CN109533492B - Intelligent grain bagging device and method based on binocular vision - Google Patents
Intelligent grain bagging device and method based on binocular vision Download PDFInfo
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- CN109533492B CN109533492B CN201910011323.3A CN201910011323A CN109533492B CN 109533492 B CN109533492 B CN 109533492B CN 201910011323 A CN201910011323 A CN 201910011323A CN 109533492 B CN109533492 B CN 109533492B
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000001514 detection method Methods 0.000 claims abstract description 21
- 230000005540 biological transmission Effects 0.000 claims description 13
- 238000005303 weighing Methods 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 238000012423 maintenance Methods 0.000 abstract description 4
- 230000002035 prolonged effect Effects 0.000 abstract description 4
- 230000007774 longterm Effects 0.000 abstract description 2
- 230000007246 mechanism Effects 0.000 abstract description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000007790 scraping Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005429 filling process Methods 0.000 description 1
- 235000012631 food intake Nutrition 0.000 description 1
- 235000000396 iron Nutrition 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 239000000463 material Substances 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
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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
- 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
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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
- 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
The intelligent grain bagging device comprises a vehicle body, an automatic grain bagging device, a grain suction device and a binocular vision detection device, wherein the automatic grain bagging device is arranged at the rear end of the upper surface of a vehicle body bottom plate, the grain suction device is arranged at the front end of the vehicle body through a supporting frame and a fixing frame, and the binocular vision detection device is arranged at the top of the forefront end of the supporting frame of the vehicle body. According to the binocular vision-based intelligent grain bagging device and method, grains on the ground are sucked by the grain suction device, so that heavy load and friction loss generated in a traditional grain filling mode of the scraper mechanism are effectively reduced, the device and the method are suitable for long-term continuous use, the service life of the device is greatly prolonged, the maintenance period is prolonged, and the maintenance cost is reduced.
Description
Technical Field
The invention belongs to the technical field of agricultural grain bagging, and particularly relates to an intelligent grain bagging device and method based on binocular vision.
Background
The moisture is bigger after grain is collected, generally need carry out extensive tiling sunning, and collection bagging-off after the sunning becomes first difficult problem, not only consumes a large amount of manpower and materials through artifical collection, and efficiency is very low moreover, and current relevant sunning grain bagging-off patent is as follows:
CN201287969Y patent document discloses a grain bagging machine, which uses a grain loading shovel fixedly installed at the lower end of a chute to load grains, and conveys the grains through the operation of a driving wheel, a driving roller and a driven roller installed on a frame, wherein a driving belt wheel and a driving roller belt wheel are connected and driven by a transmission belt, and the grains are conveyed into a bagging box through the chute. Although the grain bagging machine can realize bagging of grains, the following problems exist:
1. the position and the direction of the movable control device are needed by a labor person to tightly grip the handle at any time, the labor force is not completely paid, the labor person needs to work with the grain bagging machine at any time, grains can be filled into the box, and a certain amount of labor force is consumed.
2. The bagging box and the bag storage box which are fixedly installed on the frame are limited in capacity, grains stored in the box need to be transferred in time in the grain filling process, and the grains are filled into the bagging box and the bag storage box, so that the purpose of quickly bagging the grains is not achieved although the grains are convenient to collect and fill.
3. The grain bagging machine does not consider the thickness and volume changes of grains at different positions, can not carry out self-adaptive adjustment according to the increase and decrease of the grain food consumption, changes the grain loading speed, and greatly loads a large amount of grains on a chute and a scraping plate in the collecting process, so that the service life of the grain bagging machine is greatly reduced.
CN207580918U patent literature discloses an intelligent grain bagging machine, which utilizes a rotating frame which is arranged on a machine body and can rotate up and down to drive a grain dragging box, a scraping plate and right-angle flat irons to move, so that grains are put into bags. The following technical problems exist:
1. through adopting motor control to receive scraper blade and right angle band iron to rise and fall in the spout and remove the efficiency that has improved grain receipts dress, very big degree has reduced artificial labour, but probably can cause to equip the damage because of long-time with ground friction.
2. The intelligent grain bagging machine can be conveniently controlled through the control of the singlechip, but the degree of automation is relatively low, the grain is loaded by the device which is matched with the time supervision and control of people, and some technical defects exist.
