CN108216354A - Shine grain auto-collection system and method - Google Patents
Shine grain auto-collection system and method Download PDFInfo
- Publication number
- CN108216354A CN108216354A CN201711453436.6A CN201711453436A CN108216354A CN 108216354 A CN108216354 A CN 108216354A CN 201711453436 A CN201711453436 A CN 201711453436A CN 108216354 A CN108216354 A CN 108216354A
- Authority
- CN
- China
- Prior art keywords
- collection
- locator
- machine
- front retainer
- grain
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims abstract description 32
- 230000005484 gravity Effects 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 7
- 239000000203 mixture Substances 0.000 claims description 3
- 230000011664 signaling Effects 0.000 claims description 3
- 238000013459 approach Methods 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims description 2
- 235000013339 cereals Nutrition 0.000 description 33
- 238000010586 diagram Methods 0.000 description 10
- 241000209094 Oryza Species 0.000 description 4
- 235000007164 Oryza sativa Nutrition 0.000 description 4
- 235000009566 rice Nutrition 0.000 description 4
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 3
- 238000001035 drying Methods 0.000 description 3
- 238000003306 harvesting Methods 0.000 description 3
- 235000016709 nutrition Nutrition 0.000 description 3
- 229910052760 oxygen Inorganic materials 0.000 description 3
- 239000001301 oxygen Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 229910003460 diamond Inorganic materials 0.000 description 2
- 239000010432 diamond Substances 0.000 description 2
- 235000013305 food Nutrition 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000035764 nutrition Effects 0.000 description 2
- 230000029058 respiratory gaseous exchange Effects 0.000 description 2
- LFQSCWFLJHTTHZ-UHFFFAOYSA-N Ethanol Chemical compound CCO LFQSCWFLJHTTHZ-UHFFFAOYSA-N 0.000 description 1
- 206010037660 Pyrexia Diseases 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000004099 anaerobic respiration Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001704 evaporation Methods 0.000 description 1
- 230000008020 evaporation Effects 0.000 description 1
- 235000011194 food seasoning agent Nutrition 0.000 description 1
- 230000035784 germination Effects 0.000 description 1
- 230000003760 hair shine Effects 0.000 description 1
- 239000004615 ingredient Substances 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 230000036561 sun exposure Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0418—Electric motor acting on road wheel carriers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/14—Draw-gear or towing devices characterised by their type
-
- 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
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
Abstract
The invention discloses a kind of solarization grain auto-collection system and methods, including collecting machine, storage box and alignment system, the collection machine includes fuselage, suction drawing mechanism and automatic running device, the suction drawing mechanism includes suction nozzle, mateiral pump and discharge nozzle, the automatic running device includes wheel, wheel control mechanism and first information transceiver module, the back body is also set up there are one connector, the storage box includes babinet, connecting pole and mounting sheet, and the alignment system includes front retainer collection and rear locator collection.The invention has the advantages that：In the present apparatus, grain is collected automatically by collecting machine, is accurately positioned by alignment system, collection machine can constantly correct direction in traveling so that collection machine advances completely along predetermined paths, and deviation is very small, can collect the grain in threshing ground completely and finish.
Description
Technical field
The present invention relates to machinery fields, especially relate to agricultural harvesting machinery structure, and in particular to a kind of solarization grain is automatic
Collection system and method.
Background technology
During ancient times, people have just known the grain of rice, niblet etc. after harvesting, need to dry and are put in storage again.Such as shining paddy can
So that the moisture evaporation in rice, without moisture, the respiration speed of paddy will reduce, and reduce in oxygen abundance
The loss of nutritional ingredient.In addition it prevents the paddy oxygen-deficient when from carrying out anaerobic respiration, generates alcohol, make paddy mouldy,
And washiness respiration is vigorous, after fever, temperature moisture oxygen can be caused relatively to be suitble to germination, germ reproduction is mouldy, worm
Oviparity is long.Other grains are also the same, and solarization is required for remove moisture removal.
The development of certain modern mechanical, rice drying is general there are two types of drying means, first, directly being set by hot-air seasoning
It is standby to be dried, second is that sun exposure.The grain of drying and the grain that dries compare, and nutrition leak is larger, and it is edible when, mouth
Sense also not as good as the grain dried, so large-scale threshing ground is built on existing large size farm shines grain, increases mouthfeel and the nutrition of food grain.
It is understood that it is to divide paddy on a broad place to shine paddy, moisture is gone by sun solarization, this just needs very more
Manpower goes to place paddy and harvesting rice, when particularly descending weather suddenly change, it would be desirable to rapidly paddy is packed up, avoid by
Rainwater drenches, and paddy is caused to make moist and quickly mouldy.
The existing sack filling machine that grain is collected using vacuum suction is all to need artificial promotion, and Modern China is carrying out farm
The Grain Quantities such as the variation of type agricultural, the paddy that a large-scale farm is gathered in are very big, but grain is being collected on large-scale threshing ground
Very tired even if using sack filling machine and very big to the physical demands of staff during food, staff needs frequent
Rest, working efficiency is than relatively low.For oversized threshing ground, receipts grain is carried out by manual control sack filling machine, speed is slow, consumption
Take labour.
Invention content
The purpose of the present invention is to provide grain auto-collection system and method is shone, grain is shone to solve existing large-scale threshing ground
Afterwards, collect grain speed it is slow, excessively labor intensive the defects of.
