CN109823872A - A kind of intelligence grain-levelling machine device people and flat grain control system - Google Patents
A kind of intelligence grain-levelling machine device people and flat grain control system Download PDFInfo
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- CN109823872A CN109823872A CN201910220378.5A CN201910220378A CN109823872A CN 109823872 A CN109823872 A CN 109823872A CN 201910220378 A CN201910220378 A CN 201910220378A CN 109823872 A CN109823872 A CN 109823872A
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Abstract
The present invention provides a kind of intelligent grain-levelling machine device people and flat grain control system, the robot include power chassis, positioned at power chassis front end operation shovel, be connected to the Liang Ge mobile mechanism that operation shovels the lowermost round tube and be located at left and right sides of power chassis；Power chassis includes power supply mechanism, control mechanism, transmission gear；Mobile mechanism includes by own rotation to drive the wheel shaft of caterpillar drive, the crawler belt on the outside of wheel shaft；The length of round tube is equal to the width of operation shovel；Transmission gear is connected with operation shovel, by the rotation of itself to drive operation scraper dynamic；Power supply mechanism is powered to control mechanism；It is that control mechanism is sent according to external background control end, include flat grain path and wherein at each operating point control parameter flat grain rule, control the rotation of wheel shaft and transmission gear to execute flat grain operation；Control parameter includes the rotation angle of two wheel shaft revolving speeds, transmission gear.Therefore, this programme can automatic flat grain, it is time saving and energy saving, improve efficiency.
Description
Technical field
The present invention relates to field of mechanical technique, in particular to a kind of intelligent grain-levelling machine device people and flat grain control system.
Background technique
It is the important component of daily warehousing management that grain face is smooth, can be convenient for grain in ventilation balance bunker after grain face is smooth
The temperature and humidity of food measures grain volume in storehouse, impurity is removed, holding grain face is clean and is not easy to be formed moisture condensation, discovery foreign matter
(such as mouse sparrow) notes abnormalities (such as food shortage, improper trace).
Currently, the smooth grain face of the most grain storage in China works, it is all pure manual work.
But manually flat grain is time-consuming and laborious and efficiency is extremely low.
Summary of the invention
The present invention provides a kind of intelligent grain-levelling machine device people and flat grain control system, can automatic flat grain, it is time saving and energy saving, mention
High efficiency.
In order to achieve the above object, the present invention is achieved through the following technical solutions:
On the one hand, the present invention provides a kind of intelligent grain-levelling machine device people, comprising:
Power chassis, positioned at the power chassis front end operation shovel, be connected to the operation and shovel the lowermost round tube, with
And it is located at the Liang Ge mobile mechanism at left and right sides of the power chassis；
Wherein, the power chassis includes: power supply mechanism, control mechanism, transmission gear；
Wherein, the mobile mechanism includes: wheel shaft, the crawler belt on the outside of the wheel shaft；
Wherein, the length of the round tube is equal to the width of operation shovel；
The operation shovel is connected with the transmission gear；
The wheel shaft, for the rotation by itself to drive the caterpillar drive；
The transmission gear, for the rotation by itself to drive the operation scraper dynamic；
The power supply mechanism, for powering to the control mechanism；
The control mechanism, the flat grain rule sent for receiving external background control end, wherein the flat grain rule packet
Include the control parameter in flat grain path and the flat grain path at each operating point；It is regular according to the flat grain, described in control
The rotation of wheel shaft and the transmission gear, to execute flat grain operation；
Wherein, the control parameter includes: two revolving speeds of two wheel shafts and the rotation angle of the transmission gear.
Further, intelligence grain-levelling machine device people further include: elastic component；
Wherein, the round tube is connected to the bottom of the operation shovel through the elastic component；
The elastic component under external force can deformation occurs.