Disclosure of Invention
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the utility model provides an intelligent grain bagging apparatus based on binocular vision, includes automobile body, automatic bagging apparatus of grain, pneumatic means and binocular vision detection device, the automobile body includes bottom plate, mount, support frame, electronic slide bar, turn to motor, directive wheel, driving motor, action wheel, follow driving wheel, axletree and wheel, bottom plate upper surface rear end is provided with turns to the motor, turns to motor output shaft and through shaft coupling and directive wheel fixed mounting, bottom plate upper surface front end symmetry is provided with the support frame, and two support frame bottom is provided with the axletree through the bearing, and axletree both ends are provided with the wheel, and axletree outer disc is provided with from the driving wheel between two support frames, and one of them support frame inside wall is provided with driving motor, the driving motor output is provided with the action wheel with from the meshing of driving wheel, and the rear end is provided with the mount between two support frames, and two support frame front ends are provided with electronic slide bar, are provided with pneumatic means between two support frames, and pneumatic means is located mount and electronic slide bar upper surface, and two support frame front end tops all are provided with binocular vision detection device, the bottom plate upper surface is located and turns to motor front end and is provided with automatic bagging apparatus.
The automatic grain bagging device comprises a rotary table, the rotary table is fixedly installed with a rotary motor shell, the rotary motor is located at the center of the rotary table, an output shaft of the rotary motor is rotatably installed with a bottom plate through a bearing, bag supporting frames are uniformly distributed on the circumferential direction of the upper surface of the rotary table, and weighing sensors are arranged at the bottoms of inner cavities of the bag supporting frames.
The grain suction device comprises a main grain suction channel, a blade transmission shaft, a soft connecting body, a transfer grain channel, a blade shell, a blade, an output grain channel and a blade driving motor, wherein the main grain suction channel is positioned above an electric sliding rod, the output end of the main grain suction channel is connected with one end of the transfer grain channel through the soft connecting body, the transfer grain channel is positioned above a fixing frame, the other end of the transfer grain channel is connected with the output grain channel through the blade shell, the tail end of the output grain channel is positioned right above one bag supporting frame, the inner cavity of the blade shell is provided with the blade, one end of the blade transmission shaft is rotatably mounted with one supporting frame through a bearing, the other end of the blade transmission shaft penetrates through the blade, and the blade transmission shaft is rotatably mounted with the blade driving motor positioned on the outer side wall of the rear end of the other supporting frame through the bearing.
The binocular vision detection device comprises a first vision camera and a second vision camera, the first vision camera and the second vision camera are respectively located at the top of the forefront ends of the two supporting frames, the first vision camera is connected with a first vision rotating motor, the second vision camera is connected with a second vision rotating motor, and the first vision rotating motor and the second vision rotating motor are all arranged in the supporting frame cavity.
The application method of the intelligent grain bagging device based on binocular vision adopts the intelligent grain bagging device based on binocular vision, and comprises the following steps of:
step 1, determining the boundary of the grain to be dried and the initial grain collecting position by continuously rotating and scanning the ground through a binocular vision detection device positioned at the front end of a support frame, feeding back detection information to a main controller positioned on the inner side wall of the support frame, sending an instruction by the main controller to control a driving motor to work, controlling the device to quickly move to the initial grain collecting position, feeding back the information reaching the initial grain collecting position to the main controller through the binocular vision detection device, simultaneously controlling a blade driving motor to work and drive the blade to rotate to form vacuum by the main controller, and controlling an electric slide bar to work so as to enable a main grain sucking channel to swing left and right to start grain sucking work;
step 2, in the grain sucking process, a weighing sensor detects the weight of grains in the bag, when detecting that the bag in one bag supporting frame positioned right below an output grain channel is full, information is fed back to a main controller, the main controller controls a driving motor and a blade driving motor to stop working, meanwhile, a rotating motor positioned in the center of a rotating disc is controlled to work to drive the rotating disc to rotate, and when the other bag supporting frame is rotated for 90 degrees to the right below the output grain channel, the rotating motor stops working, and the main controller controls the driving motor and the blade driving motor to work to continue grain sucking work; when the binocular vision device detects that the front sunning grain is thicker, information is fed back to the main controller, the main controller controls the blade driving motor to accelerate to rotate, the grain sucking speed is improved, otherwise, when the binocular vision device detects that the front sunning grain is thinner, the information is fed back to the main controller, the main controller controls the blade driving motor to decelerate and rotate, and simultaneously controls the driving motor to accelerate and rotate, so that the grain sucking device is rapidly started forwards to suck grains, and the steps are repeated until all grain bagging is completed.