To achieve the above object, the technical scheme is that shine grain auto-collection system, including collect machine, storage box and
Alignment system；
The collection machine includes fuselage, suction drawing mechanism and automatic running device, the suction drawing mechanism packet
Suction nozzle, mateiral pump and discharge nozzle are included, suction nozzle is located at the lower end of fuselage, and the suction inlet of suction nozzle is square, after discharge nozzle is located at fuselage
End, mateiral pump are fixed on the upper end of fuselage, and the automatic running device includes wheel, wheel control mechanism and the first information and receives
Send out module, the wheel control mechanism include rotary electric machine, steering motor, deflecting plate and controller, the wheel and turn
Dynamic motor is all mounted on deflecting plate, and rotary electric machine drives vehicle wheel rotation, and deflecting plate is installed in rotation on the lower end of fuselage, is turned
The center of deflecting plate is connected to the motor shaft of motor, steering motor drives deflecting plate rotation；
The back body is also set up there are one connector, and jack, the inner wall of jack are provided on the connector
On be provided with blocked hole, setting clamping joint, electromagnet and spring, the electromagnet are mounted on blocked hole in the blocked hole
Bottom hole, spring one end connection electromagnet, the other end connection clamping joint, the one end of the clamping joint far from spring be clamping stagnation
End, spring push clamping joint so that clamping stagnation end enters jack, electromagnet absorption clamping joint so that clamping stagnation end enters blocked hole, card
When stagnant end is located in jack, one side of the clamping stagnation end backwards to jack aperture is vertical plane, and the one side in clamping stagnation end towards jack aperture is
Inclined surface, the vertical plane is perpendicular to the extending direction of jack, and vertical plane and inclined surface are from the end at clamping stagnation end to clamping stagnation end
End tail in gradually drawing close, the end at clamping stagnation end connects clamping joint, the rotary electric machine, steering motor, first information receipts
Hair module and electromagnet are all electrically connected with the controller；
The storage box includes babinet, connecting pole and mounting sheet, and the connecting pole is mounted on the side of babinet, described
Connecting pole matched with jack, be provided on the post jamb of connecting pole and be mounted on the matched clamping stagnation hole in clamping stagnation end, the babinet
The upper surface of mounting sheet is provided with gravity sensor between babinet and mounting sheet, be provided with idler wheel below mounting sheet, on babinet
The second signal dispatcher module is additionally provided with, the signal output end of gravity sensor is connected to the second signal dispatcher module；
The alignment system includes front retainer collection and rear locator collection, and the front retainer collection includes N number of preceding fixed
Position device, the rear locator collection include N number of rear locator, and the front retainer collection is located at the front end on threshing ground, fixed before all
Position device equidistantly arranges the rear end that rear locator collection in alignment, described is located at threshing ground, and all rear locators are equidistantly arranged
Arrange it is in alignment, the interval of two neighboring front retainer be equal to it is adjacent after locator interval, and two neighboring front retainer
Interval less than the width of suction nozzle, the straight line parallel that straight line that front retainer is arranged in is arranged in rear locator.
The collection machine further includes solar panel, and the solar panel is mounted on the upper end of fuselage.
The blocked hole is square hole, and the shape size of clamping joint is matched with blocked hole.
The end semicircular in shape of the connecting pole.
Alarm, alarm connection controller are provided on the collection machine.
The automatic collection method of grain is shone, is included the following steps：
Step 1：Alignment system, front retainer collection and rear locator collection composition rectangle, all prelocalizations are arranged on threshing ground
Device is all located in a rectangular wherein long side, and all rear locators are all located in rectangular another long side, preceding fixed
Position device is concentrated, from left to right, including the first front retainer A1, the second front retainer A2..., N front retainers AN；Locator afterwards
It concentrates, from left to right, including locator B after first1, locator B after second2..., locator B after NN, all front retainers
To correspond with all rear locators, i.e. the first front retainer A1Locator B after corresponding first1, the second front retainer A2It is corresponding
Locator B after second2, and so on, the grain shone in threshing ground should be located in rectangle, the first front retainer A1, the second prelocalization
Device A2Between the width for being smaller than suction nozzle on collection machine；
Step 2：Staff starts collection machine, and storage box is connected to collection machine, and the connecting pole on storage box, which is inserted into, to be received
In connector on collection machine so that storage box is fixed on the rear end of collection machine, and the case mouth of storage box is located at the underface of discharge nozzle；
Step 3：Collection machine drives threshing ground into, collects the mobile route of machine and is：Odd number front retainer is moved to corresponding rear fixed
Position device, locator is moved to corresponding front retainer after even number, and even number front retainer is moved to next front retainer, after odd number
Locator is moved to next rear locator；Collection machine is from the first front retainer A1Place sets out, locator B after being moved to first1,
Locator B after continuing to move to second2, move again to the second front retainer A2, and so on；
Step 4：Collection machine all periodically transmits a signal to the locator on the route and next route on every route,
Machine is such as collected from A1It is moved to B1, that is, transmit a signal to the first front retainer A1, locator B after first1With second after locator B2,
Collection machine can record timestamp when sending signal, the first front retainer A when sending signal1, locator B after first1After second
Locator B2After receiving information, timestamp when receiving information can be returned to collection machine, controller is according to information in collection machine
Transmission time calculates collection machine and the first front retainer A respectively1, locator B after first1With second after locator B2Away from
From can determine oneself position by range information, for adjusting moving direction, ensure from A1It is moved to B1Straight line move
It is dynamic, to from A1To B1Grain on route is collected；
Step 5：Collection machine is moved to B1Afterwards, it collects machine and adjusts moving direction, from B1It is moved to B2, at this moment transmit a signal to
Locator B after first1, locator B after second2With the second front retainer A2, constantly determine position, ensure linear movement, to from B1
To B2Grain on route is collected；
Step 6：Collection machine is moved to B2Afterwards, it collects machine and adjusts moving direction, from B2It is moved to A2, at this moment transmit a signal to
Locator B after second2, the second front retainer A2With third front retainer A3, constantly determine position, ensure linear movement, to from B2
To A2Grain on route is collected；
Step 7：And so on, machine is collected by AN、BNBetween grain collecting it is complete after terminate.