Further, the control mechanism includes: direction sensor, position sensor, first processor and brush DC
Motor；
Wherein, the first processor, directional information for being arrived according to the direction sensor real-time detection and described
The location information that position sensor real-time detection arrives determines the real time position of the intelligent grain-levelling machine device people；For each institute
Operating point is stated to be performed both by: according to the real time position, when detecting the intelligent grain-levelling machine device people and being located at current action point,
It is corresponding using the driver in the DC brushless motor according to two revolving speeds and rotation angle at the current action point
Respectively drive the rotation of two wheel shafts and the transmission gear.
Further, the mobile mechanism further include: be located at two at left and right sides of the crawler belt protection side panels, set
The flexible brush being placed at the crawler belt gap；
The crawler belt is Kafra fiber rubber belt track；
The edge of the crawler belt is arc-shaped；
The texture of the crawler belt is plain weave；
The marginal dimension of the protection side panel is consistent with the marginal dimension of the crawler belt.
Further, the power supply mechanism includes: battery group, anti-explosion cable；
Wherein, the anti-explosion cable for forceful electric power connection is separatedly installed with the anti-explosion cable connected for light current；
Minimum range between the center of gravity of the battery group and the center of gravity of the power chassis, within the scope of predetermined deviation.
Further, intelligence grain-levelling machine device people further include: support rod, infrared camera and high-definition camera；
Wherein, the lower end of the support rod is located at the upper surface of the power chassis, the infrared camera and the height
Clear camera is respectively positioned on the upper end of the support rod；
The control mechanism, for sending the infrared camera and the collected information of the high-definition camera in real time
To the background control end.
Further, the power chassis further include: positioned at the chassis manual control end of the power chassis rear end；
Wherein, chassis manual control end includes scram button and run indicator.
Further, the power chassis further include: outer housing and support bracket；
Wherein, the outer housing uses light aluminum alloy shell；
The support bracket uses steel member；
Any packed part inside the power chassis is all made of aluminium alloy or poly (methyl methacrylate) plate.
Further, intelligence grain-levelling machine device people further include: the range sensor positioned at the power chassis upper surface；
Wherein, the flat grain rule further include: target Continuous duration, escalation rate threshold value；
Wherein, the control mechanism is used for during executing the flat grain operation, using the range sensor, in real time
The range sensor is acquired to the linear distance between silo ceiling；According to collected each linear distance, building
Linear distance floating curve；It is described to judge whether the escalation rate of the latter end floating curve in the linear distance floating curve is greater than
Escalation rate threshold value, wherein the duration of the latter end floating curve is the target Continuous duration, if so, according to prestoring
The flat grain rule of supplement type, controls the rotation of the wheel shaft and the transmission gear, to execute flat grain operation again.
On the other hand, the present invention provides a kind of flat grain control systems, comprising: background control end and any of the above-described described
Intelligent grain-levelling machine device people；
Wherein, the background control end includes: second processor, the first display screen and at least one first control button；
Wherein, the intelligent grain-levelling machine device people, for sending internal high-definition camera acquired image information in real time
To the second processor；Execute each control command that the second processor is sent；
The second processor, for the Scaned map according to silo as a result, determining flat grain rule, and the flat grain is advised
Then it is sent to the intelligent grain-levelling machine device people；Control the described image information that the first display screen real-time display receives；?
When monitoring the external trigger action for being directed to any first control button, which is corresponded into default control
Order is sent to the intelligent grain-levelling machine device people.
Further, flat grain control system further include: user holds control terminal；
Wherein, the user hold control terminal include: third processor, second display screen and at least one second control by
Button；
Wherein, the intelligent grain-levelling machine device people, for described image information to be sent to the third processor in real time；It holds
Each control command that the row third processor is sent；
The third processor, the described image information received for controlling the second display screen real-time display；?
When monitoring the external trigger action for being directed to any second control button, which is corresponded into default control
Order is sent to the intelligent grain-levelling machine device people.
