Rail type multifunctional planting operation system based on cooperation of child vehicle and mother vehicle and control method

Abstract

The invention discloses a rail type multifunctional planting operation system based on cooperation of a child vehicle and a mother vehicle and a control method. Planting boxes conveyed by a logistics line are loaded through a mother vehicle unit, a child vehicle unit is moved to be in cooperative butt joint with the mother vehicle unit, the planting boxes are received, and the planting boxes are stored in a child vehicle box storage mechanism; planting boxes are laid on the ground in order through the vertical lifting mechanism, or the ground planting boxes can be recycled, stored in the son vehicle box storage mechanism again, transferred to the mother vehicle unit and transported out of a cultivation greenhouse through a logistics system, and the equipment can effectively improve the transfer efficiency of the planting boxes and reduce the labor intensity of workers. The stable operation of the planting box in the transferring, laying and recycling process is achieved, and therefore the operation reliability and stability are improved.

Description

Technical Field

[0001] This invention relates to the field of agricultural automation equipment technology, specifically to a track-based multi-functional planting operation system based on the collaboration of mother and child vehicles. Background Technology

[0002] Greenhouse cultivation typically requires the transfer of planting boxes or plants. Existing cultivation systems usually rely on manual labor or single-function mechanical equipment for the transfer, placement, and retrieval of planting boxes, resulting in low efficiency, high labor intensity, and high labor costs.

[0003] Chinese patent application CN 112369279 A discloses a planting operation system. The receiving and docking seats are configured to dock with a rotary automatic feeding mechanism, which can feed materials to each planting frame. The support frame is equipped with a ring-shaped rotary drive mechanism, on which multiple planting frames are arranged at intervals in a ring. The rotary drive mechanism can drive each planting frame to a position flush with the receiving and docking seats so that the rotary automatic feeding mechanism can feed materials to each planting frame. This allows for sequential feeding of materials to each planting frame.

[0004] However, the existing planting operation system has low transfer and docking efficiency and low collaborative reliability, making it difficult to meet the systematic requirements of modern large-scale planting for high-density storage, cross-regional precision transfer and multi-functional collaborative operation.

[0005] Therefore, providing a planting operation system with high transfer and docking efficiency and stable reliability has become an urgent problem to be solved in this field. Summary of the Invention

[0006] In response to the needs of existing technologies, the purpose of this invention is to provide a track-based multi-functional planting operation system and control method based on mother-daughter vehicle collaboration that is precise in transportation, efficient, stable and reliable.

[0007] To achieve the above objectives, the present invention provides a track-based multi-functional planting operation system based on mother-daughter vehicle collaboration, comprising a mother vehicle unit, a daughter vehicle unit, a track unit, and a control unit. The mother car unit includes a mother car body and a rotary three-dimensional storage box mechanism. The rotary three-dimensional storage box mechanism includes a multi-layered ring-shaped planting box tray, a rotary drive device for driving the planting box tray to rotate and rise, and an anti-tipping locking mechanism for fixing the planting box. The sub-cart unit includes a sub-cart body, a sub-cart storage mechanism, and a vertical lifting mechanism. The sub-cart body is movable and docks with the mother car body. The sub-cart storage mechanism is used to receive and store planting boxes from the mother car unit. The vertical lifting mechanism is used to lay the planting boxes from the sub-cart storage mechanism to the ground or retrieve them from the ground back to the sub-cart storage mechanism. The track unit includes tracks for the mother car unit and the daughter car unit to run on. The control unit can control the coordinated operation of the mother vehicle unit and the daughter vehicle unit.

[0008] Furthermore, the track unit includes a mother car track and a daughter car track that cooperate with the mother car unit and the daughter car unit respectively, and the mother car track and the daughter car track are distributed perpendicularly.

[0009] Furthermore, the mother car body has an open end and forms a docking cavity. The rotary three-dimensional storage box mechanism is built into the inside of the mother car body and connects to the daughter car unit for planting box transfer through the docking cavity.

[0010] Furthermore, the rotary three-dimensional storage box mechanism includes a three-dimensional support frame, and the planting box tray is connected to the three-dimensional support frame via a tray balance arm and is driven by a rotary motor.