When the collection machine collects grain, in storage box, gravity sensor senses that the weight of babinet reaches setting weight
During amount, that is, collection machine is transmitted a signal to, controller control wheel control mechanism and suction drawing mechanism are stopped, and start report
Alert device sends alarm to staff, and staff carries out replacement storage box.
The method collected machine and adjust moving direction described in step 4：When the machine of collection reaches X points, X points arrive A respectively1、B1With
B2Between line segment be L1、L2And L3, controller calculates L according to information transmission time1、L2And L3Length, it is known that A1To B1
Between line segment be L4Length, B1To B2Between line segment L5Length, L1、L2And L4It is triangle, L4On distance X point closest approaches
It is P, calculates P to B2Between line segment L6, according to L6And L3Size compare, judge collection machine and line segment L4Right position,
The rotation direction of wheel is adjusted by controller again；
It is known that L4And L5, machine is collected in X points, and signal, the first front retainer A are sent out when t1, position after first
Device B1With second after locator B2The time for receiving signal is respectively t1、t2And t3, so L1=s × (t1- t), L2=s ×
(t2- t), L3=s × (t3- t), s is signaling rate.
The calculation formula of the line segment L6 is：
The line segment L1With line segment L4Between angle be α, the value of α can be calculated by the cosine law, controller control
Wheel control mechanism causes the angle that wheel is biased to for β, the α of the α≤β≤2.
The invention has the advantages that：
(1) in the present apparatus, grain being collected automatically by collecting machine, is accurately positioned by alignment system, the machine of collection exists
Direction can be constantly corrected in traveling so that collection machine advances completely along predetermined paths, and deviation is very small, can will be in threshing ground
Grain is collected finish completely；
(2) storage box of machine rear end is collected, the weight of grain can be monitored, when being collected into the storage box upper limit, i.e., automatically
Collection machine is transmitted a signal to, collection machine stops collecting at once, and sends out alarm, and staff is allowed to replace storage box rapidly；
(3) the adjustment in direction data of machine are collected, from position, steering angle is obtained by formula, ensures rapid return
To setting circuit.
Description of the drawings
Fig. 1 is the structure diagram of the present apparatus.
Fig. 2 is the structure diagram of suction nozzle.
Fig. 3 is the structure diagram of wheel control mechanism.
Fig. 4 is the structure diagram of connector.
Fig. 5 is that internal electronic equipment connects block diagram in device.
Fig. 6 is the arrangement schematic diagram of alignment system.
Fig. 7 is mobile route schematic diagram of the collection machine on threshing ground.
Fig. 8 for collection machine on threshing ground from A1To B1Calculating adjustment schematic diagram when mobile when deviation occur in X points.
Fig. 9 for collection machine on threshing ground from B1To B2In X when mobile1There is calculating adjustment schematic diagram during deviation in point.
Figure 10 for collection machine on threshing ground from B2To A2In X when mobile2There is calculating adjustment schematic diagram during deviation in point.
Specific embodiment
The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention..
As shown in figures 1 to 6, grain auto-collection system and method are shone, including collecting machine 1, storage box 2 and alignment system 3；
The collection machine 1 includes fuselage 101, suction drawing mechanism 102 and automatic running device 103, the suction
Drawing mechanism 102 includes suction nozzle 104, mateiral pump 105 and discharge nozzle 106, and suction nozzle 104 is located at the lower end of fuselage 101, suction nozzle 104
Suction inlet be square, discharge nozzle 106 is located at the rear end of fuselage 101, and mateiral pump 106 is fixed on the upper end of fuselage 101, it is described from
Dynamic mobile devices 103 include wheel 107, wheel control mechanism 108 and first information transceiver module 109, wheel control
Mechanism 108 includes rotary electric machine 110, steering motor 111, deflecting plate 112 and controller 113, the wheel 107 and rotation electricity
Machine 110 is all mounted on deflecting plate 112, and rotary electric machine 110 is rotated with motor car wheel 107, and deflecting plate 112 is installed in rotation on machine
The lower end of body 101, the motor shaft of steering motor 111 are connected to the center of deflecting plate 112, and steering motor 111 drives deflecting plate 112
Rotation；
101 rear end of fuselage is also set up there are one connector 114, and jack is provided on the connector 114
115, it is provided with blocked hole 116 on the inner wall of jack 115, setting clamping joint 117,118 and of electromagnet in the blocked hole 116
Spring 119, the electromagnet 118 are mounted on the bottom hole of blocked hole 116,119 one end of spring connection electromagnet 118, the other end
Clamping joint 117 is connected, described one end of clamping joint 117 far from spring 119 is clamping stagnation end 120, and spring 119 pushes clamping joint
117 so that clamping stagnation end 120 enters jack 115, and electromagnet 118 adsorbs clamping joint 117 so that clamping stagnation end 120 enters blocked hole
116, when clamping stagnation end 120 is located in jack 115, clamping stagnation end 120 backwards to 115 aperture of jack one side for vertical plane 121, clamping stagnation end
120 one side towards 115 aperture of jack is inclined surface 122, and the vertical plane 121 hangs down perpendicular to the extending direction of jack 115