It include power chassis, position the present invention provides a kind of intelligent grain-levelling machine device people and flat grain control system, the robot
Operation in power chassis front end shovels, is connected to operation is shoveled the lowermost round tube and is located at left and right sides of power chassis two
A mobile mechanism；Power chassis includes power supply mechanism, control mechanism, transmission gear；Mobile mechanism include by own rotation with
Drive wheel shaft, the crawler belt on the outside of wheel shaft of caterpillar drive；The length of round tube is equal to the width of operation shovel；Transmission gear and work
Industry shovel is connected, by the rotation of itself to drive operation scraper dynamic；Power supply mechanism is powered to control mechanism；Control mechanism is according to outer
It is that portion's background control end is sent, include flat grain path and wherein at each operating point control parameter flat grain rule, control wheel shaft
Rotation with transmission gear is to execute flat grain operation；Control parameter includes the rotation angle of two wheel shaft revolving speeds, transmission gear.Cause
This, the present invention can automatic flat grain, it is time saving and energy saving, improve efficiency.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is the present invention
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is a kind of schematic diagram for intelligent grain-levelling machine device people that one embodiment of the invention provides；
Fig. 2 is the schematic diagram for the intelligent grain-levelling machine device people of another kind that one embodiment of the invention provides；
Fig. 3 is a kind of schematic diagram for elastic component that one embodiment of the invention provides；
Fig. 4 is the schematic diagram for another intelligent grain-levelling machine device people that one embodiment of the invention provides；
Fig. 5 is a kind of schematic diagram for flat grain control system that one embodiment of the invention provides；
Fig. 6 is the schematic diagram for the flat grain control system of another kind that one embodiment of the invention provides.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments, based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
As shown in Figure 1, simultaneously referring to FIG. 2, may include: the embodiment of the invention provides a kind of intelligent grain-levelling machine device people
Power chassis 1, the operation positioned at 1 front end of power chassis shovel 2, are connected to the operation shovel 2 the lowermosts circle
Pipe 3, and it is located at the Liang Ge mobile mechanism 4 of 1 left and right sides of power chassis；
Wherein, the power chassis 1 includes: power supply mechanism 5, control mechanism 6, transmission gear 7；
Wherein, the mobile mechanism 4 includes: wheel shaft 8, the crawler belt 9 positioned at 8 outside of wheel shaft；
Wherein, the length of the round tube 3 is equal to the width of operation shovel 2；
The operation shovel 2 is connected with the transmission gear 7；
The wheel shaft 8 drives the crawler belt 9 to move for the rotation by itself；
The transmission gear 7 drives 2 movement of operation shovel for the rotation by itself；
The power supply mechanism 5, for powering to the control mechanism 6；
The control mechanism 6, the flat grain rule sent for receiving external background control end, wherein the flat grain rule
Including the control parameter at each operating point in flat grain path and the flat grain path；According to the flat grain rule, institute is controlled
The rotation of wheel shaft 8 and the transmission gear 7 is stated, to execute flat grain operation；
Wherein, the control parameter includes: the rotation angle of two revolving speeds and the transmission gear 7 of two wheel shafts 8
Degree.
The embodiment of the invention provides a kind of intelligent grain-levelling machine device people, which includes power chassis, is located at power bottom
The operation shovel of disk front end is connected to two moving machines that operation is shoveled the lowermost round tube and is located at left and right sides of power chassis
Structure；Power chassis includes power supply mechanism, control mechanism, transmission gear；Mobile mechanism includes by own rotation to drive crawler belt
The wheel shaft of movement, the crawler belt on the outside of wheel shaft；The length of round tube is equal to the width of operation shovel；Transmission gear shovels phase with operation
Even, by the rotation of itself to drive operation scraper dynamic；Power supply mechanism is powered to control mechanism；Control mechanism is according to external backstage
It is that control terminal is sent, include flat grain path and wherein at each operating point control parameter flat grain rule, control wheel shaft and transmission
The rotation of gear is to execute flat grain operation；Control parameter includes the rotation angle of two wheel shaft revolving speeds, transmission gear.Therefore, originally
Inventive embodiments can automatic flat grain, it is time saving and energy saving, improve efficiency.
In detail, by control left and right wheel speed it is identical, it can be achieved that intelligent grain-levelling machine device people forward-reverse；Pass through control
Left and right wheels differential, it can be achieved that intelligent grain-levelling machine device people deflecting of spinning.
