CN105929828B - A kind of grain scraper device people control system and control method - Google Patents
A kind of grain scraper device people control system and control method Download PDFInfo
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- CN105929828B CN105929828B CN201610418330.1A CN201610418330A CN105929828B CN 105929828 B CN105929828 B CN 105929828B CN 201610418330 A CN201610418330 A CN 201610418330A CN 105929828 B CN105929828 B CN 105929828B
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000012544 monitoring process Methods 0.000 claims abstract description 26
- 230000007613 environmental effect Effects 0.000 claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims abstract description 12
- 238000004891 communication Methods 0.000 claims description 34
- 239000002184 metal Substances 0.000 claims description 31
- 229910052751 metal Inorganic materials 0.000 claims description 31
- 230000004888 barrier function Effects 0.000 claims description 23
- 238000001514 detection method Methods 0.000 claims description 20
- 230000006378 damage Effects 0.000 claims description 14
- 238000012360 testing method Methods 0.000 claims description 12
- 208000027418 Wounds and injury Diseases 0.000 claims description 11
- 208000014674 injury Diseases 0.000 claims description 10
- 230000003750 conditioning effect Effects 0.000 claims description 8
- 230000008447 perception Effects 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 5
- 238000011084 recovery Methods 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000006870 function Effects 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 4
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 230000002265 prevention Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/02—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/04—Bulk
- B65G2201/042—Granular material
Abstract
The invention discloses a kind of grain scraper device people's control systems, including grain scraper device people and its control system, and the grain scraper device people includes rack, and the rack is equipped with automatic walking mechanism, takes off paddy conveying device and driving motor；The control system includes master board, environmental monitoring sensor-based system and handheld device；The master board is connected with the environmental monitoring sensor-based system, the handheld device respectively；The master board is arranged in grain scraper device people, and the environment monitoring sensor is arranged in the rack of grain scraper device people, and the handheld device is manipulated outside storehouse by staff.The self-propelling device takes off paddy conveying device and is connected with driving motor with the master board, and carries out the transmitting-receiving of signal with it, executes the order of the master board.The present invention also provides the control methods of grain scraper device people a kind of, by laying grain scraper device people's control method disclosed by the invention, control the grain scraper device people using certain step, realize that paddy is taken off in intelligence.
Description
Technical field
The present invention relates to a kind of control system of machine and method more particularly to the control systems and controlling party of grain scraper device people
Method.
Background technique
Grain scraper is a kind of agricultural machinery equipment, is widely used in when Bulk Grain receipts dress is taken grain out of a granary to sun it, grain depot uses and cooperates with conveyer
It can be stored up with heap, entrucking.Most of existing grain scraper all includes rack, driving motor, and rack is equipped with conveying device, conveying
The upper end of device is equipped with discharge port, and lower end is equipped with feed end, and the bottom of rack is equipped with walking mechanism.
Application No. is the utility model patent of 203545174 U of CN " grain scrapers ", disclose a kind of grain scraper, including machine
Frame, the rack are equipped with walking mechanism, conveying device and driving motor, and the conveying device includes being set to frame upper end
Active driving drum, set on rack lower end slave drive roller and be around on active driving drum and slave drive roller
Conveyer belt is arranged shield in rack, can effectively avoid dust from flying.However, the walking of the grain scraper, steering and starting stop
It is all to be completed under manual operation, working efficiency is relatively low, and grain is inevitably generated in going out the transmission process that puts in storage
A large amount of dust, operation field is dusty, and working environment is poor, causes damages to the health of operating personnel, in addition, grain scraper
The ventilated cage of wall in silo, ground should be avoided touching, and grain heap and barrier can be distinguished, and accurately perceive it
Distance.Therefore, it is badly in need of a kind of automatic grain scraper without execute-in-place that can reduce working environment to employee human injury.
Summary of the invention
To solve the above-mentioned problems, the present invention provides a kind of grain scraper device people's control system, including grain scraper device people and
Its control system, the grain scraper device people includes rack, and the rack is equipped with automatic walking mechanism, takes off paddy conveying device and drive
Dynamic motor.
