CN109533492A - A kind of intelligent cereal bagging device and method based on binocular vision - Google Patents
A kind of intelligent cereal bagging device and method based on binocular vision Download PDFInfo
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- CN109533492A CN109533492A CN201910011323.3A CN201910011323A CN109533492A CN 109533492 A CN109533492 A CN 109533492A CN 201910011323 A CN201910011323 A CN 201910011323A CN 109533492 A CN109533492 A CN 109533492A
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- 235000013339 cereals Nutrition 0.000 title claims abstract description 174
- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000001514 detection method Methods 0.000 claims abstract description 19
- 239000000463 material Substances 0.000 claims abstract description 10
- 230000000007 visual effect Effects 0.000 claims description 13
- 238000005303 weighing Methods 0.000 claims description 7
- 238000009432 framing Methods 0.000 claims description 5
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 235000020985 whole grains Nutrition 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 3
- 208000033748 Device issues Diseases 0.000 claims 1
- 238000001727 in vivo Methods 0.000 claims 1
- 238000012423 maintenance Methods 0.000 abstract description 4
- 230000007774 longterm Effects 0.000 abstract description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 229910052742 iron Inorganic materials 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
- B65B43/54—Means for supporting containers or receptacles during the filling operation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B37/00—Supplying or feeding fluent-solid, plastic, or liquid material, or loose masses of small articles, to be packaged
- B65B37/14—Supplying or feeding fluent-solid, plastic, or liquid material, or loose masses of small articles, to be packaged by pneumatic feeders
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B37/00—Supplying or feeding fluent-solid, plastic, or liquid material, or loose masses of small articles, to be packaged
- B65B37/16—Separating measured quantities from supply
- B65B37/18—Separating measured quantities from supply by weighing
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Basic Packing Technique (AREA)
Abstract
A kind of intelligent cereal bagging device and method based on binocular vision, including car body, grain materials auto-feeder for bag, inhale grain device and binocular vision detection device, hull bottom plate upper surface rear end is provided with grain materials auto-feeder for bag, the car body front end has by support frame and fixed mount setting inhales grain device, is provided with binocular vision detection device at the top of car body support frame front end.Intelligent cereal bagging device and method provided by the invention based on binocular vision, the grain on ground is drawn by inhaling grain device, effectively reduce heavy duty and frictional dissipation that traditional screeds mechanism loading mode generates, it is suitble to long-term continuous use, greatly increase its service life, extend maintenance period, reduces maintenance cost.
Description
Technical field
The invention belongs to agri-foodstuffs to pack technical field, and in particular to a kind of intelligent grain dress based on binocular vision
Bag device and method.
Background technique
Moisture is bigger after grain collecting, generally need to carry out large area tiling sunning, and dry after collection pack at
For primary problem, a large amount of manpower and material resources are not only expended by artificially collecting, and efficiency is very low, existing related sunning grain dress
Bag patent is as follows:
CN201287969Y patent document discloses a kind of foodstuff bagging machine, which is to utilize to be fixedly installed in chute
The loading shovel of lower end carries out loading, is carried out by the operating of the driving wheel, drive roll and the driven roller that are installed in rack
Grain is conveyed, be driven between drive pulley and drive roll belt pulley with transmission band connection and send grain to dress by chute
In bag case.Although the foodstuff bagging machine can be realized the pack of grain, but there are the following problems:
1. entire foodstuff bagging machine needs labour personnel to keep a firm hand on the position and direction that handle carries out mobile controller constantly,
It is not fully solved paying for manual labor, labour personnel need moment and foodstuff bagging machine cooperating, could be by grain
Food is fitted into case, consumes certain manual labor.
2. the pack case being fixedly mounted in rack and to deposit bag tankage limited, needs during loading in timely diversion box
The grain of storage, and grain is fitted into pack case and is deposited in bag case, although facilitating the receipts dress of grain, there is no solve grain
The purpose quickly packed.
It, can not be according to grain amount 3. the foodstuff bagging machine does not account for the variation of different location grain thickness and volume
Increase and decrease progress automatic adjusument, change loading speed, and a large amount of grains cause chute and scraper plate during collection huge
Load substantially reduces its service life.