In detail, operation shovel can be by space connecting-rod to be connected with transmission gear.When transmission gear rotates, space connecting-rod
Rotate with it, so drive operation shovel can the central axis based on transmission gear and rotate synchronously.In this way, operation shovel can at least have
There are two freedom degrees up and down.When needing to cross larger barrier in intelligent grain-levelling machine device people's moving process, when such as grain heap high level,
It can control operation shovel to raise；When intelligent grain-levelling machine device people's normally flat grain, can control operation shovel is reduced to realize flat grain.
In addition, ultra-wide shoveling can be used in order to improve flat grain efficiency.
In detail, own characteristic is shoveled based on operation, intelligent grain-levelling machine device people when advancing can rough smooth grain face, retreating
When can fine smooth grain face.In addition, round tube is arranged by shoveling bottom in operation, so that intelligent grain-levelling machine device people is when retreating,
Not only there is pressing effect in operation back-off portion to grain around, also has certain impetus at round tube to grain around, dual
Flat grain effect can be strengthened under effect, accelerate flat grain progress.
In detail, before intelligent grain-levelling machine device is manually made, silo can be subjected to Scaned map, then can be tied according to scanning
Fruit sets flat pathway and operating point, and ontology relevant action and executing agency interoperation are set at operating point.
In an embodiment of the invention, laser scanning assembly can be set in the surrounding of intelligent grain-levelling machine device people, such as
One laser scanning assembly respectively can be set at the both ends of two protective baffle plates respectively, and control intelligent grain-levelling machine device people in grain face
It is mobile.Thus can be according to laser scanning obtained in moving process as a result, to determine flat grain rule.
In detail, it can realize that ontology is acted by driver and wheel shaft, that is, realize the movement of two sides mobile mechanism, with
And can realize that executing agency acts by driver and transmission gear, i.e. the movement of realization operation shovel.
In detail, intelligent grain-levelling machine device people should usually have certain degree of protection, for example can be IP65, with can be
Dust environmental work in storehouse.
In conclusion can use intelligent grain-levelling machine device people to realize automatic flat grain, therefore intelligent grain-levelling machine device people can generation
For reservoir area, personnel are gone in storehouse, continue efficiently to work under rugged environment, rely on people so as to solve existing flat grain operation
The problem of work, low efficiency, and solve the problems, such as that labor problem relevant to artificial flat grain, working environment are severe etc..
In an embodiment of the invention, referring to FIG. 3, intelligence grain-levelling machine device people can also include: elastic component 10；
Wherein, the round tube 3 is connected to the bottom of the operation shovel 2 through the elastic component 10；
The elastic component 10 under external force can deformation occurs.
As shown in figure 3, during flat grain, if the grain after operation shovel execution grain is bulldozed effect, with round tube contact position
Grain face can accordingly cause round tube compared with horizontal plane and there are when a degree of inclination when face is still not smooth enough, such as at this
Inclination.In this way, elastic component can occur corresponding deformation and incline to compensate this in the case where round tube and operation shovel the lowermost double reaction plus
Tiltedly effect, it is horizontal not influence operation shovel holding as far as possible, thus intelligent grain-levelling machine caused by can avoid because of operation shovel inclination
Device people's center of gravity unbalance.As it can be seen that elastic component has the effect of damping, fair herein.
In an embodiment of the invention, referring to FIG. 4, the control mechanism 6 includes: direction sensor 11, position biography
Sensor 12, first processor 13 and DC brushless motor 14；
Wherein, the first processor 13, directional information and institute for being examined in real time according to the direction sensor 11
The location information that 12 real-time detection of position sensor arrives is stated, determines the real time position of the intelligent grain-levelling machine device people；For each
A operating point is performed both by: according to the real time position, being located at current action point detecting the intelligent grain-levelling machine device people
When place, according to two revolving speeds and rotation angle at the current action point, the driving in the DC brushless motor 14 is utilized
Device, the corresponding rotation for respectively driving two wheel shafts 8 and the transmission gear 7.