The control system includes master board, environmental monitoring sensor-based system and handheld device；The master board point
It is not connected with the environmental monitoring sensor-based system, the handheld device；
The master board is arranged in grain scraper device people, and the sensing equipment setting of the environmental monitoring sensor-based system is being taken off
In the rack of paddy robot, the handheld device is manipulated outside storehouse by staff, is used to help off-site personnel and is remotely monitored grain
Grain scraper device people in storehouse；
The master board receives the signal of the environmental monitoring sensor-based system；
The automatic walking mechanism takes off paddy conveying device and is connected with driving motor with the master board, and carries out letter with it
Number transmitting-receiving, execute the order of the master board.
The environmental monitoring sensor-based system includes range finder module, metal detection module, temperature and humidity test module, sound-light alarm
Module.The range finder module is arranged in the rack of grain scraper device people, for monitoring the grain heap around grain scraper device people to one's heart's content
Condition.The metal detection module is arranged on grain scraper device people's automatic walking mechanism chassis, for detecting whether grain scraper device people connects
Metal cage in nearly warehouse, allows grain scraper to avoid cage.The temperature and humidity test module is arranged in grain scraper device people
In rack, for detecting the temperature and humidity in grain scraper device people's working environment.Temperature and humidity test module can be taken off by test
Paddy robot working environment sends signal to master board in time, master board is made a response in time, prevents temperature
Excessively high and humidity caused fire when lower.
The handheld device include control chip, handheld device power module, alarm module, display screen, handheld device without
Line communication module, handheld device LED indication module, handheld device power module, manipulation module.The power module includes hand-held
Equipment power supply, handheld device power sense circuit, handheld device power protecting circuit.
The handheld device power supply is dc-battery；The power sense circuit is for adjusting output and detecting power supply electricity
Pressure, the power protecting circuit include diode and fuse, are protected for anti-reverse, surge and high current, power detecting electricity
Road real-time monitoring dc-battery service condition replaces dc-battery or charging so as to user of service in real time.
The control chip is MCU chip, and the alarm module, handheld device wireless communication module, hand-held is set display screen
Standby LED indication module, handheld device power sense circuit, handheld device power protecting circuit, manipulation module are connect by IO respectively
Mouth is connected with control chip.
The wireless communication module between handheld device and grain scraper device people's master board for communicating.
The manipulation module is used to control forward grain scraper device people by key and rocking bar according to demand for control, stopping, closing
Machine, left-hand rotation, right-hand rotation, module is sent by wireless communication for instruction.
The display screen can show the monitored picture of infrared camera in warehouse.
The control system further includes serial communication modular, wireless communication module and power module.The serial communication mould
Block one end is connected with the master board, and one end is connected with motor control panel；It is main complete control system and motor control panel it
Between data exchange and relevant control instruction transmission.
The wireless communication module is connected with the master board, the handheld device by the wireless communication module with
Master board communication.Grain scraper device people's working condition is sent to handheld device outside storehouse by network by the wireless communication module；
By sending information to the staff outside storehouse in real time, so that staff grasps the working condition of grain scraper device people in real time
And the operation for carrying out manpower intervention in time, taking cage away, encountering other emergencies can be set by external wireless remote control in time
It is standby to close grain scraper.
The power module includes power supply, power supply conditioning circuit and anti-surge protection circuit.The power supply is 24VDC electricity
Source, by respectively obtaining 5.0VDC the and 3.3VDC voltage source used for MCU and peripheral module after power supply conditioning circuit.
MCU judges whether power supply power supply is normal by detecting the degree of stability of supply voltage.
The anti-surge protection circuit is reversely connected the injury to circuit, including TVS diode and self- recoverage insurance for preventing
Silk.It can prevent the injury of surge and electrostatic to circuit to the TVS diode, and the self-recovery fuse can prevent subsequent conditioning circuit
To the injury of front power circuit and control circuit when failure.
The control system further includes relay control module and LED indication module, and the relay module is mainly used to
The equipment for controlling outside need higher voltage power supply, for example sound-light alarm equipment is added on grain scraper device people, work people outside storehouse
Member can judge whether robot close to cage or advances to granary in the course of work by observing/hearing sound and light alarm signal
The information such as the end.
The LED indication module, whether the work for judging control system is normal, and is sentenced by the light on and off of indicator light
The failure of disconnected control system.
Also there are redundant interfaces for the control system, the increase for follow-up function.
The range finder module is ultrasonic listening device assembly.The ultrasonic listening device assembly includes: ultrasonic detector
Module, ultrasonic detector control panel, shell and adapter.Grain scraper is locked by bolt in described adapter one end, another
End connection shell.The ultrasonic detector module is welded on the detector control panel, and the detector control panel is fixed
Inside housings.