Face directly 121 and end tail of the inclined surface 122 from the end at clamping stagnation end 120 to clamping stagnation end 120 in gradually drawing close, the end at clamping stagnation end 120
Head i.e. connection clamping joint 117, the rotary electric machine 110, steering motor 111, first information transceiver module 109 and electromagnet
118 are all electrically connected with controller 113；
The storage box 2 includes babinet 201, connecting pole 202 and mounting sheet 204, and the connecting pole 202 is mounted on case
The side of body 201, the connecting pole 202 are matched with jack 115, are provided on the post jamb of connecting pole 202 and 120, clamping stagnation end
The clamping stagnation hole 203 matched, the babinet 201 are mounted on the upper surface of mounting sheet 204, are set between babinet 201 and mounting sheet 204
There is gravity sensor 205, the lower section of mounting sheet 204 is provided with idler wheel 206, the second information transmit-receive mould is additionally provided on babinet 201
Block 207, the signal output end of gravity sensor 205 are connected to the second signal dispatcher module 207；
The alignment system 3 includes front retainer collection 301 and rear locator collection 302, the front retainer Ji301Bao
N number of front retainer 303 is included, the rear locator collection 302 includes N number of rear locator 304, the front retainer collection 301
In the front end on threshing ground 4, all front retainers 303 equidistantly arrange rear locator collection 302 in alignment, described and are located at threshing ground
4 rear end, it is all after locators 304 equidistantly arrange in alignment, the interval of two neighboring front retainer 303 is equal to adjacent
The interval of locator 304 afterwards, and the interval of two neighboring front retainer 303 is less than the width of suction nozzle 104,303 row of front retainer
The straight line parallel that the straight line arranged is arranged in rear locator 304.
The collection machine 1 further includes solar panel 123, and the solar panel 123 is mounted on fuselage 101
Upper end.Solar panel 123 provides electric energy for all electronic modules so that collection machine 1 is continued a journey farther, and solar-electricity
Pond plate 123 has the function of to keep the sun off so that it is longer to collect 1 service life of machine.
The blocked hole 116 is square hole, and the shape size of clamping joint 117 is matched with blocked hole 116.Blocked hole 116
For square hole, the section of clamping joint 117 is also rectangular, and allowing for clamping joint 117 cannot be rotated in blocked hole 116,
It is avoided that clamping joint 117 causes to lose the fixed effect to connecting pole 202 because of rotation.
The end semicircular in shape of the connecting pole 202.End semicircular in shape so that 202 are touching clamping stagnation end 120
During inclined surface 122, it is easier to promote at clamping stagnation end 120 in blocked hole 116.
Alarm 124 is provided on the collection machine 1, alarm 124 connects controller 113.Alarm 124 is exactly to use
In to staff send warning message.
The operation principle of machine 1 is collected in the present invention：Staff opens collection machine 1, and wheel control mechanism 108 controls wheel
107 move forward or back, and also control the direction of travel of wheel 107, and rotary electric machine 110 controls wheel 107 to rotate so that collect
Machine 1 is walked, and steering motor 111 controls 107 deflecting of wheel so that 1 direction of travel of collection machine changes；Rotary electric machine 110 is pacified
On deflecting plate 112, deflecting plate 112 is a circular slab, and periphery is groove, and steering motor 111 passes through a gear band
Dynamic deflecting plate 112 rotates, so that rotary electric machine 110 rotates, final wheel 107 turns to.
After mateiral pump 105 starts, suction end connection suction nozzle 104, outlet side connection discharge nozzle 106, mateiral pump 105 is from suction
Grain is pumped at first 104, is then discharged at discharge nozzle 106, discharge nozzle 106 is located in the top of storage box 2, and grain is just fallen into
In storage box 2.
In the present embodiment, automatic running device 103 includes four wheels, 107, four wheel control mechanisms 108 and one
First information transceiver module 109, four wheel control mechanisms 108 control the traveling and steering of four wheels 107 respectively.
The connection mode of collection machine 1 and storage box 2：There is connector 114 on collection machine 1, there is connecting pole 202 on storage box 2,
It is fixed in the jack 115 that connecting pole 202 is inserted on connector 114, in jack 115, clamping joint 117, card is set on side wall
Connector 117 can be taken in blocked hole 116 completely, can also promote jack 115 by spring 118, when connecting pole 202 is inserted into jack
When in 115, electromagnet 118 does not start, and spring 118 pushes clamping joint 117, and clamping stagnation end 120 is located in jack 115, and clamping stagnation end
120 towards 115 port of jack be inclined surface 122 on one side, and with the advance of connecting pole 202, clamping stagnation end 120 can be squeezed into again
Blocked hole 116, after connecting pole 202 reaches 115 bottom of jack, the clamping stagnation end 120 of clamping joint 117 can enter on connecting pole 202
Clamping stagnation hole 203 in, if connecting pole 202 will exit jack 115, clamping stagnation hole 203 is bonded with the vertical plane at clamping stagnation end 120, nothing
Blocked hole 116 is squeezed into clamping stagnation end 120 by method, so that connecting pole 202 can not exit jack 115, such collection machine 1 is just with depositing
Put between case 2 that just connection is fixed.
In collection machine 1, after electromagnet 118 starts, clamping joint 117 can be sucked blocked hole 116, at this moment connecting pole 202 is just
It can extract out, storage box 2 and collection machine 1 is allowed to separate.