The beneficial effects of the invention are as follows:
1. according to the intelligent grain bagging device and method based on binocular vision, the binocular vision camera at the front end of the device continuously rotates to scan the edges of the sunned grains, the steering wheel motor is driven to further control the steering wheel to rotate, the grain bagging device is guaranteed to begin collecting and bagging along the boundaries of the sunned grains, meanwhile, the binocular vision detection device can be used for identifying the thin thickness of the sunned grains, the rotating speed of the blade driving motor is controlled through variable frequency speed according to the thin thickness of the sunned grains, self-adaptive bagging of grains with different thin thicknesses is achieved, accumulation or incomplete bagging caused by excessive thickness of the grains is avoided, grain bagging efficiency is effectively improved, and intelligent unmanned grain bagging is achieved.
2. According to the binocular vision-based intelligent grain bagging device and method, grains on the ground are sucked by the grain suction device, so that heavy load and friction loss generated in a traditional grain filling mode of the scraper mechanism are effectively reduced, the device and the method are suitable for long-term continuous use, the service life of the device is greatly prolonged, the maintenance period is prolonged, and the maintenance cost is reduced.
3. According to the binocular vision-based intelligent grain bagging device and method provided by the invention, the automatic grain bagging device adopts turntable type replacement and comprises four bag supporting frames, when one bag supporting frame is full of grain, the rotation replacement is automatically carried out, and the other bag supporting frame is adopted for bagging grains, so that manual operation is not required, and automatic grain bagging is realized.
Drawings
FIG. 1 is a diagram of the overall mechanical structure of an intelligent grain bagging device based on binocular vision;
FIG. 2 is a top view of an intelligent grain bagging apparatus based on binocular vision of the present invention;
FIG. 3 is a left side view of an intelligent grain bagging apparatus based on binocular vision of the present invention;
FIG. 4 is a right side view of the intelligent grain bagging apparatus based on binocular vision of the present invention;
FIG. 5 is a partial cross-sectional view of a pneumatic grain device of an intelligent grain bagging apparatus based on binocular vision according to the present invention;
1-a car body, 101-a bottom plate, 102-a fixing frame, 103-a supporting frame, 104-an electric slide bar, 105-a steering motor, 106-a steering wheel, 107-a driving motor, 108-a driving wheel, 109-a driven wheel, 110-a wheel shaft, 111-a wheel, 2-an automatic grain bagging device, 201-a turntable, 202-a rotating motor, 203-a bag supporting frame, 204-a weighing sensor, 3-a grain suction device, 301-a main grain suction channel, 302-a blade transmission shaft, 303-a soft connector, 304-a grain transfer channel, 305-a blade shell, 306-a blade, 307-an output grain channel, 308-a blade driving motor, 4-a binocular vision detection device, 401-a first vision camera, 402-a second vision rotating motor, 403-a first vision rotating motor, 404-a second vision rotating motor.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples.
As shown in fig. 1-5, an intelligent grain bagging device based on binocular vision comprises a car body 1, an automatic grain bagging device 2, a grain suction device 3 and a binocular vision detection device 4, the car body 1 comprises a bottom plate 101, a fixing frame 102, a supporting frame 103, an electric sliding rod 104, a steering motor 105, a steering wheel 106, a driving motor 107, a driving wheel 108, a driven wheel 109, a wheel shaft 110 and wheels 111, the rear end of the upper surface of the bottom plate 101 is provided with the steering motor 105, an output shaft of the steering motor 105 is fixedly mounted with the steering wheel 106 through a coupler, the steering motor 105 controls the steering wheel 106 to work so as to realize the change of the direction of the whole intelligent grain bagging device, the purpose of conveniently sucking grains is achieved, supporting frames 103 are symmetrically arranged at the front ends of the upper surface of the bottom plate 101, the two supporting frames 103 are provided with the wheel shafts 110 through bearings, the two ends of the wheel shafts 110, the outer circle surface of the wheel shafts 110 between the two supporting frames 103 is provided with driven wheels 109, the driving motor 107 is arranged on the inner side wall of one supporting frame 103, the driving wheel 108 meshed with the driven wheel 109, the driving wheel 103 is driven by the driving motor 107, the driving wheel 103 is driven by the driving motor 103, the rotation of the driving wheel 103, the driving wheel 102 is driven by the driving motor 103, the driving motor 103 is driven by the driving motor 103, and the two automatic grain suction devices 102 are meshed with the two supporting frames 102, and the two supporting frames 102 are arranged on the front surfaces of the front end of the front and 2, and the front end of the supporting frame 2, and the automatic grain suction device is arranged on the front surface, and is arranged on the front and on the front surface of the supporting frame 2, and is arranged.