The present invention also provides the control methods of grain scraper device people a kind of, comprising the following steps:
S1 builds hardware: building grain scraper device people's control system disclosed by the invention；
Sensor: high and low two positions on the same line perpendicular to ground, on the man-machine frame of grain scraper device is arranged in S2
It sets and several range finder modules and metal detection module is respectively set；Master board is judged according to the detection result of high and low position:
S3 master board controls grain scraper device people and advances；
S4 range finder module and master board avoid barrier jointly: if the sensor instrument distance result of two positions of range finder module
It is equal, then it is wall, setting master board exports evacuation instruction under this signal；If institute's ranging is from differing, calculating is
One inclined-plane is then grain mass, and setting master board exports under this signal takes off paddy instruction；
Metal detection module described in S5 and master board avoid metal cage jointly: being determined according to the measurement of metal detector
Whether close to metal cage, master board output evacuation instruction is set if close to cage；
If S6 does not hinder, move on, until machine arrival grain heap, then adjusts the direction and position of machine
Deng starting take off paddy movement；
S7 complete it is primary take off paddy task after, pass through the neighbouring whether also grain of the sensor of range finder module judgement
Only need machine pivot stud that can start to take off paddy operation: if so, the grain position then perceived according to sensor and barrier
Situation etc. calculates direction and the angle of grain scraper turning, starts to take off paddy after fine tuning；If nothing is compared using sensor
Large-scale grain heap is found, until sensor is detected less than grain mass.
The control method provided by the invention, further comprising the steps of:
In step s3, if not finding grain heap, master controller output order makes grain scraper device people first turn to the left to S8
90 °, machine advances, and continually looks for grain heap, if finding grain heap not yet, then bends to right 180 °, and machine advances, and continually looks for
Grain heap, if still not finding grain heap, then it is assumed that silo does not have grain, herein using the sensing that can cover entire silo
Device.
S9 is in step S4 and S5:
If meeting with obstruction during machine advances towards grain heap, then being identified to the type of barrier；
If wall, then avoidance operation is directly opened, if machine can move later, carries out environment sense using sensor
Know, if machine is immovable, then shuts down；
If cage, then cage early warning is carried out, reminds worker that may need to carry out the dismounting of cage, while to cage early warning
Number and the time recorded；
The time interval threshold value of adjacent early warning twice is set, after cage early warning number is more than or equal to 3 times, to adjacent two
The time interval of secondary early warning is calculated, and judges whether it is less than threshold value, and time interval is too short, then shows machine " stuck " on ground
It in cage, then shuts down, and needs manually to be handled by sound and light alarm module prompt, personnel on a handheld device can also be with outside storehouse
Receive warning note；If cage early warning number is less than 3 times or the adjacent interval of pre-warning time twice is greater than threshold value, work on；
Evacuation described in S10 step S4 and step S5 instructs are as follows: during avoidance, if left side is accessible, to front
There is clear to be judged: if nothing, turning left, otherwise retreated, re-starts the perception of barrier orientation；
During avoidance, if there is barrier in left side, judge whether right side has obstacle, if right side is accessible, equally
Judge whether front has obstacle: if nothing, turning right, otherwise retreat, re-starts the perception of barrier orientation；
During avoidance, if left and right side has obstacle, judges whether front has obstacle: if nothing, can continue
Advance, if so, then showing there is barrier in front of machine with left and right side, indicates " stuck ", immovable, master board output
Alarm command.
The present invention each provides the control system and its control method of a kind of grain scraper device people, by sending signal
Cooperate master board to carry out intelligent operation and remote control to handheld device, and by sensor, report is only triggered when problematic
Police needs manpower intervention, is able to solve the problem of grain scraper operating environment badly causes staff's actual bodily harm, improves life
Force of labor has been greatly saved manpower and material resources.
Detailed description of the invention
Fig. 1 is grain scraper device people's control system connection schematic diagram of the invention；
Fig. 2 is the circuit connection block diagram of control system of the invention；
Fig. 3 is the circuit connection block diagram of handheld device of the invention.
Specific embodiment
As shown in Figure 1, grain scraper device people's control system of the present embodiment, including grain scraper device people and its control system,
In, grain scraper device people includes rack, which is equipped with automatic walking mechanism, takes off paddy conveying device and driving motor.
