Patent ID: 11925134
Assignee: INSTITUTE OF URBAN AGRICULTURE, CHINESE ACADEMY OF AGRICULTURAL SCIENCES
Field: Other special machines (Mechanical engineering)
Classification: CPC A  B  Y | IPC A  B

Claim 0:
1. A multilayered rail guide vehicle system for use in three-dimensional planting in a plant factory, comprising: an upper computer, cultivation shelves (5), an electric control system (4) and traveling devices (1) and lifting devices (2) communicated with the electric control system, wherein the traveling devices (1) and the lifting devices (2) are arranged in a body of a rail guide vehicle;
the upper computer is in wireless communication with the electric control system (4), and is configured for transmitting a task instruction to the electric control system (4);
a nutrient solution tank (7) is arranged on each of the cultivation shelves (5), and a plurality of cultivation positions are arranged on the nutrient solution tank (7); the rail guide vehicle takes the cultivation shelves (5) on both sides of the nutrient solution tank (7) as railways to carry cultivation boards (6) to move on the nutrient solution tank (7), and places the cultivation boards (6) at the cultivation positions;
the traveling devices (1) comprise two traveling devices and the lifting devices (2) comprise two lifting devices; the traveling devices (1) and the lifting devices (2) are symmetrically arranged on both sides of the rail guide vehicle respectively; the electric control system (4) is arranged in the body of the rail guide vehicle;
the traveling devices (1) are configured for receiving a control instruction of the electric control system (4), so that the body of the rail guide vehicle moves on the railways on the cultivation shelves (5);
the lifting devices (2) are configured for lifting the cultivation boards (6) and completing loading and unloading operations of the cultivation boards (6);
the electric control system (4) is configured for obtaining an operation mode and target information after receiving a task instruction transmitted by the upper computer, selecting and switching a positioning mode according to the operation mode and the target information, and controlling the traveling devices (1) to perform traveling motion; and a driving device (18) controls the lifting devices (2) to perform lifting motion;
the electric control system comprises a vehicle mounted controller (17), and a traveling addressing device, a driving device (18), a wireless messaging device (20), and a sensor (21) communicated with the vehicle mounted controller;
wherein, the traveling addressing device comprises a laser range finder (22) and an encoder (23);
the laser range finder (22) is arranged at an upper part of the body of the rail guide vehicle in the forward direction, is electrically connected with the vehicle mounted controller (17), and is configured for detecting an absolute position of the body of the rail guide vehicle relative to a reference plane, and feeding back data of the absolute position to the vehicle mounted controller (17);
the encoder (23) is connected with the driving device (18), and is configured for detecting a rotation angle of a motor shaft to obtain code value data and feeding back the code value data to the driving device (18) in real time;
the driving device (18) is a Direct Current (DC) servo driver, is electrically connected to each of a servo motor of the traveling device (1) and the lifting motor (12) of the lifting device (2), and is configured for switching a positioning mode of the driving device (18) according to a task instruction transmitted by the vehicle mounted controller (17) and controlling the traveling device (1) to perform the traveling motion and the lifting device (2) to perform the lifting motion;
the wireless messaging device (20) is a wireless client, and is configured for realizing communication interaction between the vehicle mounted controller (17) and the upper computer;
the sensor (21) is configured for collecting state information of the cultivation boards;
the vehicle mounted controller (17) is a Programmable Logic Controller (PLC) in a motion control type, and is configured for obtaining an operation mode and target information after receiving the task instruction transmitted by the upper computer by means of the wireless messaging device (20), selecting and switching the positioning mode of the driving device (18) according to the operation mode and the target information, and transmitting the task instruction transmitted by the upper computer to the driving device (18) according to the data of the absolute position fed back by the laser range finder (22) and the code value data fed back by the encoder (23);
the operation mode comprises handling of cultivation boards on a same layer, handling of the cultivation boards between layers or shelves, and an emergency rescue operation;
the target information comprises a target position and a target velocity of an operation of a body of a rail guide vehicle;
the positioning mode of the driving device (18) comprises a full-closed loop positioning mode or a semi-closed loop positioning mode;
the operation of selecting and switching a positioning mode of a driving device (18) according to the operation mode and the target information is specifically as follows:
when the operation mode is handling of the cultivation boards on the same layer, the laser range finder (22) takes a reflector mounted at the target position on a cultivation shelf (5) as a measurement reference plane; at a same time, the electric control system (4) works in the full-closed loop positioning mode;
when the operation mode is handling of the cultivation boards between layers, the laser range finder (22) takes a reflector mounted at the target position on a cultivation shelf (5) as a measurement reference plane; at a same time, the electric control system (4) works in the full-closed loop positioning mode;
when the operation mode is handling of the cultivation boards between shelves, the body of the rail guide vehicle enters and exists a Rail Guide Vehicle (RGV); and at a same time, the electric control system (4) works in the semi-closed loop positioning mode.