[0011] Furthermore, the subcarriage body has a box structure adapted to the docking cavity, and the subcarriage storage mechanism and the vertical lifting mechanism are arranged side by side inside the subcarriage body.

[0012] Furthermore, the vehicle body is equipped with a spraying module, a pesticide application module, and a visual inspection camera.

[0013] Furthermore, the subcar storage mechanism includes multiple storage racks, each storage rack including a frame, a conveying roller disposed on the frame, and a conveying drive device for driving the conveying roller.

[0014] Furthermore, the vertical lifting mechanism includes a lifting frame, a vertical guide rail disposed on the lifting frame, a vertical lifting box frame slidably connected to the vertical guide rail, and a lifting device driven by a lifting drive motor.

[0015] To achieve the above objectives, the control method for a track-based multi-functional planting operation system based on mother-daughter vehicle collaboration provided by the present invention includes: The mother unit loads planting boxes via a rotary three-dimensional storage mechanism; the daughter unit moves and docks with the mother unit, receiving the planting boxes transferred by the mother unit and storing them in the daughter unit's storage mechanism; the daughter unit's storage mechanism transfers the planting boxes to a vertical lifting mechanism, which lowers and lays the planting boxes on the ground; alternatively, the daughter unit can retrieve the planting boxes from the ground via the vertical lifting mechanism, lift them, and transfer them back to the daughter unit's storage mechanism, whereby the daughter unit docks with the mother unit again and transfers the planting boxes back to the mother unit; the control unit coordinates the work processes of the mother unit and the daughter unit to achieve fully automated transfer, laying, and retrieval of planting boxes.

[0016] The present invention provides a track-based multi-functional planting operation system and control method based on mother-daughter vehicle collaboration. The mother vehicle unit loads and transports planting boxes, and the daughter vehicle unit moves synchronously and docks with the mother vehicle unit to receive the planting boxes. The planting boxes are stored in the daughter vehicle storage mechanism and laid on the ground through a vertical lifting mechanism, or the planting boxes on the ground are retrieved to the daughter vehicle storage mechanism and then docked with the mother vehicle unit to transfer the planting boxes to the mother vehicle unit. This achieves stable transportation, laying and retrieval of planting boxes, thereby improving the stability and reliability of the system. Attached Figure Description

[0017] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0018] Figure 1 A schematic diagram of the overall structure of the track-type multi-functional planting operation system based on mother-daughter vehicle cooperation provided by the present invention; Figure 2 This is a schematic diagram of the rotary three-dimensional storage box mechanism in this invention; Figure 3 and Figure 4 This is a schematic diagram showing the structural cooperation between the rotary drive device and the planting box tray in this invention; Figure 5 This is a schematic diagram of the subcart storage box mechanism and the vertical lifting mechanism in this invention; Figure 6 This is a schematic diagram of the storage box shelf structure in this invention; Figure 7 This is a schematic diagram showing the structural cooperation between the storage box mechanism of the subcart and the planting box tray in this invention; Figure 8 This is a schematic diagram of the vertical lifting mechanism in this invention; Figure 9 This is a schematic diagram showing the structural cooperation between the subcart storage box mechanism and the vertical lifting box frame in this invention.

[0019] Figure label: 1. Mother car unit; 11. Mother car body; 111. Docking cavity; 12. Rotary three-dimensional storage mechanism; 121. Planting box tray; 122. Rotary drive device; 1221. Rotary motor; 1222. Rotary chain; 1223. Rotary support shaft; 1224. Support arm; 123. Three-dimensional bracket; 124. Anti-tipping locking mechanism; 1241. Balance guide groove; 1242. Tray balance arm; 2. Sub-cart unit; 21. Sub-cart body; 211. Cart frame; 22. Sub-cart storage mechanism; 221. Storage shelf; 2211. Frame; 2212. Conveyor roller; 2213. Conveyor drive device; 23. Vertical lifting mechanism; 231. Lifting frame; 232. Vertical guide rail; 233. Linear module; 234. Vertical lifting box frame; 235. Lifting drive motor; 24. Spraying module; 25. Application module; 26. Visual inspection camera; 3. Planting box; 31. Box handle; 4. Track unit; 41. Mother car track; 42. Daughter car track; 5. Monitoring Unit. Detailed Implementation

[0020] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below with reference to specific illustrations.