Control system includes master board 1, environmental monitoring sensor-based system 2 and handheld device 3；Master board 1 respectively with
Environmental monitoring sensor-based system 2, the handheld device 3 are connected.
The signal of the reception environmental monitoring sensor-based system 2 of master board 1；
Handheld device 3 and master board 1 carry out the transmitting-receiving of signal, and control grain scraper device people；
The automatic walking mechanism takes off paddy conveying device and is connected with driving motor with the master board, and carries out letter with it
Number transmitting-receiving, execute the order of the master board.
Master board 1 is arranged in grain scraper device people, and the sensor of environmental monitoring sensor-based system 2 is arranged in grain scraper device people
Rack on, monitoring data are sent to master board 1, and handheld device 3 remotely monitors in silo outside storehouse, for off-site personnel
Grain scraper device people.
As shown in Fig. 2, the equipment of environmental monitoring sensor-based system 2 is connected with the corresponding interface of master board 1；Handheld device 3
Module 5 is connected by wireless communication with master board 1.
Wherein, environmental monitoring sensor-based system 2 includes several range finder modules 21, metal detection module 23, temperature and humidity test mould
Block 22, sound and light alarm module 24.The distance measuring sensor of range finder module 21 is arranged in the rack of grain scraper device people, and signal is sent
To master board 1, situation is stacked for monitoring the grain around grain scraper device people.The detection sensor of metal detection module 23 is set
It sets on grain scraper device people's automatic walking mechanism chassis, signal is sent to master board 1 and handheld device 3, takes off paddy for detecting
Whether robot triggers sound and light alarm module 24 when necessary, grain scraper is allowed to avoid ground close to the metal cage in warehouse
Cage or be manually operated by staff solves the problems, such as.The Temperature Humidity Sensor of temperature and humidity test module 22 is arranged in grain scraper device people
In rack, signal is sent to master board 1 and handheld device 3, for detect the temperature in grain scraper device people's working environment and
Humidity.
Temperature and humidity test module 22 can send to master board 1 believe in time by testing grain scraper device people's working environment
Number, master board 1 is made a response in time, prevents that temperature is excessively high and when humidity is lower caused fire.
The control system of the present embodiment further includes serial communication modular 4, wireless communication module 5 and power module 6；
4 one end of serial communication modular is connected with the master board, and one end is connected with the control panel of the driving motor, uses
The transmission of data exchange and relevant control instruction between completion control system and driving motor control panel；
Wireless communication module 5 is connected with master board 1, and grain scraper device is manually made shape by network by wireless communication module 5
Condition is sent to the handheld device 3 outside storehouse；Staff outside storehouse can grasp the work of grain scraper device people by handheld device 3 in real time
Make situation and carry out manpower intervention in time, the operation such as take cage away, external wireless can be passed through in time by encountering other emergencies
Remote control equipment closes grain scraper.
Power module 6 includes power supply 61, power supply conditioning circuit 62, power sense circuit 63 and anti-surge protection circuit 64.
Power supply 61 is 24VDC power supply, is made by respectively obtaining after power supply conditioning circuit 62 for the chip and peripheral module of master board 1
5.0VDC and 3.3VDC voltage source.Power sense circuit 63 prevents the injury to equipment for testing supply voltage.It is anti-
Surge protection circuit 64 include TVS diode and self-recovery fuse, wherein TVS diode its surge and electrostatic can be prevented to electricity
The injury on road, self-recovery fuse can prevent wound of subsequent conditioning circuit when breaking down to front power circuit and control circuit
Evil.
Control system further includes relay control module 7 and LED indication module 8, and relay control module 7 is mainly used to control
The equipment of outside need higher voltage power supply processed, for example sound-light alarm equipment is added on grain scraper device people, staff outside storehouse
Can be judged by observing/hearing sound and light alarm signal robot whether in the course of work close to cage or to advance to granary most
First-class information.LED indication module 8, whether the work for judging control system is normal, and is judged by the light on and off of indicator light
The failure of control system.
Also there are redundant interfaces for the control system of the present embodiment, the increase for follow-up function.
Grain scraper device people's control system of the present embodiment is provided with from operating process in master board, is reduced artificial
It participates in, improves the intelligentize and informatization degree of grain scraper device people, solve current grain scraper device people each activity and require
The problem of manual control.
