A sliding rail type operation system for photovoltaic vineyard and a control method thereof

Abstract

This invention discloses a sliding rail operation system and control method for photovoltaic vineyards, belonging to the field of agricultural intelligent equipment technology. The system achieves seamless switching of a mobile trolley between different rows by fixing inter-row sliding rails under the photovoltaic supports and utilizing the cooperation between a translation device and the sliding rails. A docking module determines the connection status between the translation device and the inter-row sliding rails, and a control module performs precise positioning and trajectory planning for the trolley, constructing a fully covered, blind-spot-free automated operation path. This solution not only avoids interference with the crop growth environment caused by manual operation but also achieves efficient and precise monitoring and management of the photovoltaic module status and the grape growing environment.

Description

Technical Field

[0001] This invention relates to the field of intelligent agricultural equipment technology, and in particular to a sliding rail operation system and control method for photovoltaic vineyards. Background Technology

[0002] With the widespread adoption of the photovoltaic-agricultural complementary model, photovoltaic vineyards, as an efficient form of comprehensive land use, are seeing continuous improvement in their scale and intensification. Against this backdrop, vineyard management faces a dual challenge: on the one hand, it requires ensuring the power generation efficiency of photovoltaic modules and timely detection of faults such as hot spots and microcracks; on the other hand, it necessitates meticulous monitoring and management of the grape's growing environment (such as temperature, humidity, light, and soil moisture) and growth status (such as nutrients, water, and pests).

[0003] In existing technologies, environmental and equipment monitoring mainly relies on two methods: one is to deploy fixed sensor nodes. Although this method is stable, it has coverage blind spots and high costs for initial deployment and subsequent maintenance, making it impossible to achieve full-area monitoring without blind spots in the entire park; the other is to use manual inspection with handheld detection equipment. This method is not only inefficient and labor-intensive, but it is also prone to compaction and damage to the soil structure between crop rows during the inspection process, especially in the middle and late stages of grape growth when the branches and leaves are dense and manual passage is difficult.

[0004] Meanwhile, photovoltaic supports in photovoltaic vineyards are typically arranged in an array, forming a regular row structure. How to utilize existing support structures to construct an automated system capable of autonomously and flexibly moving between different rows and carrying various detection and operation equipment is a pressing technical challenge in this field. Summary of the Invention

[0005] The purpose of this invention is to provide a sliding rail operation system and control method for photovoltaic vineyards, aiming to solve or improve at least one of the above-mentioned technical problems.

[0006] To achieve the above objectives, the present invention provides the following solution: A rail-mounted operation system for photovoltaic vineyards includes: Mobile trolley, inter-row slide rail, translation slide rail, translation device and control module; A series of inter-row sliding rails are fixed below the photovoltaic support; A mobile trolley moves and operates within the vineyard via inter-row sliding rails; A translation device is installed on the translation slide rail and docks with the inter-row slide rail to switch the moving trolley between multiple inter-row slide rails; The translation device is slidably connected to the translation slide rail and moves on the translation slide rail via a cable system; The docking module is used to determine whether the translation device and the inter-row slide rail have completed docking; The control module is used to locate the mobile trolley and control the trolley's trajectory and the position of the translation device.

[0007] Furthermore, the mobile vehicle includes: The drive wheels are electrically powered, enabling the mobile trolley to move along the slide rails. The vehicle body integrates a battery, positioning device, and signal transceiver. Load-bearing components are located on both sides of the vehicle body and are used to suspend loads for transportation operations; Wireless charging connector, used to charge the battery inside the vehicle; The base is used to connect to the operating equipment.

[0008] Furthermore, a wireless charging base is installed at one end of a certain row of sliding rails to connect with a wireless charging connector.

[0009] Furthermore, the translation device includes: The sliding component has a drive device embedded in the translation slide rail; The docking component is used to dock with the inter-row slide rail.

[0010] Furthermore, the control module includes: The vehicle control unit obtains the position of the mobile vehicle through the positioning module in the mobile vehicle, sends commands, and controls the mobile vehicle. The trolley translation unit determines whether the translation device and the inter-row slide rail have completed the docking through the docking module, and controls the translation device to move, so as to realize the switching of the trolley between the inter-row slide rails. The task management module transforms tasks into standardized task queues; The power management module sets a power threshold. When the power of the mobile car is less than the threshold, it controls the mobile car to move to the wireless charging base for charging.

[0011] Furthermore, the interface module includes: Labels are placed at one end of each row rail; The reader, mounted on the translation device and parallel to the label, determines whether the translation device has reached the target position by recognizing the label.