[0021] See Figure 1 The image shows an example of a track-based multi-functional planting operation system with mother-daughter vehicle collaboration provided by the present invention.

[0022] As shown in the figure, the track-type multi-functional planting operation system with mother and daughter vehicles working together in this example mainly includes mother vehicle unit 1, daughter vehicle unit 2, control unit and track unit 4.

[0023] The mother car unit 1 includes a mother car body 11 and a rotary three-dimensional storage mechanism 12. The rotary three-dimensional storage mechanism 12 is used to load and unload multiple planting boxes 3. The mother car body 11 can drive the rotary three-dimensional storage mechanism 12 to move along the track as a whole, so as to realize the cross-regional transfer of planting boxes 3.

[0024] In conjunction with this, the sub-cart unit 2 includes a sub-cart body 21, a sub-cart storage mechanism 22, and a vertical lifting mechanism 23. The sub-cart body 21 is movable and docks with the mother car body 11. The sub-cart storage mechanism 22 receives the planting boxes 3 unloaded from the mother car unit 1 and transfers them to the vertical lifting mechanism 23. The vertical lifting mechanism 23 can drive the planting boxes 3 to rise and fall, realizing the orderly laying of the planting boxes 3 on the ground or the effective retrieval from the ground. This operating system can improve the transfer efficiency, realize the transfer, laying, and retrieval of the planting boxes 3, and improve the reliability of the system.

[0025] Combination Figure 1 Furthermore, the system also includes a track unit 4, which includes a mother car track 41 and a daughter car track 42 that slide and cooperate with the mother car unit 1 and the daughter car unit 2, respectively. The mother car track 41 and the daughter car track 42 are distributed perpendicularly. The mother car track 41 extends from the end of the roller conveyor to the planting box laying area. The daughter car track 42 is distributed in the planting box laying area, crossing the mother car track 41 and connecting several laying blocks, so that after the mother car unit 1 loads the planting box 3 from the end of the roller conveyor, it moves along the mother car track 41 to the planting box laying area. The daughter car unit 2 can move along the daughter car track 42 to dock with the mother car unit 1, unloading the planting box 3 loaded by the mother car unit 1 into the daughter car unit 2. After the mother car unit 1 leaves the planting box laying area, the daughter car unit 2 can cross several laying blocks along the daughter car track 42 to lay the planting box 3 in the corresponding laying block, or retrieve the planting box 3 in the laying block, thereby improving the transfer efficiency.

[0026] Among them, the mother car body 11 and the rotary three-dimensional storage mechanism 12 in the mother car unit 1 can cooperate with each other to efficiently load, unload and transfer several planting boxes 3.

[0027] Combination Figure 1 and Figure 2 Specifically, the bottom of the mother car body 11 is provided with a traveling and moving device for cooperating with the mother car track 41. For example, the traveling and moving device includes a servo geared motor and drive wheels driven by a control unit.

[0028] The mother car body 11 adopts an open structure to form a docking cavity 111, which is used to guide the daughter car unit 2 to be embedded and to achieve precise docking with the rotary three-dimensional storage box mechanism 12 built inside the mother car body 11, thereby completing the handover operation of the planting box.

[0029] Combination Figure 2 Furthermore, the rotary three-dimensional storage mechanism 12 includes a planting box tray 121, a rotary drive device 122, and a three-dimensional support 123. The three-dimensional support 123 is set on the inner walls of both sides of the mother car body 11 so that the mother car body 11 can drive the rotary three-dimensional storage mechanism 12 to move synchronously. Several layers of planting box trays 121 are arranged in a ring, and both ends are connected to the three-dimensional support 123 through the rotary drive device 122, so that the rotary drive device 122 can drive several planting box trays 121 to rotate and lift, thereby improving loading and unloading efficiency. At the same time, it can carry several planting boxes in the planting box tray 121 to improve transfer efficiency.

[0030] Combination Figure 3 and Figure 4The rotary drive device 122 includes a rotary motor 1221 and a rotary chain 1222 disposed inside the three-dimensional support 123. The rotary motor 1221 is connected to the control unit. The rotary chain 1222 is arranged in a ring and is sleeved on the rotary motor 1221, so that the control unit can control the working state of the rotary motor 1221 to drive the rotary chain 1222 to rotate synchronously.