In detail, to realize accurate flat grain, position, the locating orientation of intelligent grain-levelling machine device people should all be refined control
System.Therefore, an operating point can be uniquely corresponding to a position location in silo, and be corresponding with an orientation.The present invention
In embodiment, locating orientation can be determined by direction sensor by position sensor to determine position.
In detail, DC brushless motor is small in size, light-weight, power output is big, it is good not generate spark, high reliablity, stability,
It is adaptable, maintenance is simple, particularly suitable for silo internal environment.
In an embodiment of the invention, the motor body and driver that can control in DC brushless motor directly join
Axis, and control driver and the direct shaft coupling of wheel shaft.Based on this connection type of direct shaft coupling, transmission efficiency can be improved, drop
Low-loss.
Further, since will receive the influence of dust and instantaneous overload when intelligent grain-levelling machine device people works in silo, therefore can
It is driven using the shaft coupling of internal Protection, to guarantee still work well under severe working environment and performance stabilization can
It leans on.
In an embodiment of the invention, Fig. 1 and Fig. 4, the mobile mechanism 4 are please referred to further include: be located at described
Two protection side panels 15 of 9 left and right sides of crawler belt, the flexible brush being set at 9 gap of crawler belt；
The crawler belt 9 is Kafra fiber rubber belt track 9；
The edge of the crawler belt 9 is arc-shaped；
The texture of the crawler belt 9 is plain weave；
The marginal dimension of the protection side panel 15 is consistent with the marginal dimension of the crawler belt 9.
It under normal conditions, is the ground connection ratio for increasing robot chassis and grain surface, crawler belt can use ultra-wide crawler belt.Than
Such as, it is assumed that an intelligent grain-levelling machine device people X, power chassis and this whole size of mobile mechanism are width 900mm, depth
700mm, height 300mm, then the crawler width of intelligence grain-levelling machine device people X can be 170mm.
In the embodiment of the present invention, by by edge designs be it is arc-shaped, texture is designed as plain weave, can effectively avoid intelligence
Energy grain-levelling machine device people generates the phenomenon that skidding and being recessed when grain face is mobile.
In the embodiment of the present invention, by that can be protected completely mobile mechanism in crawler belt side increase protection side panel,
And increase flexible brush in crawler belt gap, so as to effectively stop grain, particulate matter etc. to enter mobile mechanism's content, and
Damage is generated to mobile mechanism's internal part.
In an embodiment of the invention, the power supply mechanism 5 includes: battery group, anti-explosion cable；
Wherein, the anti-explosion cable for forceful electric power connection is separatedly installed with the anti-explosion cable connected for light current；
Minimum range between the center of gravity of the battery group and the center of gravity of the power chassis 1, within the scope of predetermined deviation.
In detail, this battery group can use lithium battery mould group.Since the weight of battery group is larger, thus it is logical
The center of gravity for crossing control battery group coincides with the center of gravity of power chassis as far as possible, can alleviate intelligent grain-levelling machine device people and be moved through
Center of gravity unbalance that may be present in journey.
It in detail, can be according to required cruise duration, to determine the battery number in battery group.For example, continuation of the journey
Time can be set to 5h.
In the embodiment of the present invention, since all connection cables are all made of explosion-proof cable, and forceful electric power and light current are separated, therefore can be real
Now complete electromagnetic isolation.
In an embodiment of the invention, referring to FIG. 4, intelligence grain-levelling machine device people further include: support rod 16 infrared is taken the photograph
As head 17 and high-definition camera 18；
Wherein, the lower end of the support rod 16 is located at the upper surface of the power chassis 1, the infrared camera 17 and institute
State the upper end that high-definition camera 18 is respectively positioned on the support rod 16；
The control mechanism 6, for the infrared camera 17 and the collected information of the high-definition camera 18 is real
When be sent to the background control end.
In detail, it is based on the real-time acquired image information of high-definition camera, staff can remotely recognize in real time
Flat grain status in silo, in order to the flat grain process of the on-demand human intervention of staff.
