shelter cloth 201 and the second rain shelter cloth 202.

[0029] The rain shelter of the present invention can be widely used in orchards without power facilities and orchards with large planting areas, and has the characteristics of simple structure, convenience and labor saving, easy construction and low cost. The all-metal frame structure of the rain shelter frame 1 is durable, and the rain shelter cloth made of waterproof plastic film only needs to be replaced once every 1-2 years, and the replacement cost is low. At the same time, the automatic sensing rain shelter can automatically close the rain shelter on rainy days to prevent the fruit trees from rotting due to excessive rain, thereby ensuring the quality of the fruit and saving manpower.

[0030] In this embodiment, the microcontroller 303 uses a STM32F103 series chip, such as a STM32F103C8Tx LQFP48 chip. During installation, the power lines of the electric car, raindrop sensor 301, ultrasonic ranging sensor 305 and infrared sensor 304 are connected to the corresponding power pins of the LQFP48 chip. Figure 5 As shown, the digital output pin of the raindrop sensor 301 is connected to the PA1 digital input pin of the LQFP48 chip. When there is rain, the pin is at a high level, and if there is no rain, the pin is always at a low level. The LQFP48 chip reads the output signal of the raindrop sensor 301, determines the raindrop according to the level change on the PA1 pin, and then controls the electric car 302 to perform corresponding actions. The motor on the electric car 302 is driven by a full-bridge drive circuit. The ports of the full-bridge drive circuit are respectively connected to the PA3, PA4, PA5, PA6, PA7, and PB0 digital output pins on the LQFP48 chip, where PA3 and PA4 are control signals of the full-bridge drive circuit of the left motor, PA5 and PA6 are enable pins of the left and right motors, respectively, and PA7 and PB0 are control signals of the full-bridge drive circuit of the right motor. The LQFP48 chip controls the electric car's forward, backward, left turn, and right turn by controlling the motor. The Trig pin of the ultrasonic distance measuring sensor 305 on the electric car 302 is connected to the PB10 pin, and the Echo pin is connected to the PB11 pin. The infrared sensor 304 on the electric car 302 is connected to the PB14 and PB15 pins.

[0031] When the present invention is actually used, the electric trolley 302 is first placed at the starting point, and then the power switch is turned on, the electric trolley 302 is turned on, and the tarpaulin is in the original folded state. After the electric trolley 302 returns to the starting position, when the infrared sensor 304 detects the first mark and the raindrop sensor 301 detects rain, the microcontroller 303 receives the output signal of the infrared sensor 304 and the raindrop signal continuously output by the raindrop sensor 301, controls the electric trolley 302 to move forward, and drives the tarpaulin to unfold. When the ultrasonic ranging sensor 305 detects that the set distance between the electric trolley 302 and the second mark is met, the microcontroller 303 controls the electric trolley 302 to stop, the electric trolley 302 reaches the end point, and the tarpaulin is unfolded. When the ultrasonic ranging sensor 305 detects the second mark and the raindrop sensor 301 detects that it is not raining, the microcontroller 303 controls the trolley to retreat, and drives the tarpaulin to fold. When the infrared sensor 304 detects the first mark again, the electric car 302 reaches the starting point, the electric car 302 stops, the awning is folded, and returns to the initial state.

[0032] The present invention also provides a control method for a fruit forest induction rain shielding device, such as Figure 6 As shown, the following steps are included: S1: Initialize the electric car to make it at the starting position, and detect the first mark through the infrared sensor to determine whether the electric car is at the starting point. At this time, the awning is in a folded state. If the electric car is not at the starting point, the car moves backward until it reaches the starting point. S2: When the electric car is at the starting position, the rain sensor detects whether it is raining. When the rain sensor continuously detects signals within the set time, the microcontroller determines that it is raining and controls the electric car to start. The electric car moves forward along the walking track and drives the awning to unfold. When the rain sensor does not continuously detect signals within the set time, the microcontroller determines that it is not raining and the electric car does not start. S3: When the electric car is moving forward, the ultrasonic distance sensor detects the distance between the second mark and the electric car. When the electric car and the second mark meet the set distance, that is, the electric car reaches the end point, the microcontroller controls the electric car to stop, and the awning is unfolded; S4: After the electric car reaches the end point, it detects whether the rain has stopped through the raindrop sensor. If the raindrop sensor continues to send no signal within the set time, the microcontroller determines that the rain has stopped, and then controls the electric car to start. The electric car runs backward along the walking track, driving the awning to fold. If the raindrop sensor continues to send a signal within the set time, the microcontroller determines that it is raining, the electric car stops, and the awning remains unfolded; S5: When the infrared sensor detects the first mark during the backward movement of the electric trolley, that is, the electric trolley reaches the starting point, the electric trolley stops, the awning is folded, and the awning returns to the initial state.

[0033] The present invention realizes automatic rain shelter control of the awning by controlling the electric trolley intelligently, controlling the electric trolley to move forward when it rains and simultaneously pulling the awning to unfold, thereby achieving rain shelter; controlling the electric trolley to turn back after the rain stops and simultaneously pulling the awning to fold, thereby ending rain shelter; and realizing the intelligent control of the raindrop sensor, thereby improving the accuracy of rain judgment, reducing the probability of erroneous rain shelter, and improving the degree of intelligence.