As shown in figure 3, handheld device 3 includes control chip 31, handheld device power module 32, manipulation module 33, display
Shield 34, alarm module 35, handheld device LED indication module 36, handheld device wireless communication module 37.
Wherein, control chip 31 is MCU chip, and manipulation module 33, display screen 34, alarm module 35, handheld device LED refer to
Show that module 36, handheld device wireless communication module 37 are connected by I/O interface with control chip 31 respectively.
Handheld device power module 32 includes handheld device power supply, handheld device power sense circuit, handheld device power supply
Protect circuit.
Handheld device 3 is powered using battery, and handheld device power supply is that supply voltage is 3.3V or the DC power supply of 5V；Its
In, design has the circuit of anti-reverse, surge and high current protection on handheld device power protecting circuit, this in the prior art,
It repeats no more.Handheld device power sense circuit is for real-time monitoring battery service condition so that user of service replaces battery in real time
Or charging.
Manipulation module 33 be used for according to demand for control by key and rocking bar control grain scraper device people move ahead, stop, shutdown,
Turn left, turn right, module is sent by wireless communication for instruction.
Display screen 34 is used to show the monitored picture of infrared camera in warehouse.
Alarm module 35 is used to show the report barrier situation of grain scraper device people, and passes through handheld device LED indication module 36
The settings such as LED light flashing notify staff to solve site problems by hand.
Handheld device wireless communication module 37 between handheld device 3 and grain scraper device people master board 1 for leading to
Believe manipulation module 33 be used for according to demand for control by key and rocking bar control grain scraper device people move ahead, stop, shutdown, turning left,
It turns right, module 37 is sent to the master board 1 of grain scraper device people by wireless communication for instruction.
In actual operation, the equipment installation of the present embodiment is with reference to as follows:
Range finder module 21 is ultrasonic listening device assembly.The ultrasonic listening device assembly include: ultrasonic detector module,
Ultrasonic detector control panel, shell and adapter.Grain scraper is locked by bolt in the adapter one end, and the other end connects shell
Body.The ultrasonic detector module is welded on detector control panel, and detector control panel is immobilized in the shell portion, and the shell is full
The dust-proof requirement of sufficient IP6X.
Ultrasonic listening component before grain scraper, respectively install one group in left and right side rack, one group is two, two ultrasounds
Wave detector module needs on the plumb line of installation requirement on the rack, two detector spacing 10cm.
Wireless communication module 5 uses wireless signal transmission, it is preferable that it is direct that wireless communication module chooses 2.4G sucker antenna
It is adsorbed on grain scraper front end of rack.
Metal detection device assembly includes: metal detector module and adapter.Paddy is taken off by bolt locking in adapter one end
Machine rack, the fixed metal detector module of the other end.Metal detection device assembly is in grain scraper one metal detection of left and right each installation
Device, terrain clearance 10cm.Metal detector module is connect by connector with control mainboard.
Ultrasonic distance-measuring sensor in the present embodiment uses the KS103.KS10R model of Shenzhen guiding technique company；Gold
Belong to detector using normally opened NPN type inductance approach switch or the non contact metal inspection of Huizhou Foucault mechanical equipment Co., Ltd
Survey proximity sensor.The display screen of handheld device uses 2.4 cun of TFT liquid crystal displays.Master board MCU uses TI brand
MSP430G2553IPW28R model；The control rocking bar of manipulation module uses JoyStick Shield V1.
The design method of the present embodiment carries out remote control, only when problematic by sending the signal to handheld device
Triggering alarm needs manpower intervention, is able to solve the problem of grain scraper operating environment badly causes staff's actual bodily harm.Together
When, temperature and humidity Detection And Warning function is increased, the generation of first time fire preventing is capable of, the stuck situation of machine occurs
Personnel outside energy fast notification warehouse embody preferable intelligence and Environmental Protection Level.