[0031] Furthermore, several layers of planting box trays 121 are arranged in a ring along the height direction and are respectively connected to rotary chains 1222 via rotary support shafts 1223, so that several planting box trays 121 are connected in series via rotary chains 1222. The rotation of rotary chains 1222 can drive several layers of planting box trays 121 to rotate synchronously, so as to realize the rotation and lifting of rotary drive device 122, so that each layer of planting box tray 121 can be connected to the roller line end and the sub-cart unit 2 in sequence to realize the loading and unloading of planting boxes 3.

[0032] In addition, the control unit controls the working speed of the rotary motor 1221 and can adjust the rotation and lifting speed of the rotary drive device 122 to ensure that each layer of planting box tray 121 can be precisely and stably docked with the roller line end and the sub-cart unit 2 in sequence.

[0033] Furthermore, support arms 1224 extend from both sides of the end of the planting box tray 121, and the spacing between the two support arms 1224 is adapted to the planting box 3. The planting box 3 is also provided with box handles 31 on both sides, so that the planting box 3 can be embedded between the two support arms 1223, and the box handles 31 on both sides can be placed on the support arms 1224, thereby realizing the stable loading of the planting box 3 on the planting box tray 121. At the same time, the planting box 3 is easy to unload from the planting box tray 121.

[0034] As an example, the planting box 3 is conveyed to the end of the roller conveyor. The mother car body 11 reaches a position above the end of the roller conveyor and rotates the planting box tray 121 to below the clamping point of the planting box 3. The support arm 1224 of the planting box tray 121 moves from below the planting box 3 to the handles on both sides of the planting box 3, clamps the planting box 3, and moves it upward with the rotary drive device 122. The planting box trays 121 are arranged at certain intervals on the rotary drive device 122 to complete the gripping and upward movement of each layer of planting boxes 3 in sequence.

[0035] Combination Figure 4 In order to ensure the stable transfer of the planting box 3 by the rotary three-dimensional storage mechanism 12, each layer of planting box tray 121 is equipped with an anti-tipping locking mechanism 124 at the end. After the planting box 3 is loaded in the planting box tray 121, the anti-tipping locking mechanism 124 can cooperate with the planting box 3 to prevent the planting box 3 from tipping over during rotation, lifting and transportation, thus ensuring the stable transfer of the planting box 3 and the safety of system operation.

[0036] Specifically, the anti-tipping locking mechanism 124 includes a balance guide groove 1241 and a tray balance arm 1242. The balance guide groove 1241 is arranged in a ring along the rotation path of the planting box tray 12 and is located around the rotation chain 1222. One end of the tray balance arm 1242 is located in the balance guide groove 1241 and moves axially along the balance guide groove 121. The other end is connected to the planting box tray 121. Therefore, when the planting box tray 12 rotates and rises, it will drive the tray balance arm 1242 to move synchronously along the balance guide groove 121, so that the balance guide groove 1242 provides a precisely constrained sliding path for the tray balance arm 1242, which can limit the movement path of the tray balance arm 1242.

[0037] When the planting box 3 is loaded onto the planting box tray 121, and the planting box tray 121 tilts towards the ground under the weight of the planting box 3, the tray balance arm 124 is constrained and limited by the balance guide groove 1241 and will not rotate or tilt. This ensures that the planting box tray 121 is constrained by the tray balance arm 124 and the balance guide groove 1241, so as to maintain the overall balance of the planting box tray 121 and thus ensure the stable transfer of the planting box 3.

[0038] Therefore, the rotary three-dimensional storage mechanism 12 stacks planting boxes 3 in the air by multiple planting box trays 121 distributed along the height direction, which makes the space utilization rate increase exponentially from 1:1 to 1:N layers. The planting boxes 3 are loaded by rotating and lifting the planting box trays 121 synchronously. Only one fixed storage and retrieval station is needed, and there is no space loss of multiple aisles, thereby achieving an order of magnitude increase in storage capacity per unit area.

[0039] Furthermore, the mother car unit 1 moves along the mother car track 41, enabling the rapid loading and transfer of the planting box 3 from the end of the roller line to the planting box laying area.