CN207580918U patent document discloses a kind of grain intelligence sack filling machine, which is to utilize to be mounted on fuselage
On the rotation framework that can rotate upwardly and downwardly drive the movement dragged paddy case, receive scraper plate and right angle band iron, realize that grain enters bag.There are following
Technical problem:
1. receiving scraper plate and right angle the band iron lifting moving in sliding slot by using motor control improves the effect that grain receives dress
Rate largely reduces artificial labour, but equipment may be caused to damage because of long-time and ground friction.
2. the control by single-chip microcontroller can easily control grain intelligence sack filling machine, but the degree of automation is relatively
It is low, it needs people's moment to supervise and controls adapting device loading, there are some technological deficiencies.
Summary of the invention
To achieve the goals above, the present invention adopts the following technical scheme:
A kind of intelligent cereal bagging device based on binocular vision, including car body, grain materials auto-feeder for bag, suction grain dress
Set with binocular vision detection device, the car body include bottom plate, fixed frame, support frame, electronic slide bar, steering motor, deflecting roller,
Driving motor, driving wheel, driven wheel, axletree and wheel, the plate upper surface rear end are provided with steering motor, steering motor
Output shaft is fixedly mounted by shaft coupling and deflecting roller, and the plate upper surface is symmetrically arranged at the front end with support frame, two support frames
Bottom end is provided with axletree by bearing, and axletree both ends are provided with wheel, and axletree periphery is provided between two support frames
Driven wheel, one of support frame inner sidewall are provided with driving motor, and the driving motor output end is provided with to be nibbled with driven wheel
The driving wheel of conjunction, rear end is provided with fixed frame between two support frames, and two supporting framing front ends are provided with electronic slide bar, two branch
It is provided between support and inhales grain device, and inhaled grain device and be located at fixed frame and electronic slide bar upper surface, two supporting framing front end tops
Portion is provided with binocular vision detection device, and the plate upper surface is located at steering motor front end and is provided with grain automatic bagging dress
It sets.
The grain materials auto-feeder for bag includes turntable, and the turntable and rotating electric machine shell are fixedly mounted, and electric rotating
Machine is located at the centre of turntable, and rotating electric machine output shaft is rotatablely installed by bearing and bottom plate, and the disk upper surface is circumferentially equal
It is furnished with Bag-opening stand, Bag-opening stand intracavity bottom is provided with weighing sensor.
The suction grain device include main suction way to move grains, blade drive shaft, flexible connection body, transfer way to move grains, blade shell, blade,
Export way to move grains and blade driving motor, main suctions way to move grains is located above electronic slide bar, main suctions way to move grains output end pass through flexible connection body and
Transfer way to move grains one end is connected, and transfer way to move grains is located above fixed frame, and the transfer way to move grains other end passes through blade shell and output way to move grains
It is connected, output way to move grains end is located in one of right above Bag-opening stand, and blade shell inner cavity is provided with blade, blade drive shaft one
End passes through bearing and is rotatablely installed with one of them support frame, and the blade drive shaft other end passes through blade, and passes through bearing and be located at
The blade driving motor of another support frame rear end lateral wall is rotatablely installed.
The binocular vision detection device includes No.1 vision camera and No. two vision cameras, the No.1 vision camera and
No. two vision cameras are located at the top of the front end of two support frames, No.1 vision camera and No.1 visual rotating motor phase
Even, No. two vision cameras are connected with No. two visual rotating motors, and No.1 visual rotating motor and No. two visual rotating motors are equal
It is set in support frame cavity.