The present invention also provides the control method of grain scraper device people a kind of, embodiment the following steps are included:
S1 builds hardware: building grain scraper device people's control system disclosed in the above embodiment of the present invention；
Sensor: high and low two positions on the same line perpendicular to ground, on the man-machine frame of grain scraper device is arranged in S2
It sets and several range finder modules 21 and metal detection module 23 is respectively set；Master board 1 is carried out according to the detection result of high and low position
Judgement:
S3 master board 1 controls grain scraper device people and advances；
S4 range finder module 21 and master board 1 avoid barrier jointly: if the sensor of 21 two positions of range finder module is surveyed
It is equal away from result, then it is wall, setting master board exports evacuation instruction under this signal；If institute's ranging is computed from differing
It obtains being an inclined-plane, is then grain mass, setting master board exports under this signal takes off paddy instruction；
S5 metal detection module 23 and master board 1 avoid metal cage jointly: being determined according to the measurement of metal detector
Whether close to metal cage, master board output evacuation instruction is set if close to cage；
If S6 does not hinder, move on, until machine arrival grain heap, then adjusts the direction and position of machine
Deng starting take off paddy movement；
S7 complete it is primary take off paddy task after, by the judgement of the sensor of range finder module 21, nearby whether there are also grains
Need machine pivot stud that can start to take off paddy operation: if so, the grain position then perceived according to sensor and obstacle principle
Condition etc. calculates direction and the angle of grain scraper turning, starts to take off paddy after fine tuning；If nothing, it is compared greatly using sensor
The grain heap of range is found, until sensor is detected less than grain mass；
In step s3, if not finding grain heap, 1 output order of master controller makes grain scraper device people first turn left to S8
Curved 90 °, machine advances, and continually looks for grain heap, if finding grain heap not yet, then bends to right 180 °, and machine advances, and continues to seek
Grain heap is looked for, if still not finding grain heap, then it is assumed that silo does not have grain, herein using the sensing that can cover entire silo
Device；
S9 in step S4 and S5,
If meeting with obstruction during machine advances towards grain heap, then being identified to the type of barrier；
If wall, then avoidance operation is directly opened, if machine can move later, carries out environment sense using sensor
Know, if machine is immovable, then shuts down；
If cage, then cage early warning is carried out, reminds worker that may need to carry out the dismounting of cage, while to cage early warning
Number and the time recorded；
The time interval threshold value of adjacent early warning twice is set, after cage early warning number is more than or equal to 3 times, to adjacent two
The time interval of secondary early warning is calculated, and judges whether it is less than threshold value, and time interval is too short, then shows machine " stuck " on ground
It in cage, then shuts down, and needs manually to be handled by the prompt of sound and light alarm module 24, personnel are in handheld device 3 outside storehouse
Warning note can be received；If cage early warning number is less than 3 times or the adjacent interval of pre-warning time twice is greater than threshold value, continue
Work；
Evacuation described in S10 step S4 and step S5 instructs are as follows: during avoidance, if left side is accessible, to front
There is clear to be judged: if nothing, turning left, otherwise retreated, re-starts the perception of barrier orientation；
During avoidance, if there is barrier in left side, judge whether right side has obstacle, if right side is accessible, equally
Judge whether front has obstacle: if nothing, turning right, otherwise retreat, re-starts the perception of barrier orientation；
During avoidance, if left and right side has obstacle, judges whether front has obstacle: if nothing, can continue
Advance, if so, then showing there is barrier in front of machine with left and right side, indicates " stuck ", immovable, master board output
Alarm command.
Above-mentioned workflow is in practical work process, for the practical operation method of grain scraper device people of the invention
Embodiment, which solve everybody work of current grain scraper device intervention times long, particular job environment are big for the human body extent of damage
Problem, meanwhile, by the built-in algorithm in master controller, the level of informatization and intelligent level of grain scraper device people are improved,
Meet the growth requirement of current wisdom agricultural, there is preferable market value.
The above is not intended to limit the scope of the present invention, therefore all according to technical spirit pair of the invention
Any subtle modifications, equivalent variations and modifications made for any of the above embodiments, all of which are still within the scope of the technical scheme of the invention.