[0040] To improve the stable transfer of mother car unit 1 and the precise docking with daughter car unit 2, mother car unit 1 also includes a positioning mechanism. The positioning mechanism can locate the movement status of mother car unit 1 in real time to ensure the stable loading and unloading of mother car unit 1.

[0041] Specifically, the positioning mechanism includes a track encoder and RFID tags. The track encoder is installed on the drive wheel of the mother car unit 1, and the RFID tags are set on the mother car track 41 at fixed intervals. In this way, the track encoder can measure the moving distance and moving speed of the mother car unit 1 in real time, and provide the control unit with continuous relative position feedback of the mother car unit 1.

[0042] Furthermore, when the drive wheel of the mother car unit 1 passes the RFID tag on the mother car track 41, the track encoder will read the absolute coordinate information in the RFID tag and correct the cumulative error that the track encoder may generate based on the absolute coordinate information, so as to provide feedback on the accurate positioning of the mother car unit 1.

[0043] Therefore, the combination of track encoders and RFID tags can ensure the accurate positioning of the mother car unit 1 throughout the entire operating path, avoid position drift caused by deviation, and thus ensure the accuracy and reliability of the docking between the mother car unit 1 and the daughter car unit 2.

[0044] Combination Figure 1 and Figure 5 In conjunction with this, the sub-vehicle unit 2 includes a sub-vehicle body 21, a sub-vehicle storage mechanism 22, and a vertical lifting mechanism 23. The sub-vehicle body 21, the sub-vehicle storage mechanism 22, and the vertical lifting mechanism 23 can cooperate with each other to dock with the mother vehicle unit 1, so as to realize the unloading, handover, laying, and recycling of the planting box 3 from the mother vehicle unit 1 to the sub-vehicle unit 2, ensuring the stability and reliability of this system.

[0045] Specifically, the bottom of the subcar body 21 is provided with a walking and moving device for cooperating with the subcar track 42. The walking and moving device includes a servo motor and drive wheels driven by the control unit. The subcar body 21 is configured as a hollow box structure, and the two sides are respectively provided with a car body frame 211 for cooperating with the subcar storage mechanism 22 and the vertical lifting mechanism 23, so that the subcar storage mechanism 22 and the vertical lifting mechanism 23 are built in parallel inside the subcar body 21, and the subcar storage mechanism 22 faces the mother car unit 1 to facilitate docking with the mother car unit 1.

[0046] Furthermore, the subcarriage body 21 is adapted to the docking cavity 111 at the opening end of the mother car body 11, so that the subcarriage body 21 can drive the subcarriage storage mechanism 22 and the vertical lifting mechanism 23 to move synchronously along the subcarriage track 42 and embed into the docking cavity 111 of the mother car body 11, so that the subcarriage storage mechanism 22 can accurately dock with the rotary three-dimensional storage mechanism 12, thereby quickly and stably unloading the planting box 3 from the rotary three-dimensional storage mechanism 12 and transferring it to the subcarriage storage mechanism 22.

[0047] Combination Figure 5 and Figure 6The subcar storage mechanism 22 includes several layers of storage shelves 221 arranged in parallel along the height direction. Each storage shelf 221 includes a frame 2211, a conveying roller 2212, and a conveying drive device 2213. The two ends of the frame 2211 are respectively connected to the body frame 211 of the subcar body 21. The conveying roller 2212 is distributed on the frame 2211. The conveying drive device 2213 is located at the end of the frame 2211 and is connected to the conveying roller 2212 and the control unit, so that the control unit can control the working state of the conveying drive device 2213 to drive the conveying roller 2212 to rotate.

[0048] In this way, when the trolley storage mechanism 22 docks with the rotary three-dimensional storage mechanism 12, each storage shelf 221 docks with each planting box tray 121 in turn, unloading the planting boxes 3 on the planting box tray 121 and transferring them to the storage shelf 221, thereby storing them in the trolley storage mechanism 22 and realizing the transfer of the planting boxes 3.