A kind of application method of the intelligent cereal bagging device based on binocular vision, using a kind of based on binocular vision
Intelligent cereal bagging device, comprising the following steps:
Step 1, it by being located at the case where binocular vision detection device continuous rotation of supporting framing front end scans ground, determines
Grain position is received on the boundary and starting for drying grain, and be will test information and fed back to the master controller positioned at support frame inner sidewall, main
Controller issues instruction control driving motor work, and control apparatus of the present invention, which are fast moved to starting, receives grain position, binocular vision
After arrival starting receipts grain location information is fed back to master controller by detection device, master controller controls blade driving motor work simultaneously
Make driving blade rotary into vacuum, and controls the work of electronic slide bar main suctions way to move grains is made to swing and start to carry out to inhale grain and work；
Step 2, inhale grain during, weighing sensor detects the grain weight in sack, when detect be located at it is defeated
When sack is filled in a Bag-opening stand immediately below way to move grains out, master controller is fed back information to, main controller controls control is driven
Dynamic motor and blade driving motor stop working, while being spiraled by the rotating electric machine work belt turn that control is located at turntable center
Turn, when another Bag-opening stand is rotated 90 degree of underfaces for extremely exporting way to move grains, rotating electric machine stops working while master controller control
Driving motor and blade driving motor work processed continues to inhale grain work；When binocular vision device detects that front dries grain
When thicker, by information feedback to master controller, main controller controls blade driving motor accelerates rotation, improves grain and draws speed
Degree, conversely, when binocular vision device detects that front sunning grain is relatively thin, by information feedback to master controller, master controller
Control blade driving motor be rotated in deceleration, and control simultaneously driving motor accelerate rotation make apparatus of the present invention quickly drive into forward into
Row inhales grain, constantly repeats this step to whole grains and packs completion.
The invention has the benefit that
1. the intelligent cereal bagging device and method provided by the invention based on binocular vision, by being located at device front end
Binocular vision camera continuous rotary scanning sunning grain edge, pass through driving and turn to turbin generator and control deflecting roller and revolve
Turn, guarantees that cereal bagging device starts to collect pack along the boundary of sunning grain, meanwhile, it can be known using binocular vision detection device
Not Liang Shai grain thin thickness, it is real according to the thin thickness of sunning grain by the revolving speed of variable frequency regulating speed control blade driving motor
The adaptive pack of existing different thin thickness grains avoids grain is blocked up from causing to accumulate or pack not exclusively, effectively increases grain
The efficiency of pack realizes intelligent, unmanned grain pack.
2. the intelligent cereal bagging device and method provided by the invention based on binocular vision is drawn by inhaling grain device
The grain on ground effectively reduces heavy duty and frictional dissipation that traditional screeds mechanism loading mode generates, is suitble to long-term continuous
It uses, greatly increases its service life, extend maintenance period, reduce maintenance cost.
3. the intelligent cereal bagging device and method provided by the invention based on binocular vision, grain materials auto-feeder for bag
It is replaced using rotating disc type, carries out rotation replacement automatically when grain is filled in one of Bag-opening stand comprising four Bag-opening stands,
Using another Bag-opening stand loading, without human intervention, automation grain pack is realized.
Detailed description of the invention
Fig. 1 is a kind of integral mechanical structure figure of the intelligent cereal bagging device based on binocular vision of the present invention；
Fig. 2 is a kind of top view of the intelligent cereal bagging device based on binocular vision of the present invention；
Fig. 3 is a kind of left view of the intelligent cereal bagging device based on binocular vision of the present invention；
Fig. 4 is a kind of right view of the intelligent cereal bagging device based on binocular vision of the present invention；
Fig. 5 is a kind of suction grain device partial sectional view of the intelligent cereal bagging device based on binocular vision of the present invention；
1- car body, 101- bottom plate, 102- fixed frame, 103- support frame, the electronic slide bar of 104-, 105- steering motor, 106-
Deflecting roller, 107- driving motor, 108- driving wheel, 109- driven wheel, 110- axletree, 111- wheel, 2- grain automatic bagging
Device, 201- turntable, 202- rotating electric machine, 203- Bag-opening stand, 204- weighing sensor, 3- suction grain device, the main suction way to move grains 301-,
302- blade drive shaft, 303- flexible connection body, 304- transfer way to move grains, 305- blade shell, 306- blade, 307- export way to move grains,
308- blade driving motor, 4- binocular vision detection device, 401- No.1 vision camera, No. bis- vision cameras of 402-, 403- mono-
Number visual rotating motor, No. bis- visual rotating motors of 404-.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.