Claims (9)
1. a kind of grain scraper device people's control system, including grain scraper device people and its control system, the grain scraper device people includes machine
Frame, the rack are equipped with automatic walking mechanism, take off paddy conveying device and driving motor；
It is characterized in that,
The control system includes master board (1), environmental monitoring sensor-based system (2) and handheld device (3)；The main control
Plate (1) is connected with the environmental monitoring sensor-based system (2), the handheld device (3) respectively；
The master board (1) is arranged in grain scraper device people, and the sensing equipment setting of the environmental monitoring sensor-based system (2) exists
In the rack of grain scraper device people, the handheld device (3) is manipulated by staff outside storehouse, it is long-range to be used to help off-site personnel
Monitor the grain scraper device people in silo；
The master board (1) receives the signal of the environmental monitoring sensor-based system (2)；
The automatic walking mechanism takes off paddy conveying device and is connected with driving motor with the master board (1), and carries out signal with it
Transmitting-receiving, execute the order of the master board (1),
The environmental monitoring sensor-based system (2) includes range finder module (21), metal detection module (23), temperature and humidity test module
(22), sound and light alarm module (24)；
The range finder module (21) is arranged in the rack of grain scraper device people, for monitoring the obstacle principle around grain scraper device people
Condition；
The metal detection module (23) is arranged on grain scraper device people's automatic walking mechanism chassis, is for detecting grain scraper device people
The no metal cage close in warehouse；
The temperature and humidity test module (22) is arranged on the man-machine frame of grain scraper device, for detecting in grain scraper device people's working environment
Temperature and humidity,
The handheld device (3) includes control chip (31), handheld device power module (32), manipulation module (33), display screen
(34), alarm module (35), handheld device LED indication module (36), handheld device wireless communication module (37)；
The handheld device power module (32) includes handheld device power supply, power sense circuit and power protecting circuit；
The handheld device power supply is dc-battery；The power sense circuit is for adjusting output and detecting supply voltage, institute
Stating power protecting circuit includes diode and fuse, is protected for anti-reverse, surge and high current, and power sense circuit is real-time
Monitoring dc-battery service condition replaces dc-battery or charging so as to user of service in real time；
The control chip (31) is MCU chip, and the manipulation module (33), alarm module (35), hand-held sets display screen (34)
Standby LED indication module (36), handheld device wireless communication module (37) are connected by I/O interface with control chip (31) respectively；
The handheld device wireless communication module (37) is used between handheld device (3) and grain scraper device people master board (1)
It is communicated；
The manipulation module (33) is used to control forward grain scraper device people by key and rocking bar according to demand for control, stopping, closing
Machine, left-hand rotation, right-hand rotation, module (37) is sent to the master board (1) of grain scraper device people by wireless communication for instruction；
The display screen (34) is used to show the monitored picture of infrared camera in warehouse.
2. grain scraper device people's control system according to claim 1, which is characterized in that
The control system further includes serial communication modular (4), wireless communication module (5) and power module (6)；
Described serial communication modular (4) one end is connected with the master board, and one end is connected with the control panel of the driving motor,
For completing the data exchange between control system and driving motor control panel and the transmission of relevant control instruction；
The wireless communication module (5) is connected with the master board (1), and the handheld device (3) passes through the wireless communication
Module (5) is communicated with master board (1)；
Grain scraper device people's working condition is sent to the handheld device outside storehouse by network by the wireless communication module (5)；
Staff outside storehouse by handheld device, can grasp in real time the working condition of grain scraper device people and in time progress manpower intervention,
The operation for taking cage away, grain scraper can be closed by external wireless remote control equipment in time by encountering other emergencies.
3. grain scraper device people's control system according to claim 2, which is characterized in that
The power module (6) includes power supply (61), power supply conditioning circuit (62), power sense circuit (63) and surging prevention
Circuit (64)；
The power supply (61) is 24VDC power supply, by respectively obtaining after the power supply conditioning circuit (62) for master board (1)
Chip and 5.0VDC the and 3.3VDC voltage source that uses of peripheral module；
The power sense circuit (63) prevents the injury to equipment for testing supply voltage；
The anti-surge protection circuit (64) prevents from being reversely connected the injury to circuit, including TVS diode and self-recovery fuse；
It can prevent the injury of surge and electrostatic to circuit to the TVS diode, and the self-recovery fuse can prevent subsequent electricity
Injury when road is broken down to power circuit and control circuit.
4. grain scraper device people's control system according to claim 3, which is characterized in that
The control system further includes relay control module (7) and LED indication module (8), the relay control module (7)
It is mainly used to the equipment for controlling outside need power voltage supply；
The LED indication module (8), whether the work for judging control system is normal, and is sentenced by the light on and off of indicator light
The failure of disconnected control system；
Also there are redundant interfaces for the control system, the increase for follow-up function.
5. grain scraper device people's control system according to claim 4, which is characterized in that
The range finder module (21) is ultrasonic listening device assembly；
The ultrasonic listening device assembly includes: ultrasonic detector module, ultrasonic detector control panel, shell and switching
Part；Grain scraper is locked by bolt in described adapter one end, and the other end connects shell；The ultrasonic detector module is welded on
On the ultrasonic detector control panel, the ultrasonic detector control panel is immobilized in the shell portion.