[0034] For further introduction to the control method of the fruit forest induction rain shielding device provided by the present invention, please refer to the above-mentioned device embodiment, and the present invention will not be repeated here.

[0035] The above are only preferred embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope defined by the claims.

Claims

1. An inductive rain shielding device for a fruit forest, comprising a rain shielding frame, a rain shielding cloth laid on the rain shielding frame, and an intelligent driving system for driving the rain shielding cloth to automatically open and close, wherein the intelligent driving system comprises a raindrop sensor for detecting rainy weather, characterized in that: The intelligent driving system also includes an electric trolley and a microcontroller. A walking track is provided on the top of the rain shelter frame, and the walking track is used to provide a track for the electric trolley to move. A sliding mechanism is provided between the rain shelter cloth and the walking track, and the sliding mechanism includes a plurality of sliding members. The rain shelter cloth is connected to the sliding members, and the electric trolley is connected to the first sliding member. The sliding mechanism is used to drive the rain shelter cloth to automatically open and close under the drive of the electric trolley. The raindrop signal input end of the microcontroller is connected to the output end of the raindrop sensor, the control signal output end of the microcontroller is connected to the motor control end of the electric car, and the microcontroller controls the movement of the electric car.

2. The fruit forest induction rain shielding device according to claim 1, characterized in that: The microcontroller is also connected to a first sensor and a second sensor respectively. A starting point and an end point are set on the walking track. The first sensor is used to detect the starting point position and output a starting point start signal. The second sensor is used to detect the end point position and output an end point stop signal. After receiving the starting point start signal or the end point stop signal, the microcontroller controls the electric vehicle to start or stop.

3. The fruit forest induction rain shielding device according to claim 2 is characterized in that: The first sensor is an infrared sensor, and the second sensor is an ultrasonic ranging sensor.

4. The fruit forest induction rain shielding device according to claim 3 is characterized in that: The infrared sensor is connected to the infrared sensor sensitivity adjustment module, and the raindrop sensor is connected to the raindrop detection sensitivity adjustment module.

5. The fruit forest induction rain shielding device according to claim 1, characterized in that: A groove is arranged on the walking track, one end of the sliding member is arranged in the groove, the groove is used to provide a sliding track for the sliding member, the other end of the sliding member is connected to the rain cover, and the electric trolley is connected to the sliding member corresponding to the starting point.

6. The fruit forest induction rain shielding device according to claim 1, characterized in that: The canopy frame includes two rows of columns, each row of columns has a plurality of columns arranged at intervals, and a plurality of triangular frames are also arranged on the columns, and the plurality of triangular frames are connected by longitudinal beams. The awning includes a first awning and a second awning, which are respectively set on two sides of the triangular frame, and the walking track is arranged at the top of the triangular frame and is located between the first awning and the second awning.

7. The fruit forest induction rain shielding device according to claim 6, characterized in that: The triangular frame includes a first oblique beam, a second oblique beam and a cross beam, the upper end of the first oblique beam is connected to the upper end of the second oblique beam, and the lower end of the first oblique beam and the lower end of the second oblique beam are respectively connected to the inner sides of both ends of the cross beam.

8. The fruit forest induction rain shielding device according to claim 1, characterized in that: Carports are arranged at both ends of the walking track, and the carports are used to park the electric trolley.

9. The fruit forest induction rain shielding device according to claim 5, characterized in that: The sliding member comprises a sliding head and a connecting clip, wherein the first end of the sliding head is arranged in the groove, the second end of the sliding head is connected to the connecting clip, and the connecting clip is used for clamping the rain cover.

10. A control method for a fruit forest induction rain shielding device according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1: Initialize the electric car to make it at the starting position, and detect the first mark through the infrared sensor to determine whether the electric car is at the starting point. At this time, the awning is in a folded state. If the electric car is not at the starting point, the car moves backward until it reaches the starting point. S2: When the electric car is at the starting position, the rain sensor detects whether it is raining. When the rain sensor continuously detects signals within the set time, the microcontroller determines that it is raining and controls the electric car to start. The electric car moves forward along the walking track and drives the awning to unfold. When the rain sensor does not continuously detect signals within the set time, the microcontroller determines that it is not raining and the electric car does not start. S3: When the electric car is moving forward, the ultrasonic distance sensor detects the distance between the second mark and the electric car. When the electric car and the second mark meet the set distance, that is, the electric car reaches the end point, the microcontroller controls the electric car to stop, and the awning is unfolded; S4: After the electric car reaches the end point, it detects whether the rain has stopped through the raindrop sensor. If the raindrop sensor continues to send no signal within the set time, the microcontroller determines that the rain has stopped, and then controls the electric car to start. The electric car runs backward along the walking track, driving the awning to fold. If the raindrop sensor continues to send a signal within the set time, the microcontroller determines that it is raining, the electric car stops, and the awning remains unfolded; S5: When the infrared sensor detects the first mark during the backward movement of the electric trolley, that is, the electric trolley reaches the starting point, the electric trolley stops, the awning is folded, and the awning returns to the initial state.

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