[0049] Combination Figure 7 As an example, when the subcarriage unit 2 is inserted into the docking cavity 111 of the mother car unit 1, the rotary drive device 122 drives the planting box tray 121 to rotate and lift, causing each layer of planting box tray 121 to rotate above the corresponding storage shelf 221. The planting box 3 loaded in the planting box tray 121 is then placed on the storage shelf 221. The conveying drive device 2213 drives the conveying roller 2212 to rotate facing the inside of the subcarriage unit 2, which will generate friction with the bottom surface of the planting box 3, so that the planting box 3 rotates synchronously facing the inside of the subcarriage unit 2. This allows the planting box 3 to exit from the support arms 1224 on both sides of the planting box tray 121 and be smoothly unloaded into the storage shelf 221 along with the conveying roller 2212, thus realizing the handover and unloading of the planting box 3.

[0050] Therefore, after the trolley storage mechanism 22 receives the planting box 3 unloaded from the planting box tray 121, the trolley unit 2 moves along the trolley track 42 to transfer the planting box 3 to the planting box laying area. At the same time, the trolley storage mechanism 22 transfers the planting box 3 to the vertical lifting mechanism 23 so that the vertical lifting mechanism 23 can lay the planting box 3 on the ground.

[0051] Combination Figure 8 In conjunction with this, the vertical lifting mechanism 23 includes a lifting frame 231, a vertical guide rail 232, a linear module 233, a vertical lifting box frame 234, and a lifting drive motor 235. The two ends of the lifting frame 231 are respectively connected to the vehicle body frame 211 of the sub-vehicle body 21. The vertical guide rail 232 is evenly distributed on the lifting frame 231. The vertical lifting box frame 234 is slidably connected to the vertical guide rail 232 through the linear module 233. The lifting drive motor 235 is connected to the linear module 233 and the control unit.

[0052] Furthermore, similar to the planting box tray 121, support arms extend from both sides of the vertical lifting box frame 234, and the spacing between the two support arms is adapted to the planting box 3, so that the planting box 3 can be embedded between the support arms on both sides of the vertical lifting box frame 234, and the box handles 31 on both sides can be placed on the support arms, thereby realizing the stable loading of the planting box 3 by the vertical lifting box frame 234.

[0053] In this way, the control unit can control the working state of the lifting drive motor 235, drive the linear module 233 to move the vertical lifting box frame 234 up and down along the vertical guide rail 232, so that the vertical lifting box frame 234 can dock with the storage shelf 221 in the subcart storage mechanism 22.

[0054] Combination Figure 9 Furthermore, when the vertical lifting box frame 234 is flush with the storage box shelf 221, the control unit controls the conveying drive device 2213 in the trolley storage mechanism 22 to drive the conveying roller 2212 to rotate in the direction of the vertical lifting mechanism 23, thereby smoothly and orderly transferring the planting box 3 on the storage box shelf 221 to the vertical lifting box frame 234, completing the transfer of the planting box 3 from the storage position to the lifting position.

[0055] At this time, the control unit controls the working state of the lifting drive motor 235, drives the lifting device 233 to move the vertical lifting box frame 234 along the vertical guide rail 232 towards the ground, and simultaneously lowers the planting box 3 so that the planting box 3 is placed on the ground. The vertical lifting box frame 234 is then slightly moved so that the planting box 3 is removed from the vertical lifting box frame 234 and laid on the ground to realize the laying of the planting box 3.

[0056] Correspondingly, the vertical lifting mechanism 23 can lift the planting box 3 on the ground and recycle it to the storage box mechanism 22 for storage. This is the reverse action of laying, which will not be described in detail here.

[0057] In some embodiments, in order to ensure the stability of the transfer and laying of the planting box 3 by the trolley unit 2, a limit stop is provided at the movement limit position of the trolley body 21 or the vertical lifting box frame 234. When the trolley body 21 or the vertical lifting box frame 234 moves to the limit position, the limit stop will press down and trigger the limit switch actuator under the action of external force to generate an emergency stop signal and transmit it to the control unit, so that the control unit shuts off the movement state of the trolley unit 2.

[0058] Combination Figure 1To ensure the healthy growth of crops in the planting box 3, the subcart unit 2 is also equipped with a spray module 24. The spray module 24 is located in the lower part of the subcart body 21 and is connected to the irrigation pipe so that after the vertical lifting mechanism 23 lays the planting box 3 on the ground, the irrigation pipe can deliver water or nutrients to the spray module 24 so that the spray module 24 can maintain the crops in the planting box 3.