[0012] A control method based on a sliding rail type operating system includes: Receive task information, check the task list of the mobile car, if the mobile car is in an idle state, execute the current task; if there is a task in the task list, add the task to the task list. When performing a task, the target inter-row sliding rail is determined according to the task, and the current position of the moving trolley is obtained; If the current location matches the target inter-row slide rail, the task is executed directly; otherwise, the translation device is controlled to move to the current inter-row slide rail based on the current location for docking. After docking is completed, control the mobile trolley to move onto the translation device, and control the translation device to dock with the target inter-row slide rail; After docking is completed, the mobile trolley is controlled to travel to the target inter-row slide rail for operation.

[0013] Furthermore, during the docking process, the reader reads the label to determine whether it is the current line guide and aligns it accordingly.

[0014] According to specific embodiments provided by the present invention, the present invention discloses the following technical effects: This invention discloses a sliding rail operation system and control method for photovoltaic vineyards. The method utilizes sliding rails installed below the photovoltaic supports and a translational mechanism to switch the trolley between different rows. By leveraging the existing structure of the photovoltaic vineyard, a fully covered, blind-spot-free automated operation path is constructed. This not only avoids soil compaction damage caused by manual inspections but also enables efficient and precise monitoring and management of the photovoltaic module status and the grape growing environment. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the operating system of the present invention; Figure 2 This is a schematic diagram of the structure of the mobile trolley in this embodiment; Figure 3 This is a schematic diagram of the mobile trolley base structure in this embodiment; Figure 4 This is a schematic diagram of the wireless charging base structure in this embodiment; Figure 5 This is a schematic diagram of the translation device and label structure in this embodiment; Figure 6 This is a schematic diagram of the translation device and reader structure in this embodiment; Figure 7 This is a schematic diagram of the control method of the operating system in this embodiment; In the diagram, 1. Mobile trolley; 11. Drive wheel; 12. Vehicle body; 13. Load-bearing component; 14. Wireless charging connector; 15. Base; 2. Slide rail; 21. Wireless charging base; 3. Translation slide rail; 4. Translation device; 41. Sliding component; 42. Docking component; 51. Tag; 52. Reader. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] The purpose of this invention is to provide a sliding rail operation system and control method for photovoltaic vineyards, aiming to solve or improve at least one of the above-mentioned technical problems.

[0019] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0020] like Figure 1 As shown, the present invention provides a sliding rail operation system for photovoltaic vineyards, including: a mobile trolley 1, a row sliding rail 2, a translation sliding rail 3, a translation device 4, and a control module; A series of inter-row slide rails 2 are fixed below the photovoltaic bracket; in this embodiment, the inter-row slide rails 2 are fixedly installed below the main beam of the photovoltaic bracket, and are made of I-beam steel rails with hot-dip galvanized anti-corrosion treatment to adapt to the outdoor environment.

[0021] The mobile trolley 1 moves and operates in the vineyard via the inter-row slide rails 2; like Figure 2 As shown, the mobile vehicle 1 includes: The drive wheel 11 is electrically driven, which enables the mobile trolley 1 to move on the slide rail; in this embodiment, the drive wheel 11 is composed of a hub motor.

[0022] The vehicle body 12 integrates a battery, positioning device, and signal transceiver; The load-bearing components 13 are installed on both sides of the vehicle body 12 and are used to suspend the load for transportation operations. Wireless charging connector 14 is used to charge the battery inside the vehicle body 12; like Figure 3 As shown, the base 15 is used to connect to the operating equipment. In this embodiment, the operating equipment includes a camera, a spraying device, etc.

[0023] like Figure 4 As mentioned above, a wireless charging base 21 is set at one end of a certain inter-row slide rail 2, which is connected to the wireless charging connector 14 to complete the charging of the battery in the mobile car 1. A translation device 4 is provided on the translation slide rail 3 and docks with the inter-row slide rail 2 to switch the moving trolley 1 between multiple inter-row slide rails 2. The translation device 4 is slidably connected to the translation slide rail 3 and moves on the translation slide rail 3 via a cable system.

[0024] like Figure 5 As shown, the translation device 4 includes: a sliding component 41 with a driving device embedded in the translation slide rail 3; and a docking component 42 for docking with the inter-row slide rail 2. In this embodiment, the shape of the docking component 42 is the same as that of the inter-row slide rail 2. The control module is used to position the mobile trolley 1 and control the travel trajectory of the mobile trolley 1 and the position of the translation device 4, including: The vehicle control unit obtains the vehicle's position through the positioning module in the mobile vehicle, sends commands, and controls the mobile vehicle 1. The trolley translation unit determines whether the translation device 4 and the inter-row slide rail 2 have completed the docking through the docking module, and controls the translation device 4 to move, so as to realize the switching of the trolley between the inter-row slide rails 2.

[0025] like Figure 5 and Figure 6 As shown, the docking module includes: Label 51 is set at one end of each row slide rail 2; The reader 52 is mounted on the translation device 4 and is parallel to the tag 51. By identifying the tag 51, it determines whether the translation device 4 has reached the target position.

[0026] The task management module allows users to issue tasks via the web or mobile app, such as multispectral scanning of the entire second row or spraying pesticides on the third to tenth tree areas in the fifth row, which are then converted into standardized task queues.