6. a kind of control method of grain scraper device people, which comprises the following steps:
S1 builds hardware: building grain scraper device people's control system described in one of claim 1-5；
Sensor is arranged in S2: high and low two positions point on the same line perpendicular to ground, on the man-machine frame of grain scraper device
Several range finder modules (21) and metal detection module (23) are not set；Master board (1) according to the detection result of high and low position into
Row judgement:
S3 master board (1) controls grain scraper device people and advances；
S4 range finder module (21) and master board (1) avoid barrier jointly: if the sensor of range finder module (21) different location
Distance measurement result is equal, then is wall, and setting master board exports evacuation instruction under this signal；If institute's ranging is from differing, through counting
Calculation obtains being an inclined-plane, then is grain mass, and setting master board exports under this signal takes off paddy instruction；
S5 metal detection module (23) and master board (1) avoid metal cage jointly: being determined according to the measurement of metal detector
Whether close to metal cage, master board output evacuation instruction is set if close to cage；
If S6 does not hinder, move on, until machine arrival grain heap, then adjusts the direction and position of machine, start
It carries out taking off paddy movement；
S7 complete it is primary take off paddy task after, pass through the neighbouring whether also grain of the sensor of range finder module (21) judgement；If
Have, then it is finely tuned in the grain position and barrier situation, the direction and angle that calculating grain scraper is turned perceived according to sensor
After start to take off paddy；If nothing, large-scale grain heap searching is carried out using sensor, until sensor is detected less than grain mass.
7. control method according to claim 6, which is characterized in that further comprising the steps of:
In step s3, if not finding grain heap, master controller (1) output order makes grain scraper device people first turn to the left to S8
90 °, machine advances, and continually looks for grain heap, if finding grain heap not yet, then bends to right 180 °, and machine advances, and continually looks for
Grain heap, if still not finding grain heap, then it is assumed that silo does not have grain, herein using the sensing that can cover entire silo
Device.
8. control method according to claim 6, which is characterized in that further comprising the steps of:
S9 in step S4 and S5,
If meeting with obstruction during machine advances towards grain heap, then being identified to the type of barrier；
If wall, then avoidance operation is directly opened, if machine can move later, carries out environment sensing using sensor,
If machine is immovable, then shut down；
If cage, then cage early warning is carried out, reminds worker that may need to carry out the dismounting of cage, while time to cage early warning
The several and time is recorded；
The time interval threshold value of adjacent early warning twice is set, after cage early warning number is more than or equal to 3 times, to adjacent pre- twice
Alert time interval is calculated, and judges whether it is less than threshold value, and time interval is too short, then shows machine " stuck " in cage
In, then it shuts down, and need manually to be handled by sound and light alarm module (24) prompt, personnel are on handheld device (3) outside storehouse
Warning note can also be received；If cage early warning number is less than 3 times or the adjacent interval of pre-warning time twice is greater than threshold value, after
Continuous work.
9. control method according to claim 8, which is characterized in that further comprising the steps of:
Evacuation described in S10 step S4 and step S5 instructs are as follows: during avoidance, if left side is accessible, to front whether there is or not
Barrier is judged: if nothing, being turned left, is otherwise retreated, re-starts the perception of barrier orientation；
During avoidance, if there is barrier in left side, judge whether right side has obstacle, it is same to judge if right side is accessible
Whether front has obstacle: if nothing, turning right, otherwise retreats, re-starts the perception of barrier orientation；
During avoidance, if left and right side has obstacle, judges whether front has obstacle: if nothing, can move on,
If so, then showing there is barrier in front of machine with left and right side, indicate " stuck ", immovable, master board output alarm life
It enables.
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| CN106842213A (en) * | 2017-03-16 | 2017-06-13 | 中国电子科技集团公司第三十八研究所 | A kind of surrounding environment sensory perceptual system and method for Bulk Grain export equipment |
| CN107450433A (en) * | 2017-08-15 | 2017-12-08 | 合肥横冲机械科技有限公司 | A kind of tele-control system of grain transporter |
| CN107484821A (en) * | 2017-08-21 | 2017-12-19 | 安徽信息工程学院 | Collection machine is tedded with long-range remote control function |
| CN108886976B (en) * | 2018-08-03 | 2021-03-09 | 武汉轻工大学 | Grain leveling robot and grain leveling robot system |
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