In detail, based on infrared camera, collected information, staff can remotely recognize silo in real time in real time
Interior local pyrexia abnormal conditions, in order to which staff can process by demand.
Certainly, in other embodiments of the invention, infrared high definition two-in-one type camera can also be used.
In an embodiment of the invention, Fig. 1 and Fig. 4, the power chassis 1 are please referred to further include: be located at the power
The chassis manual control end 19 of 1 rear end of chassis；
Wherein, chassis manual control end 19 includes scram button and run indicator.
In the embodiment of the present invention, it is based on chassis manual control end, staff can be in the intelligent grain-levelling machine of the long-range control in backstage
Device people can also directly control intelligent grain-levelling machine device people at the scene.
In detail, processor can be according to operating condition, and accordingly the indicator light is always on for real-time control, closes, flashing lamp, to make
Prompt is used, in order to which staff simply directly understands operating condition.
In detail, when intelligent grain-levelling machine device people's exception, scram button can be triggered to stop the operation of flat grain in time, without
Background control end is returned to execute corresponding operating.
In an embodiment of the invention, the power chassis 1 further include: outer housing and support bracket；
Wherein, the outer housing uses light aluminum alloy shell；
The support bracket uses steel member；
Any packed part inside the power chassis 1 is all made of aluminium alloy or poly (methyl methacrylate) plate.
In the embodiment of the present invention, selection for material can be used light aluminum alloy shell, need to weigh in main body frame
Part use steel member, remaining packed part use aluminium alloy or poly (methyl methacrylate) plate, with reduce vehicle body self weight.On for example,
The weight for stating intelligent grain-levelling machine device people X can only about 60kg.
In an embodiment of the invention, control mechanism can control what above-mentioned intelligence grain-levelling machine device people X walked in storehouse
Speed is 1~2m/s, and maximum is not more than 40% across 350mm, maximum climbing is not more than, and maximum obstacle detouring is not more than 120mm.
In an embodiment of the invention, referring to FIG. 4, intelligence grain-levelling machine device people further include: be located at the power bottom
The range sensor 20 of 1 upper surface of disk；
Wherein, the flat grain rule further include: target Continuous duration, escalation rate threshold value；
Wherein, the control mechanism 6 is used for during executing the flat grain operation, real using the range sensor 20
When acquire the range sensor 20 to the linear distance between silo ceiling；According to collected each linear distance,
Construct linear distance floating curve；Judge whether the escalation rate of the latter end floating curve in the linear distance floating curve is greater than
The escalation rate threshold value, wherein the duration of the latter end floating curve is the target Continuous duration, if so, according to pre-
The flat grain rule of the supplement type deposited, controls the rotation of the wheel shaft 8 and the transmission gear 7, to execute flat grain operation again.
In detail, flat grain effect self-test can be executed according to floating curve after the completion of flat grain, if self-test does not pass through, can hold
Row supplements flat grain operation, to reach required flat grain effect.When reaching required flat grain effect, newest linear distance is floated bent
The escalation rate of latter end floating curve in line should be not more than escalation rate threshold value.
In an embodiment of the invention, when encountering exception and low battery, intelligent grain-levelling machine device people can report automatically
It is alert.Accordingly, after warning message passes to background control end, reservoir area personnel can be handled according to warning message in time.
As shown in figure 5, simultaneously referring to FIG. 1, the embodiment of the invention provides a kind of flat grain control systems, after may include:
Platform control terminal 21 and any of the above-described intelligent grain-levelling machine device people 22；
Wherein, the background control end 21 includes: second processor 23, the first display screen 24 and at least one first control
Button 25；
Wherein, the intelligent grain-levelling machine device people 22, for sending out internal high-definition camera acquired image information in real time
Give the second processor 23；Execute each control command that the second processor 23 is sent；
The second processor 23, for according to the Scaned map of silo as a result, determine flat grain rule, and by the flat grain
Rule is sent to the intelligent grain-levelling machine device people 22；Control the described image letter that 24 real-time display of the first display screen receives
Breath；It is when monitoring the external trigger action for being directed to any first control button 25, first control button 25 is corresponding
The intelligent grain-levelling machine device people 22 is sent in default control order.