[0027] The power management module sets a power threshold. When the power level of the mobile vehicle 1 is lower than the threshold, it controls the mobile vehicle 1 to move to the wireless charging base 21 for charging. After charging is complete, the mobile vehicle 1 continues to perform its tasks or enters a standby state.

[0028] In one embodiment, the present invention provides a control method for a slide rail type working system, comprising: S1: Receive task information, check the task list of mobile car 1, if mobile car 1 is in an idle state, execute the current task; if there is a task in the task list, add the task to the task list. S2, When performing the task, determine the target inter-row sliding rail 2 according to the task, and obtain the current position of the moving car 1; S3, if the current position is the same as the target inter-row slide rail, then execute the task directly; otherwise, control the translation device 4 to move to the current inter-row slide rail according to the current position and perform docking. During docking, the reader 52 reads the label 51 to determine whether it is the current inter-row slide rail, and then aligns it. S4, after the docking is completed, control the moving trolley 1 to move onto the translation device 4, and control the translation device 4 to dock with the target inter-row slide rail; S5, after docking is completed, control the mobile trolley 1 to travel to the target inter-row slide rail for operation.

[0029] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0030] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A skid-mounted work system for a photovoltaic vineyard, characterized by, include: The mobile trolley (1), the inter-row slide rail (2), the translation slide rail (3), the translation device (4), and the control module; Fix multiple inter-row slide rails (2) below the photovoltaic bracket; A mobile trolley (1) moves through the vineyard via a sliding rail (2); A translation device (4) is provided on the translation slide rail (3) and docks with the inter-row slide rail (2) to switch the moving trolley (1) between multiple inter-row slide rails (2); The translation device (4) is slidably connected to the translation slide rail (3) and moves on the translation slide rail (3) via a cable system; The docking module is used to determine whether the translation device (4) and the inter-row slide rail (2) have completed docking; The control module is used to position the mobile trolley (1) and control the trajectory of the mobile trolley (1) and the position of the translation device (4).

2. The sliding rail operation system for photovoltaic vineyards according to claim 1, characterized in that, The mobile trolley (1) includes: Drive wheel (11), powered by electricity, to move the trolley (1) on the slide rail; The vehicle body (12) integrates a battery, positioning device and signal transceiver; The load-bearing components (13) are installed on both sides of the vehicle body (12) for suspending loads and carrying out transportation operations; Wireless charging connector (14) is used to charge the battery inside the vehicle body (12); The base (15) is used to connect to the operating equipment.

3. A sliding rail operation system for photovoltaic vineyards according to claim 2, characterized in that, A wireless charging base (21) is installed at one end of a certain inter-row slide rail (2) and connected to the wireless charging connector (14).

4. The sliding rail operation system for photovoltaic vineyards according to claim 1, characterized in that, The translation device (4) includes: The sliding component (41) has a drive device embedded in the translation slide rail (3); The docking component (42) is used to dock with the inter-row slide rail (2).

5. A sliding rail operation system for photovoltaic vineyards according to claim 1, characterized in that, The control module includes: The vehicle control unit obtains the position of the mobile vehicle (1) through the positioning module in the mobile vehicle (1), sends instructions, and controls the mobile vehicle (1); The trolley translation unit determines whether the translation device (4) and the inter-row slide rail (2) have completed the docking through the docking module, and controls the translation device (4) to move, so as to realize the switching of the trolley between the inter-row slide rails (2); The task management module transforms tasks into standardized task queues; The power management module sets a power threshold. When the power of the mobile car (1) is less than the power threshold, it controls the mobile car (1) to move to the wireless charging base (21) for charging.

6. A sliding rail operation system for photovoltaic vineyards according to claim 1, characterized in that, The docking module includes: Label (51) is set at one end of each row rail (2); The reader (52) is set on the translation device (4) and parallel to the tag (51). By identifying the tag (51), it determines whether the translation device (4) has reached the target position.

7. A control method based on the slide rail type operating system according to claims 1-6, characterized in that, include: Receive task information, check the task list of the mobile car (1), if the mobile car (1) is in an idle state, then execute the current task; if there is a task in the task list, then add the task to the task list. When performing a task, the target inter-row sliding rail (2) is determined according to the task, and the current position of the moving trolley (1) is obtained; If the current position is the same as the target inter-row slide rail, the task is executed directly; otherwise, the translation device (4) is controlled to move to the current inter-row slide rail according to the current position and docking is performed. After docking is completed, control the moving trolley (1) to move onto the translation device (4), and control the translation device (4) to dock with the target inter-row slide rail; After docking is completed, control the mobile trolley (1) to travel to the target inter-row slide rail for operation.

8. The control method according to claim 7, characterized in that, When docking, the reader (52) reads the label (51) to determine whether it is the current line slide rail and aligns it.

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