As Figure 1-Figure 5, a kind of intelligent cereal bagging device based on binocular vision, including car body 1, grain are automatic
Sack-filling device 2 inhales grain device 3 and binocular vision detection device 4, and the car body 1 includes bottom plate 101, fixed frame 102, support frame
103, electronic slide bar 104, steering motor 105, deflecting roller 106, driving motor 107, driving wheel 108, driven wheel 109, axletree
110 and wheel 111, the 101 upper surface rear end of bottom plate be provided with steering motor 105,105 output shaft of steering motor passes through shaft coupling
Device and deflecting roller 106 are fixedly mounted, and steering motor 105 controls the work of deflecting roller 106 and realizes entire intelligent cereal bagging device
The change in direction achievees the purpose that facilitate and inhales grain, and 101 upper surface of bottom plate is symmetrically arranged at the front end with support frame 103, two supports
103 bottom end of frame is provided with axletree 110 by bearing, and 110 both ends of axletree are provided with wheel 111, vehicle between two support frames 103
110 periphery of wheel shaft is provided with driven wheel 109, and one of 103 inner sidewall of support frame is provided with driving motor 107, the drive
Dynamic 107 output end of motor is provided with the driving wheel 108 engaged with driven wheel 109, is worked by driving motor 107 and drives driving wheel
108 rotations, driving wheel 108 drives the driven wheel 109 engaged to rotate, and then is moved forward and backward with motor vehicles bodies 1, two support frames
Rear end is provided with fixed frame 102 between 103, and two 103 front ends of support frame are provided with electronic slide bar 104, two support frames 103 it
Between be provided with and inhale grain device 3, and inhale grain device 3 and be located at 104 upper surface of fixed frame 102 and electronic slide bar, before two support frames 103
End top is provided with binocular vision detection device 4, and 101 upper surface of bottom plate is located at 105 front end of steering motor and is provided with grain
Eat materials auto-feeder for bag 2.
The grain materials auto-feeder for bag 2 includes turntable 201, the turntable 201 and the fixed peace of 202 shell of rotating electric machine
Dress, and rotating electric machine 202 is located at the centre of turntable 201,202 output shaft of rotating electric machine is pacified by bearing and the rotation of bottom plate 101
Dress, 201 upper surface of turntable are circumferentially evenly equipped with Bag-opening stand 203, and 203 intracavity bottom of Bag-opening stand is provided with weighing sensor 204,
Bag-opening stand 203 is set as four, by the continuous alternately support bag of four Bag-opening stands 203, realizes the quick collection of grain.
The suction grain device 3 includes main suction way to move grains 301, blade drive shaft 302, flexible connection body 303, transfer way to move grains 304, leaf
Piece shell 305, blade 306, output way to move grains 307 and blade driving motor 308, main suction way to move grains 301 are located on electronic slide bar 104
Side, main 301 output end of suction way to move grains are connected by flexible connection body 303 with 304 one end of transfer way to move grains, and transfer way to move grains 304, which is located at, to be fixed
102 top of frame, and be fixedly mounted by two fixed frames 102 and inhale grain device 3,304 other end of transfer way to move grains passes through blade shell
305 are connected with output way to move grains 307, and output 307 end of way to move grains is located in one of right above Bag-opening stand 203, in blade shell 305
Chamber is provided with blade 306, and 302 one end of blade drive shaft is rotatablely installed by bearing and one of them support frame 203, vane belt
302 other end of axis passes through blade 306, and passes through bearing and the blade driving motor for being located at another 203 rear end lateral wall of support frame
308 rotational installations, blade driving motor 308 are rotated with movable vane piece 306, and the rotation of blade 306 makes to inhale in grain device 3 for vacuum shape
State, the in addition cooperation of electronic slide bar 104 make main suction way to move grains 301 swing back and forth, and carry out inhaling grain work.
The binocular vision detection device 4 includes No.1 vision camera 401 and No. two vision cameras 402, the No.1 view
Feel that camera 401 and No. two vision cameras 402 are located at the top of the front end of two support frames 103, No.1 vision camera 401 with
No.1 visual rotating motor 403 is connected, and No. two vision cameras 402 are connected with No. two visual rotating motors 404, and No.1 vision is revolved
Rotating motor 403 and No. two visual rotating motors 404 are all set in 103 cavity of support frame, No.1 vision camera 401 and No. two views
Feel that camera 402 is scanned and positions to the grain on ground in real time, determines the boundary of sunning grain and the thin thickness of grain.