In storage box 2, gravity sensor 205 is monitored the weight of babinet 201, if babinet 201 is conducted oneself with dignity 100 jin, receives
After collection machine 1 sprays into grain (such as paddy) into babinet 201, after the weight of babinet 201 reaches 1 ton, paddy can reach babinet 201
Interior space most probably, at this moment by the second signal dispatcher module 207 to the collection transmission information of machine 1, collection machine 1 just stops storage box 2
Only collection acts, and such as stops mobile, mateiral pump 105 and is stopped.And it collects the alarm 124 on machine 1 and sends out alarm sound,
Allow staff's Awareness status, staff can in time replace storage box 2.
Alignment system 3 is mounted in threshing ground 4, and alignment system 3 includes two rows of one-to-one locators, and locator is divided into one
Arrange locator 304 (i.e. afterwards locator collection 302) after front retainer 303 (i.e. front retainer collection 301) and a row, row's front retainer
303 equidistantly arrange, and locator 304 is also equidistantly arrangement, and the spacing of front retainer 303 and rear locator after a row
304 spacing is consistent, and front retainer 303 connects into line segment A, rear locator 304 connect into line segment B, line segment A and line segment B it is first,
Tail tail reconnects, and constitutes one rectangular (although diamond shape can also, diamond shape is unfavorable for 1 calculation position of collection machine),
When collection machine 1 enters threshing ground 4, one of edge point is at, then starts to collect grain, collection mode is specifically as automatic in shone grain
Collection method includes the following steps：
Step 1：Alignment system 3, front retainer collection 301 and rear locator collection 302 composition rectangle, institute are arranged on threshing ground 4
There is front retainer 303 to be all located in a rectangular wherein long side, all rear locators 304 are all located at rectangular another
In long side, in front retainer collection 301, from left to right, including the first front retainer A1, the second front retainer A2..., it is fixed before N
Position device AN；Afterwards in locator collection 302, from left to right, including locator B after first1, locator B after second2..., position after N
Device BN, all front retainers 303 and all rear locators 304 are to correspond, i.e. the first front retainer A1It is positioned after corresponding first
Device B1, the second front retainer A2Locator B after corresponding second2, and so on, the grain shone in threshing ground 4 should be located in rectangle,
First front retainer A1, the second front retainer A2Between the width for being smaller than suction nozzle 104 on collection machine 1；Specific arrangement is complete
Office such as Fig. 7.
All locators are numbered, facilitate the transmission of signal, facilitate the resolution of collection machine 1.
Step 2：Staff starts collection machine 1, storage box 2 is connected to collection machine 1, the connecting pole 202 on storage box 2
It is inserted into the connector 114 on collection machine 1 so that storage box 2 is fixed on the rear end of collection machine 1, and the case mouth of storage box 2 is located at
The underface of expects pipe 106；
Step 3：Collection machine 1 drives threshing ground 4 into, and the mobile route of collection machine 1 is：Odd number front retainer 303 is moved to correspondence
Rear locator 304, locator 304 is moved to corresponding front retainer 303 after even number, and even number front retainer 303 is moved to down
One front retainer 303, after odd number locator 304 be moved to it is next after locator 304；Collection machine 1 is from the first front retainer
A1Place sets out, locator B after being moved to first1, locator B after continuing to move to second2, move again to the second front retainer A2,
And so on；
Such mobile route, all locators can be passed through by allowing for collection machine 1, and specific route map such as Fig. 7, dotted line is just
It is the path that collection machine 1 moves.
Step 4：Collection machine 1 all periodically transmits a signal to the positioning on the route and next route on every route
Device such as collects machine 1 from A1It is moved to B1, that is, transmit a signal to the first front retainer A1, locator B after first1With second after position
Device B2, collection machine 1 send signal when can record send signal when timestamp, the first front retainer A1, locator B after first1With
Locator B after second2After receiving information, controller in machine 1 can be collected by timestamp when receiving information back to collection machine 1
113, according to information transmission time, calculate 1 and first front retainer A of collection machine respectively1, locator B after first1With second after it is fixed
Position device B2Distance, oneself position can be determined by range information, for adjusting moving direction, ensured from A1It is moved to
B1Linear movement, to from A1To B1Grain on route is collected；In Fig. 8, machine 1 is exactly collected from A1It is moved to B1When
Mobile figure, such as encounters deviation, is then automatically adjusted, and adjusts process：
The method collected machine 1 and adjust moving direction described in step 4：X points are reached when collecting machine 1, X points arrive A respectively1、B1
And B2Between line segment be L1、L2And L3, controller 113 calculates L according to information transmission time1、L2And L3Length, it is known that A1
To B1Between line segment be L4Length, B1To B2Between line segment L5Length, L1、L2And L4It is triangle, L4On distance X points most
Near point is P, calculates P to B2Between line segment L6, work as L6Less than L3When, machine 1 is collected i.e. in line segment L4The right, controller 113
Control wheel control mechanism 108 so that 107 left avertence of wheel to；Otherwise machine 1 is collected in line segment L4The left side, controller 113 controls
Wheel control mechanism 108 so that 107 right avertence of wheel to；The deviation of wheel 107 is on original direction of travel, is biased to.
It is known that L4And L5, machine 1 is collected in X points, and signal, the first front retainer A are sent out when t1, position after first
Device B1With second after locator B2The time for receiving signal is respectively t1、t2And t3, so L1=s × (t1- t), L2=s ×
(t2- t), L3=s × (t3- t), s is signaling rate.