In detail, based on high-definition camera, collected information, staff can observe machine on backstage in real time in real time
The handling situations of the smooth grain face of people, so as to control the working condition of intelligent grain-levelling machine device people in real time.
In addition, scene photograph can be also captured automatically based on high-definition camera, in order to which intelligent recognition barrier and exception are hot
It simultaneously alarms etc. in source.For example, since the information such as the picture pigment of normal grain face determine substantially, when there are mouse, sparrow in photo
The barriers such as class, and when heat source abnormal there are mouldy agglomeration grain etc., picture pigment picture color corresponding with normal grain face
Element can have differences.
Based on same realization principle, in other embodiments of the present invention, can also be equipped on intelligent grain-levelling machine device people
Various temperature and humidity, gas sensor etc., to carry out temperature and humidity and harmful gas concentration detection inside silo.
In detail, be based on above-mentioned control button, can be controlled separately the unlatching of intelligent grain-levelling machine device people, closing, advance, after
Move back, commutation of spinning, operation shovel raise or reduce.For example, being based on motor control button, may be implemented artificially to be remotely controlled the flat grain of intelligence
It is whole to be carried out thick Heibei provincial opera by robot for the apparent grain heap of the visual difference of height that can be identified.
In an embodiment of the invention, referring to FIG. 6, the flat grain control system further include: user holds control terminal 26；
Wherein, the user hold control terminal 26 include: third processor 27, second display screen 28 and at least one second
Control button 29；
Wherein, the intelligent grain-levelling machine device people 22, for described image information to be sent to the third processor in real time
27；Execute each control command that the third processor 27 is sent；
The third processor 27, the described image letter received for controlling 28 real-time display of second display screen
Breath；It is when monitoring the external trigger action for being directed to any second control button 29, second control button 29 is corresponding
The intelligent grain-levelling machine device people 22 is sent in default control order.
In detail, operator can hold chassis manual control end and stand in suitable operating position, and can combine on demand aobvious
The image of display screen institute real-time exhibition carrys out remote control intelligence grain-levelling machine device people, such as can be with remote control intelligence grain-levelling machine device people
Complete the operation and other movement demands of thick flat grain face.
In one embodiment of the invention, when grain face difference in height is significant in silo, can be held by user control terminal into
Row manual remote control can also be come with being substantially bulldozed the grain face of difference in height larger part by the electric machine control system of background control end
Execute this thick flat operation.Later, intelligent grain-levelling machine device people can be enabled to execute flat grain operation automatically.
In an embodiment of the invention, it closes a position every time after the completion of operation, background control end can automatically generate one and put down
Whole grain face report is checked in order to arrange flat grain record and subsequent calls.
In conclusion this flat grain control system provided in the embodiment of the present invention, integrated application artificial intelligence, cloud meter
The technologies such as calculation, automation, intelligence, Internet of Things, so that intelligent unmanned grain face leveling operation can be realized.
Compared with prior art, the embodiment of the present invention at least can have following features:
1, intelligent: robot can the path according to setting of intelligence carry out smooth grain face operation, reservoir area personnel can be with
Real time monitoring and real time remote control are carried out in mobile terminal and client.
2, unmanned: the flat grain face operation process of whole scene is unattended or remote control operation, and it is flat to can solve reservoir area
The labor service shortage of grain face operation and the severe problem of working environment.The flat grain face speed of robot is fast, saves a large amount of labours, reduces
Labor intensity, can continue a journey operation in the presence of a harsh environment, at low cost, highly effective and safe.
3, adaptability is high: robot has certain degree of protection, and dustproof and waterproof can be effectively using dust in storehouse
And hot environment.Integral body is mainly made of aluminium alloy and poly (methyl methacrylate) plate, only the steel member of small part main frame, can
In the free walking operations in grain surface.The robot can reuse, and one time expense is used for multiple times, and the service life is long, and failure rate is small,
Maintenance is simple.