A kind of application method of the intelligent cereal bagging device based on binocular vision, using a kind of based on binocular vision
Intelligent cereal bagging device, comprising the following steps:
Step 1, by being located at the case where 4 continuous rotation of binocular vision detection device of 103 front end of support frame scans ground,
Grain position is received on the boundary and starting for determining sunning grain, and be will test information and fed back to the master control positioned at 103 inner sidewall of support frame
Device processed, master controller issue instruction control driving motor 107 and work, and control apparatus of the present invention, which are fast moved to starting, receives grain position
It sets, after arrival starting receipts grain location information is fed back to master controller by binocular vision detection device 4, master controller controls leaf simultaneously
308 task driven blade of piece driving motor, 306 rotary is at vacuum, and controlling the electronic work of slide bar 104 keeps main suction way to move grains 301 left
Right swing starts inhale grain work；
Step 2, during inhaling grain, weighing sensor 204 detects the grain weight in sack, is located at when detecting
When sack is filled in a Bag-opening stand 203 immediately below output way to move grains 307, master controller, master controller control are fed back information to
System control driving motor 107 and blade driving motor 308 stop working, while being located at the rotation in 201 center of turntable by control
Another Bag-opening stand 203, is turned to the underface on output way to move grains 307, electric rotating by the rotation of 202 work belt turn disk 201 of motor
Machine 202 stops working while main controller controls driving motor 107 and the work of blade driving motor 308 continue to inhale grain work
Make；When binocular vision device 4 detects that front sunning grain is thicker, by information feedback to master controller, main controller controls
Blade driving motor 308 accelerates rotation, improves grain capture velocity, conversely, when binocular vision device 4 detects that front dries grain
When eating relatively thin, information is fed back to master controller, main controller controls blade driving motor 308 is rotated in deceleration, and controls simultaneously
Driving motor 107 accelerates rotation to drive apparatus of the present invention quickly forward into carry out suction grain, constantly repeat this step to whole grains
Pack is completed.
Claims (5)
1. a kind of intelligent cereal bagging device based on binocular vision, which is characterized in that filled including car body, grain automatic bagging
It sets, inhale grain device and binocular vision detection device, the car body includes bottom plate, fixed frame, support frame, electronic slide bar, turns to electricity
Machine, deflecting roller, driving motor, driving wheel, driven wheel, axletree and wheel, the plate upper surface rear end are provided with steering electricity
Machine, steering motor output shaft are fixedly mounted by shaft coupling and deflecting roller, and the plate upper surface is symmetrically arranged at the front end with support
Frame, two support frame bottom ends are provided with axletree by bearing, and axletree both ends are provided with wheel, between two support frames outside axletree
Disc is provided with driven wheel, and one of support frame inner sidewall is provided with driving motor, and the driving motor output end is provided with
The driving wheel engaged with driven wheel, rear end is provided with fixed frame between two support frames, and two supporting framing front ends are provided with electronic
Slide bar is provided between two support frames and inhales grain device, and inhales grain device and be located at fixed frame and electronic slide bar upper surface, two branch
Support front top is provided with binocular vision detection device, and the plate upper surface is located at steering motor front end and is provided with grain
Materials auto-feeder for bag.
2. a kind of intelligent cereal bagging device based on binocular vision according to claim 1, it is characterised in that: described
Grain materials auto-feeder for bag includes turntable, and the turntable and rotating electric machine shell are fixedly mounted, and rotating electric machine is located at turntable
Centre, rotating electric machine output shaft are rotatablely installed by bearing and bottom plate, and the disk upper surface is circumferentially evenly equipped with Bag-opening stand, are supportted
Bag frame intracavity bottom is provided with weighing sensor.