The calculation formula of the line segment L6 is：
The line segment L1With line segment L4Between angle be α, the value of α, controller 113 can be calculated by the cosine law
Wheel control mechanism 108 is controlled so that the angle that wheel 107 is biased to is β, the α of the α≤β≤2.
There is collection machine 1 to go to the first prelocalization A from 4 edge of threshing ground certainly1The process at place, this process and three-point fix
Unanimously and it send information to the first front retainer A1, locator B after first1With second after locator B2, constantly send and connect
It collects mail and ceases, so as to go to A1Surface, and during this, mateiral pump 105 is not turned on.
Step 5：Collection machine 1 is moved to B1Afterwards, it collects machine 1 and adjusts moving direction, from B1It is moved to B2, at this moment send signal
Locator B after to first1, locator B after second2With the second front retainer A2, constantly determine position, ensure linear movement, to from
B1To B2Grain on route is collected；It such as Fig. 9, is calculated, X1To A2Distance be less than P1To A2Distance, X1In line
Section B1B2The left side, controller 113 control wheel control mechanism 108 so that 107 right avertence of wheel to so that collection machine 1 comes back to
B1B2On, it is biased to angle as above wherein calculating, X is calculated by the cosine law1B1And B1B2Angle α1.It is inclined as wheel 107
To angle beta1, it is α1≤β1≤2α1。
Step 6：Collection machine 1 is moved to B2Afterwards, it collects machine 1 and adjusts moving direction, from B2It is moved to A2, at this moment send signal
Locator B after to second2, the second front retainer A2With third front retainer A3, constantly determine position, ensure linear movement, to from
B2To A2Grain on route is collected；It such as Figure 10, is calculated, X2To A3Distance be less than P2To A3Distance, X2It is in
Line segment B2A2The right, controller 113 control wheel control mechanism 108 so that 107 left avertence of wheel to so that collection machine 1 returns again
To B2A2On, it is biased to angle as above wherein calculating, X is calculated by the cosine law2B2And A2B2Angle α2.As for wheel 107
It is biased to angle beta2, it is α2≤β2≤2α2。
Step 7：And so on, machine 1 is collected by AN、BNBetween grain collecting it is complete after terminate.
When the collection machine 1 collects grain, in storage box 2, gravity sensor 205 senses that the weight of babinet 201 reaches
During to setting weight, that is, collection machine 1 is transmitted a signal to, controller 113 controls wheel control mechanism 108 and suction drawing mechanism
102 are stopped, and start alarm 124 and send alarm to staff, and staff carries out replacing storage box 2.
Although above having used general explanation and specific embodiment, the present invention is described in detail, at this
On the basis of invention, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Therefore,
These modifications or improvements without departing from theon the basis of the spirit of the present invention belong to the scope of protection of present invention.
Claims (10)
1. shine grain auto-collection system, which is characterized in that including collecting machine (1), storage box (2) and alignment system (3)；
The collection machine (1) includes fuselage (101), suction drawing mechanism (102) and automatic running device (103), described
Suction drawing mechanism (102) includes suction nozzle (104), mateiral pump (105) and discharge nozzle (106), and suction nozzle (104) is positioned at fuselage
(101) lower end, the suction inlet of suction nozzle (104) are square, and discharge nozzle (106) is positioned at the rear end of fuselage (101), mateiral pump (106)
The upper end of fuselage (101) is fixed on, the automatic running device (103) includes wheel (107), wheel control mechanism (108)
With first information transceiver module (109), the wheel control mechanism (108) includes rotary electric machine (110), steering motor
(111), deflecting plate (112) and controller (113), the wheel (107) and rotary electric machine (110) are all mounted on deflecting plate
(112) on, rotary electric machine (110) band motor car wheel (107) rotates, and deflecting plate (112) is installed in rotation under fuselage (101)
End, the motor shaft of steering motor (111) are connected to the center of deflecting plate (112), and steering motor (111) drives deflecting plate (112)
Rotation；
Described fuselage (101) rear end is also set up there are one connector (114), and the connector is provided with jack on (114)
(115), it is provided with blocked hole (116) on the inner wall of jack (115), setting clamping joint (117) in the blocked hole (116),
Electromagnet (118) and spring (119), the electromagnet (118) is mounted on the bottom hole of blocked hole (116), spring (119) one end
Electromagnet (118), other end connection clamping joint (117) are connected, the one end of the clamping joint (117) far from spring (119) is
Clamping stagnation end (120), spring (119) push clamping joint (117) so that clamping stagnation end (120) are into jack (115), electromagnet (118)
Adsorb clamping joint (117) so that clamping stagnation end (120) into blocked hole (116), when clamping stagnation end (120) are in jack (115),
Clamping stagnation end (120) backwards to jack (115) aperture one side for vertical plane (121), clamping stagnation end (120) are towards jack (115) aperture
One side for inclined surface (122), the vertical plane (121) perpendicular to jack (115) extending direction, vertical plane (121) and
End tail of the inclined surface (122) from the end of clamping stagnation end (120) to clamping stagnation end (120) is in gradually to draw close, the end of clamping stagnation end (120)
That is connection clamping joint (117), the rotary electric machine (110), steering motor (111), first information transceiver module (109) and electricity
Magnet (118) is all electrically connected with controller (113)；
The storage box (2) is pacified including the connecting pole (202) described in babinet (201), connecting pole (202) and mounting sheet (204)
Mounted in the side of babinet (201), the connecting pole (202) is matched with jack (115), is set on the post jamb of connecting pole (202)
There is clamping stagnation hole (203) matched with clamping stagnation end (120), the babinet (201) is mounted on the upper surface of mounting sheet (204), case
Gravity sensor (205) is provided between body (201) and mounting sheet (204), mounting sheet is provided with idler wheel below (204)
(206), the second signal dispatcher module (207) is additionally provided on babinet (201), the signal output end of gravity sensor (205) connects
It is connected to the second signal dispatcher module (207)；
Front retainer collection of the alignment system (3) described in including front retainer collection (301) and rear locator collection (302)
(301) including N number of front retainer (303), the rear locator collection (302) includes N number of rear locator (304), before described
Locator collection (301) positioned at the front end of threshing ground (4), all front retainers (303) equidistantly arrange it is in alignment, after described
Locator collection (302) positioned at the rear end of threshing ground (4), it is all after locators (304) equidistantly arrange it is in alignment, it is two neighboring
The interval of front retainer (303) is equal to the interval of adjacent rear locator (304), and the interval of two neighboring front retainer (303)
Less than the width of suction nozzle (104), straight line parallel that straight line that front retainer (303) is arranged in is arranged in rear locator (304).