The automatic grain bagging device 2 comprises a rotary table 201, the rotary table 201 is fixedly installed with a casing of a rotating motor 202, the rotating motor 202 is located at the center of the rotary table 201, an output shaft of the rotating motor 202 is rotatably installed with a bottom plate 101 through a bearing, bag supporting frames 203 are circumferentially and uniformly distributed on the upper surface of the rotary table 201, weighing sensors 204 are arranged at the bottoms of inner cavities of the bag supporting frames 203, the bag supporting frames 203 are four, and rapid collection of grains is achieved through continuous alternate bag supporting of the four bag supporting frames 203.
The grain sucking device 3 comprises a main grain sucking channel 301, a blade transmission shaft 302, a soft connecting body 303, a middle grain rotating channel 304, a blade shell 305, a blade 306, an output grain channel 307 and a blade driving motor 308, wherein the main grain sucking channel 301 is positioned above the electric sliding rod 104, the output end of the main grain sucking channel 301 is connected with one end of the middle grain channel 304 through the soft connecting body 303, the middle grain channel 304 is positioned above the fixed frames 102, the grain sucking device 3 is fixedly installed through the two fixed frames 102, the other end of the middle grain channel 304 is connected with the output grain channel 307 through the blade shell 305, the tail end of the output grain channel 307 is positioned right above one of the bag supporting frames 203, the inner cavity of the blade shell 305 is provided with a blade 306, one end of the blade transmission shaft 302 is rotatably installed with one of the supporting frames 203 through a bearing, the other end of the blade transmission shaft 302 penetrates the blade 306, and the blade driving motor 308 positioned on the outer side wall of the rear end of the other supporting frame 203 is rotatably installed through the bearing, the blade driving motor 308 drives the blade 306 to rotate, the blade 306 is enabled to be in a vacuum state in the grain sucking device 3, and the grain of the electric sliding rod 104 is in addition, the main grain sucking channel 301 is enabled to swing to perform sucking work.
The binocular vision detection device 4 includes a vision camera 401 and No. two vision cameras 402, a vision camera 401 and No. two vision cameras 402 are located two support frames 103 respectively at the forefront top, a vision camera 401 links to each other with a vision rotating electrical machines 403, no. two vision cameras 402 link to each other with No. two vision rotating electrical machines 404, and a vision rotating electrical machines 403 and No. two vision rotating electrical machines 404 all set up in support frame 103 cavity, a vision camera 401 and No. two vision cameras 402 scan and fix a position the grain on ground in real time, confirm the boundary and the thin thickness of grain of sunning grain.
The application method of the intelligent grain bagging device based on binocular vision adopts the intelligent grain bagging device based on binocular vision, and comprises the following steps of:
step 1, determining the boundary and the initial grain collecting position of the sunned grains through the condition that a binocular vision detection device 4 positioned at the front end of a support frame 103 continuously rotates to scan the ground, feeding back detection information to a main controller positioned on the inner side wall of the support frame 103, sending out an instruction by the main controller to control a driving motor 107 to work, controlling the device to quickly move to the initial grain collecting position, feeding back the information of the initial grain collecting position to the main controller by the binocular vision detection device 4, simultaneously controlling a blade driving motor 308 to work to drive a blade 306 to rotate to form vacuum, and controlling an electric slide bar 104 to work so as to enable a main grain suction channel 301 to swing left and right to start grain suction work;
step 2, in the grain sucking process, the weighing sensor 204 detects the weight of grains in the bag, when detecting that the bag in one bag supporting frame 203 positioned right below the grain outputting channel 307 is full, information is fed back to the main controller, the main controller controls the driving motor 107 and the blade driving motor 308 to stop working, meanwhile, the rotating motor 202 positioned in the center of the rotating disc 201 is controlled to work to drive the rotating disc 201 to rotate, the other bag supporting frame 203 is rotated right below the grain outputting channel 307, the rotating motor 202 stops working, and meanwhile, the main controller controls the driving motor 107 and the blade driving motor 308 to work to continue grain sucking work; when the binocular vision device 4 detects that the front sunning grain is thicker, information is fed back to the main controller, the main controller controls the blade driving motor 308 to accelerate to rotate, and the grain sucking speed is improved, otherwise, when the binocular vision device 4 detects that the front sunning grain is thinner, the information is fed back to the main controller, the main controller controls the blade driving motor 308 to decelerate to rotate, and simultaneously controls the driving motor 107 to accelerate to rotate, so that the grain sucking device is rapidly opened forwards to suck grains, and the steps are repeated until all grains are packaged.