[0059] Meanwhile, the spray module 24 is connected to the control unit so that the control unit can adjust the spray flow and pressure of the spray module 24 to ensure effective maintenance of the crops.

[0060] Here, the sprinkler module 24 is a conventional technical means in the art. Preferably, the sprinkler module 24 also includes a rotatable nozzle so that the control unit can adjust the nozzle angle to achieve uniform irrigation of the planting box 3.

[0061] Furthermore, the sub-cart unit 2 is also equipped with a pesticide application module 25. Preferably, in this example, the pesticide application module 25 and the spraying module 24 share the same main pipeline and nozzle mechanism, making the sub-cart unit 2 compact in structure. At the same time, by switching the connection between the main pipeline and irrigation water or pesticide solution, the pesticide application module 25 and the spraying module 24 can work in shifts, and spraying and pesticide application operations can be carried out sequentially at fixed positions. This not only realizes integrated water, fertilizer and pesticide management, but also ensures the consistency of operation positions and the high efficiency of resource utilization.

[0062] In order to monitor the growth status of crops in planting box 3, a visual inspection camera 26 is also installed in the sub-cart unit 2. The visual inspection camera 26 can monitor crop images in planting box 3 in real time, thereby obtaining the growth status of crops in planting box 3, and timely transferring, laying and recycling planting box 3.

[0063] Preferably, the visual inspection camera 26 is located in the lower area of ​​the sub-cart unit 2, close to the planting box 3 laid on the ground, and can monitor the crop images in the planting box 3 in real time.

[0064] The resulting sub-vehicle unit 2 can dock with the mother vehicle unit 1 to transfer the planting box 3 from the mother vehicle unit 1 to the sub-vehicle unit 2, and realize the laying and recycling of the planting box 3, so as to effectively improve the transfer efficiency and reliability.

[0065] To ensure accurate docking between the daughter unit 2 and the mother unit 1, the system also includes a monitoring unit 5, which can monitor the docking status of the mother unit 1 and the daughter unit 2 in real time.

[0066] Specifically, the monitoring unit 5 integrates ultrasonic radar and laser sensors, and is preferably located in the lower area of ​​the sub-vehicle unit 2, so as to monitor the distance of obstacles in front of the sub-vehicle unit 2 in real time and transmit the data to the control unit, so that the control unit can control the movement status of the sub-vehicle unit 2 and the mother vehicle unit 1 in a timely manner, thereby preventing the sub-vehicle unit 2 from colliding with the mother vehicle unit 1.

[0067] Meanwhile, the control unit can also coordinate the movement of the sub-vehicle unit 2 and the mother vehicle unit 1 based on the distance of the obstacle ahead monitored by the monitoring unit 5, so as to ensure the precise docking of the sub-vehicle unit 2 and the mother vehicle unit 1.

[0068] Here, the control unit is a conventional technical means in this field. As an example, the control unit can be composed of an existing PLC.

[0069] This constitutes the track-based multi-functional planting operation system based on mother-daughter vehicle collaboration provided by the present invention.

[0070] This invention also provides a control method for a track-based multi-functional planting operation system based on mother-daughter vehicle cooperation. Based on the planting operation system constructed using the above scheme, this control method includes: The mother unit 1 loads the planting box 3 via the rotary three-dimensional storage mechanism 12; the daughter unit 2 moves and docks with the mother unit 1, receives the planting box 3 transferred by the mother unit 1 and stores it in the daughter unit storage mechanism 22; the daughter unit storage mechanism 22 transfers the planting box 3 to the vertical lifting mechanism 23, the vertical lifting mechanism 23 descends and lays the planting box 3 on the ground; the planting box 3 can also be retrieved from the ground by the vertical lifting mechanism 23, lifted and transferred back to the daughter unit storage mechanism 22, the daughter unit 2 docks with the mother unit 1 again and transfers the planting box 3 back to the mother unit 1; the control unit coordinates the operation process of the mother unit 1, the daughter unit 2 and each functional module to realize the fully automated transfer, laying and retrieval of the planting box.