2. grain auto-collection system is shone as described in claim 1, which is characterized in that the collection machine (1) further includes the sun
Energy solar panel (123), the solar panel (123) is mounted on the upper end of fuselage (101).
3. grain auto-collection system is shone as described in claim 1, which is characterized in that the blocked hole (116) is square hole,
The shape size of clamping joint (117) is matched with blocked hole (116).
4. grain auto-collection system is shone as described in claim 1, which is characterized in that the end of the connecting pole (202) is in
It is semicircle.
5. grain auto-collection system is shone as described in claim 1, which is characterized in that be provided with report on the collection machine (1)
Alert device (124), alarm (124) connection controller (113).
6. shine the automatic collection method of grain, which is characterized in that include the following steps：
Step 1：In threshing ground (4) arrangement alignment system (3), front retainer collection (301) and rear locator collection (302) composition are rectangular
Shape, all front retainers (303) are all located in a rectangular wherein long side, and all rear locators (304) are all located at growing
In another rectangular long side, in front retainer collection (301), from left to right, including the first front retainer A1, the second front retainer
A2..., N front retainers AN；Afterwards in locator collection (302), from left to right, including locator B after first1, locator after second
B2..., locator B after NN, all front retainers (303) and all rear locators (304) are to correspond, i.e., fixed before first
Position device A1Locator B after corresponding first1, the second front retainer A2Locator B after corresponding second2, and so on, it is shone in threshing ground (4)
Grain should be located at rectangle in, the first front retainer A1, the second front retainer A2Between be smaller than inhaled on collection machine (1)
The width of head (104)；
Step 2：Staff starts collection machine (1), storage box (2) is connected to collection machine (1), the connection on storage box (2)
Column (202) is inserted into the connector (114) on collection machine (1) so that storage box (2) is fixed on the rear end of collection machine (1), storage
The case mouth of case (2) is located at the underface of discharge nozzle (106)；
Step 3：Collection machine (1) drives threshing ground (4) into, collects the mobile route of machine (1) and is：Odd number front retainer (303) is moved to
Locator (304) after corresponding, locator (304) is moved to corresponding front retainer (303), even number front retainer after even number
(303) next front retainer (303) is moved to, locator (304) is moved to next rear locator (304) after odd number；It receives
Collection machine (1) is from the first front retainer A1Place sets out, locator B after being moved to first1, locator B after continuing to move to second2, then
It is moved to the second front retainer A2, and so on；
Step 4：Collection machine (1) all periodically transmits a signal to the locator on the route and next route on every route,
Machine (1) is such as collected from A1It is moved to B1, that is, transmit a signal to the first front retainer A1, locator B after first1With second after position
Device B2, collect the timestamp that can be recorded when machine (1) sends signal when sending signal, the first front retainer A1, locator B after first1
With second after locator B2After receiving information, it can be collected in machine (1) by timestamp when receiving information back to collection machine (1)
Controller (113) calculates collection machine (1) and the first front retainer A respectively according to information transmission time1, locator B after first1
With second after locator B2Distance, oneself position can be determined by range information, for adjusting moving direction, ensure
From A1It is moved to B1Linear movement, to from A1To B1Grain on route is collected；
Step 5：Collection machine (1) is moved to B1Afterwards, it collects machine (1) and adjusts moving direction, from B1It is moved to B2, at this moment send signal
Locator B after to first1, locator B after second2With the second front retainer A2, constantly determine position, ensure linear movement, to from
B1To B2Grain on route is collected；
Step 6：Collection machine (1) is moved to B2Afterwards, it collects machine (1) and adjusts moving direction, from B2It is moved to A2, at this moment send signal
Locator B after to second2, the second front retainer A2With third front retainer A3, constantly determine position, ensure linear movement, to from
B2To A2Grain on route is collected；
Step 7：And so on, machine (1) is collected by AN、BNBetween grain collecting it is complete after terminate.
7. the automatic collection method of grain is shone as claimed in claim 6, which is characterized in that when the collection machine (1) collects grain,
In storage box (2), when gravity sensor (205) senses that the weight of babinet (201) reaches setting weight, that is, receipts are transmitted a signal to
Collection machine (1), controller (113) control wheel control mechanism (108) and suction drawing mechanism (102) are stopped, and start report
Alert device (124) sends alarm to staff, and staff carries out replacement storage box (2).