Claims (5)
1. The utility model provides an intelligent grain bagging apparatus based on binocular vision, its characterized in that, including automobile body, automatic bagging apparatus of grain, pneumatic means and binocular vision detection device, the automobile body includes bottom plate, mount, support frame, electronic slide bar, steering motor, directive wheel, driving motor, action wheel, follow driving wheel, axletree and wheel, bottom plate upper surface rear end is provided with the steering motor, and the steering motor output shaft passes through shaft coupling and directive wheel fixed mounting, bottom plate upper surface front end symmetry is provided with the support frame, and two support frame bottom is provided with the axletree through the bearing, and axletree both ends are provided with the wheel, and the axletree outer disc is provided with the follow driving wheel between two support frames, and one of them support frame inside wall is provided with driving motor, the driving motor output is provided with the action wheel with follow driving wheel meshing, and the rear end is provided with the mount between two support frames, and two support frame front ends are provided with electronic slide bar, are provided with pneumatic means between two support frames, and pneumatic means is located mount and electronic slide bar upper surface, two support frame front end tops all are provided with binocular vision detection device, bottom plate upper surface is located and turns to motor front end and is provided with automatic bagging apparatus.
2. The intelligent grain bagging device based on binocular vision according to claim 1, wherein: the automatic grain bagging device comprises a rotary table, the rotary table is fixedly installed with a rotary motor shell, the rotary motor is located at the center of the rotary table, an output shaft of the rotary motor is rotatably installed with a bottom plate through a bearing, bag supporting frames are uniformly distributed on the circumferential direction of the upper surface of the rotary table, and weighing sensors are arranged at the bottoms of inner cavities of the bag supporting frames.
3. The intelligent grain bagging device based on binocular vision according to claim 1, wherein: the grain suction device comprises a main grain suction channel, a blade transmission shaft, a soft connecting body, a transfer grain channel, a blade shell, a blade, an output grain channel and a blade driving motor, wherein the main grain suction channel is positioned above an electric sliding rod, the output end of the main grain suction channel is connected with one end of the transfer grain channel through the soft connecting body, the transfer grain channel is positioned above a fixing frame, the other end of the transfer grain channel is connected with the output grain channel through the blade shell, the tail end of the output grain channel is positioned right above one bag supporting frame, the inner cavity of the blade shell is provided with the blade, one end of the blade transmission shaft is rotatably mounted with one supporting frame through a bearing, the other end of the blade transmission shaft penetrates through the blade, and the blade transmission shaft is rotatably mounted with the blade driving motor positioned on the outer side wall of the rear end of the other supporting frame through the bearing.
4. The intelligent grain bagging device based on binocular vision according to claim 1, wherein: the binocular vision detection device comprises a first vision camera and a second vision camera, the first vision camera and the second vision camera are respectively located at the top of the forefront ends of the two supporting frames, the first vision camera is connected with a first vision rotating motor, the second vision camera is connected with a second vision rotating motor, and the first vision rotating motor and the second vision rotating motor are all arranged in the supporting frame cavity.
5. The use method of the intelligent grain bagging device based on binocular vision is characterized by comprising the following steps of:
step 1, determining the boundary of the grain to be dried and the initial grain collecting position by continuously rotating and scanning the ground through a binocular vision detection device positioned at the front end of a support frame, feeding back detection information to a main controller positioned on the inner side wall of the support frame, sending an instruction by the main controller to control a driving motor to work, controlling the device to quickly move to the initial grain collecting position, feeding back the information reaching the initial grain collecting position to the main controller through the binocular vision detection device, simultaneously controlling a blade driving motor to work and drive the blade to rotate to form vacuum by the main controller, and controlling an electric slide bar to work so as to enable a main grain sucking channel to swing left and right to start grain sucking work;
step 2, in the grain sucking process, a weighing sensor detects the weight of grains in the bag, when detecting that the bag in one bag supporting frame positioned right below an output grain channel is full, information is fed back to a main controller, the main controller controls a driving motor and a blade driving motor to stop working, meanwhile, a rotating motor positioned in the center of a rotating disc is controlled to work to drive the rotating disc to rotate, and when the other bag supporting frame is rotated for 90 degrees to the right below the output grain channel, the rotating motor stops working, and the main controller controls the driving motor and the blade driving motor to work to continue grain sucking work; when the binocular vision device detects that the front sunning grain is thicker, information is fed back to the main controller, the main controller controls the blade driving motor to accelerate to rotate, the grain sucking speed is improved, otherwise, when the binocular vision device detects that the front sunning grain is thinner, the information is fed back to the main controller, the main controller controls the blade driving motor to decelerate and rotate, and simultaneously controls the driving motor to accelerate and rotate, so that the grain sucking device is rapidly started forwards to suck grains, and the steps are repeated until all grain bagging is completed.
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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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