[0071] The present invention provides a track-based multi-functional planting operation system and control method based on mother-daughter vehicle collaboration. Through the collaborative operation of the mother vehicle unit and the daughter vehicle unit, the entire process of planting box loading, transportation, laying and recycling is automated, which effectively improves transportation efficiency, ensures the stability and reliability of planting boxes in the transportation, laying and recycling process, and significantly improves the overall operating performance of the system.

[0072] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A track-based multi-functional planting operation system based on mother-daughter vehicle collaboration, characterized in that, It includes a mother car unit, a daughter car unit, a track unit, and a control unit. The mother car unit includes a mother car body and a rotary three-dimensional storage box mechanism. The rotary three-dimensional storage box mechanism includes a multi-layered ring-shaped planting box tray, a rotary drive device for driving the planting box tray to rotate and rise, and an anti-tipping locking mechanism for fixing the planting box. The sub-cart unit includes a sub-cart body, a sub-cart storage mechanism, and a vertical lifting mechanism. The sub-cart body is movable and docks with the mother car body. The sub-cart storage mechanism is used to receive and store planting boxes from the mother car unit. The vertical lifting mechanism is used to lay the planting boxes from the sub-cart storage mechanism to the ground or retrieve them from the ground back to the sub-cart storage mechanism. The track unit includes tracks for the mother car unit and the daughter car unit to run on. The control unit can control the coordinated operation of the mother vehicle unit and the daughter vehicle unit.

2. The track-based multi-functional planting operation system based on mother-daughter vehicle collaboration as described in claim 1, Its features are, The track unit includes a mother car track and a daughter car track that cooperate with the mother car unit and the daughter car unit respectively, and the mother car track and the daughter car track are distributed perpendicularly.

3. The track-based multi-functional planting operation system based on mother-daughter vehicle collaboration according to claim 1, characterized in that, The mother car body has an open end and forms a docking cavity. The rotary three-dimensional storage box mechanism is built into the inside of the mother car body and connects to the daughter car unit for planting box transfer through the docking cavity.

4. The track-based multi-functional planting operation system based on parent-child cooperation as described in claim 1, characterized in that, The rotary three-dimensional storage box mechanism includes a three-dimensional support frame, and the planting box tray is connected to the three-dimensional support frame through a tray balance arm and is driven by a rotary motor.

5. The track-based multi-functional planting operation system based on parent-child cooperation according to claim 3, characterized in that, The subcar body has a box structure adapted to the docking cavity, and the subcar storage mechanism and the vertical lifting mechanism are arranged side by side inside the subcar body.

6. The track-based multi-functional planting operation system based on parent-child cooperation according to claim 5, characterized in that, The vehicle body is equipped with a spraying module, a pesticide application module, and a visual inspection camera.

7. The track-based multi-functional planting operation system based on parent-child cooperation according to claim 1, characterized in that, The subcar storage mechanism includes multiple storage shelves, each of which includes a frame, a conveying roller mounted on the frame, and a conveying drive device for driving the conveying roller.

8. The track-based multi-functional planting operation system based on mother-daughter vehicle collaboration according to claim 1, characterized in that, The vertical lifting mechanism includes a lifting frame, a vertical guide rail disposed on the lifting frame, a vertical lifting box frame slidably connected to the vertical guide rail, and a lifting device driven by a lifting drive motor.

9. A control method for a track-based multi-functional planting operation system based on mother-daughter vehicle cooperation according to any one of claims 1 to 8, characterized in that, The control method includes: The mother car unit loads the planting boxes via a rotary three-dimensional storage mechanism; The sub-car unit moves and docks with the mother car unit, receives the planting boxes transferred by the mother car unit and stores them in the sub-car storage mechanism; The sub-cart storage mechanism transfers the planting box to the vertical lifting mechanism, which then lowers and lays the planting box on the ground. Alternatively, the vertical lifting mechanism can retrieve the planting box from the ground, lift it, and transfer it back to the sub-cart storage mechanism. The sub-cart unit then reconnects with the mother car unit and transfers the planting box back to the mother car unit. The control unit coordinates the operation of the mother car unit and the daughter car unit to achieve fully automated transportation, laying and recycling of planting boxes.

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