3. a kind of intelligent cereal bagging device based on binocular vision according to claim 1, it is characterised in that: described
Inhaling grain device includes main suction way to move grains, blade drive shaft, flexible connection body, transfer way to move grains, blade shell, blade, output way to move grains and leaf
Piece driving motor, main suction way to move grains are located above electronic slide bar, and main suction way to move grains output end passes through flexible connection body and transfer way to move grains one end
It is connected, transfer way to move grains is located above fixed frame, and the transfer way to move grains other end is connected by blade shell with output way to move grains, exports way to move grains
End is located in one of right above Bag-opening stand, and blade shell inner cavity is provided with blade, blade drive shaft one end by bearing with
One of them support frame rotational installation, the blade drive shaft other end pass through blade, and by bearing and after being located at another support frame
Hold the blade driving motor rotational installation of lateral wall.
4. a kind of intelligent cereal bagging device based on binocular vision according to claim 1, it is characterised in that: described
Binocular vision detection device includes No.1 vision camera and No. two vision cameras, the No.1 vision camera and No. two vision cameras
It is located at the top of the front end of two support frames, No.1 vision camera is connected with No.1 visual rotating motor, No. two vision phases
Machine is connected with No. two visual rotating motors, and No.1 visual rotating motor and No. two visual rotating motors are all set in support frame chamber
In vivo.
5. a kind of application method of the intelligent cereal bagging device based on binocular vision, using one kind described in claim 1
Intelligent cereal bagging device based on binocular vision, which comprises the following steps:
Step 1, by being located at the case where binocular vision detection device continuous rotation of supporting framing front end scans ground, sunning is determined
Grain position is received in the boundary of grain and starting, and be will test information and fed back to the master controller positioned at support frame inner sidewall, main control
Device issues instruction control driving motor work, and control apparatus of the present invention, which are fast moved to starting, receives grain position, binocular vision detection
After arrival starting receipts grain location information is fed back to master controller by device, master controller controls blade driving motor work simultaneously and drives
Movable vane piece rotary controls the work of electronic slide bar main suctions way to move grains is made to swing and start to carry out to inhale grain and work at vacuum；
Step 2, during inhaling grain, weighing sensor detects the grain weight in sack, is located at output grain when detecting
When sack is filled in a Bag-opening stand immediately below road, master controller, main controller controls control driving electricity are fed back information to
Machine and blade driving motor stop working, while being located at the rotating electric machine work belt turn disc spins in turntable center by control,
When another Bag-opening stand is rotated 90 degree of underfaces for extremely exporting way to move grains, rotating electric machine stops working while main controller controls are driven
Dynamic motor and blade driving motor work continue to inhale grain work；When binocular vision device detects that front sunning grain is thicker
When, by information feedback to master controller, main controller controls blade driving motor accelerates rotation, improves grain capture velocity, instead
It, when binocular vision device detects that front sunning grain is relatively thin, by information feedback to master controller, main controller controls leaf
Piece driving motor is rotated in deceleration, and controls driving motor simultaneously and rotation is accelerated to drive apparatus of the present invention quickly forward into be inhaled
Grain constantly repeats this step to whole grains and packs completion.
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| CN201910011323.3A CN109533492B (en) | 2019-01-07 | 2019-01-07 | Intelligent grain bagging device and method based on binocular vision |
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| CN201910011323.3A CN109533492B (en) | 2019-01-07 | 2019-01-07 | Intelligent grain bagging device and method based on binocular vision |
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| CN109969808A (en) * | 2019-04-30 | 2019-07-05 | 武汉轻工大学 | A kind of grain collecting machine people and its control method |
| CN109969437A (en) * | 2019-04-30 | 2019-07-05 | 武汉轻工大学 | A kind of air suction type grain purchasing machine structure |
| CN109969435A (en) * | 2019-04-30 | 2019-07-05 | 武汉轻工大学 | A kind of pack device |
| CN109969436A (en) * | 2019-04-30 | 2019-07-05 | 武汉轻工大学 | A kind of pack device |
| CN110975245A (en) * | 2019-12-13 | 2020-04-10 | 绍兴文理学院 | Tennis device is picked up to intelligence |
| CN115319767A (en) * | 2022-08-03 | 2022-11-11 | 南昌大学 | Multifunctional grain sunning ground management robot |
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