8. the automatic collection method of grain is shone as claimed in claim 6, which is characterized in that the collection machine (1) described in step 4 is adjusted
The method of moving direction：When the machine of collection (1) reaches X points, X points arrive A respectively1、B1And B2Between line segment be L1、L2And L3, control
Device (113) calculates L according to information transmission time1、L2And L3Length, it is known that A1To B1Between line segment L4Length, B1To B2
Between line segment L5Length, L1、L2And L4It is triangle, L4On distance X point closest approaches be P, calculate P to B2Between line segment
L6, according to L6And L3Size compare, judge collection machine (1) and line segment L4Right position, then pass through controller (113) adjust
The rotation direction of wheel (107)；
It is known that L4And L5, machine (1) is collected in X points, and signal, the first front retainer A are sent out when t1, locator after first
B1With second after locator B2The time for receiving signal is respectively t1、t2And t3, so L1=s × (t1- t), L2=s × (t2-
T), L3=s × (t3- t), s is signaling rate.
9. the automatic collection method of grain is shone as claimed in claim 8, which is characterized in that the calculation formula of the line segment L6 is：
10. the automatic collection method of grain is shone as claimed in claim 9, which is characterized in that the line segment L1With line segment L4Between
Angle is α, the value of α can be calculated by the cosine law, controller (113) control wheel control mechanism (108) is so that wheel
(107) angle being biased to is β, the α of the α≤β≤2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711453436.6A CN108216354A (en) | 2017-12-27 | 2017-12-27 | Shine grain auto-collection system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711453436.6A CN108216354A (en) | 2017-12-27 | 2017-12-27 | Shine grain auto-collection system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108216354A true CN108216354A (en) | 2018-06-29 |
Family
ID=62649178
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711453436.6A Pending CN108216354A (en) | 2017-12-27 | 2017-12-27 | Shine grain auto-collection system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108216354A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101734488A (en) * | 2009-11-24 | 2010-06-16 | 淮安市捷达粮食设备有限公司 | Mechanized grain collecting equipment of sunning grounds |
| CN103964217A (en) * | 2013-02-05 | 2014-08-06 | 华东师范大学附属枫泾中学 | Grain collector |
| US20150023767A1 (en) * | 2013-07-17 | 2015-01-22 | Sheldon Affleck | Method and apparatus for loading railcars with crop material |
| CN106489424A (en) * | 2016-11-21 | 2017-03-15 | 镇江市胜得机械制造有限责任公司 | A kind of rear-mounted carrier loader of automatic fruit picker |
| CN207889806U (en) * | 2017-12-27 | 2018-09-21 | 德庆县巨丰农业发展有限公司 | Shine grain auto-collection system |
-
2017
- 2017-12-27 CN CN201711453436.6A patent/CN108216354A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101734488A (en) * | 2009-11-24 | 2010-06-16 | 淮安市捷达粮食设备有限公司 | Mechanized grain collecting equipment of sunning grounds |
| CN103964217A (en) * | 2013-02-05 | 2014-08-06 | 华东师范大学附属枫泾中学 | Grain collector |
| US20150023767A1 (en) * | 2013-07-17 | 2015-01-22 | Sheldon Affleck | Method and apparatus for loading railcars with crop material |
| CN106489424A (en) * | 2016-11-21 | 2017-03-15 | 镇江市胜得机械制造有限责任公司 | A kind of rear-mounted carrier loader of automatic fruit picker |
| CN207889806U (en) * | 2017-12-27 | 2018-09-21 | 德庆县巨丰农业发展有限公司 | Shine grain auto-collection system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207889806U (en) | Shine grain auto-collection system | |
| CN205132573U (en) | Grain device is received on threshing ground with adjustable | |
| CN202617625U (en) | High pressure electrostatic adsorption type mulch collecting machine | |
| CN108750116A (en) | A kind of accurate drill unit of agricultural unmanned aerial vehicle collection wind press-down type and control method | |
| CN107580867A (en) | Hand propelled FLOS CHRYSANTHEMI ALBA from Haizhou of China broach cotton-picking machine | |
| CN203261753U (en) | Integrated-rod type sugar cane harvester | |
| CN109289172A (en) | A kind of tennis automatic picking device | |
| CN108216354A (en) | Shine grain auto-collection system and method | |
| CN207917741U (en) | It is controllable to shine grain collecting device | |
| CN209664442U (en) | Cutting equipment is used in a kind of production of unmanned plane horn | |
| CN202455875U (en) | Broad bean threshing machine | |
| CN205619757U (en) | Device is helped in remote monitoring of grain drying machine | |
| CN108082820A (en) | It is controllable to shine grain collecting device and method | |
| CN109626011A (en) | A kind of cereal dust-extraction unit | |
| CN207897383U (en) | Organic particulate matter is walked with electrical salf-walking and sheds machine in tea place | |
| CN207564545U (en) | One kind is made rich in vitamin C Chinese medicine lemon of slice drying equipment | |
| CN209268045U (en) | A kind of Famous High-quality Tea intelligence both arms tea picking machine | |
| CN207235442U (en) | Seedling and flexible reduction of speed conveying device are cut in a kind of garlic digging harvester profiling | |
| CN209473025U (en) | A kind of novel potato harvester | |
| CN202955927U (en) | Vibrated fluidized bed drying equipment with powdered sugar wet-process collecting function | |
| CN214683292U (en) | Mainboard edulcoration device is used in production of PCB circuit board | |
| CN205890757U (en) | Geographic information collection device based on GPS | |
| CN205596530U (en) | Tobacco plastic film in seedling stage spiral film collecting device | |
| CN206399685U (en) | A kind of corn breeding automatic sampler | |
| CN210130136U (en) | Bidirectional impurity removal upper fan of sugarcane harvester |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180629 |