In conclusion the embodiment of the present invention have it is at least following the utility model has the advantages that
1, in the embodiment of the present invention, intelligent grain-levelling machine device people include power chassis, positioned at power chassis front end operation shovel,
It is connected to the Liang Ge mobile mechanism that operation is shoveled the lowermost round tube He is located at left and right sides of power chassis；Power chassis includes
Power supply mechanism, control mechanism, transmission gear；Mobile mechanism includes by own rotation to drive the wheel shaft of caterpillar drive, be located at
Crawler belt on the outside of wheel shaft；The length of round tube is equal to the width of operation shovel；Transmission gear is connected with operation shovel, passes through the rotation of itself
To drive operation scraper dynamic；Power supply mechanism is powered to control mechanism；It is that control mechanism is sent according to external background control end including
Have flat grain path and wherein at each operating point control parameter flat grain rule, the rotation for controlling wheel shaft and transmission gear is flat to execute
Grain operation；Control parameter includes the rotation angle of two wheel shaft revolving speeds, transmission gear.Therefore, the embodiment of the present invention can be automatic
Flat grain is time saving and energy saving, improve efficiency.
2, in the embodiment of the present invention, it can use intelligent grain-levelling machine device people to realize automatic flat grain, therefore intelligent grain-levelling machine device
People can replace reservoir area personnel and go in storehouse, continue efficiently to work under rugged environment, so as to solve existing flat grain behaviour
The problem of making to rely on artificial, low efficiency, and solves the problems, such as that labor problem relevant to manually flat grain, working environment are severe etc..
3, this flat grain control system for being provided in the embodiment of the present invention, it is integrated application artificial intelligence, cloud computing, automatic
The technologies such as change, intelligence, Internet of Things, so that intelligent unmanned grain face leveling operation can be realized.
It should be noted that, in this document, such as first and second etc relational terms are used merely to an entity
Or operation is distinguished with another entity or operation, is existed without necessarily requiring or implying between these entities or operation
Any actual relationship or order.Moreover, the terms "include", "comprise" or its any other variant be intended to it is non-
It is exclusive to include, so that the process, method, article or equipment for including a series of elements not only includes those elements,
It but also including other elements that are not explicitly listed, or further include solid by this process, method, article or equipment
Some elements.In the absence of more restrictions, the element limited by sentence " including one ", is not arranged
Except there is also other identical factors in the process, method, article or apparatus that includes the element.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above method embodiment can pass through
The relevant hardware of program instruction is completed, and program above-mentioned can store in computer-readable storage medium, the program
When being executed, step including the steps of the foregoing method embodiments is executed；And storage medium above-mentioned includes: ROM, RAM, magnetic disk or light
In the various media that can store program code such as disk.
Finally, it should be noted that the foregoing is merely presently preferred embodiments of the present invention, it is merely to illustrate skill of the invention
Art scheme, is not intended to limit the scope of the present invention.Any modification for being made all within the spirits and principles of the present invention,
Equivalent replacement, improvement etc., are included within the scope of protection of the present invention.
Claims (10)
1. a kind of intelligence grain-levelling machine device people characterized by comprising
Power chassis, positioned at the power chassis front end operation shovel, be connected to the operation and shovel the lowermost round tube, Yi Jifen
It Wei Yu not Liang Ge mobile mechanism at left and right sides of the power chassis；
Wherein, the power chassis includes: power supply mechanism, control mechanism, transmission gear；
Wherein, the mobile mechanism includes: wheel shaft, the crawler belt on the outside of the wheel shaft；
Wherein, the length of the round tube is equal to the width of operation shovel；
The operation shovel is connected with the transmission gear；
The wheel shaft, for the rotation by itself to drive the caterpillar drive；
The transmission gear, for the rotation by itself to drive the operation scraper dynamic；
The power supply mechanism, for powering to the control mechanism；
The control mechanism, the flat grain rule sent for receiving external background control end, wherein the flat grain rule includes flat
Control parameter in grain path and the flat grain path at each operating point；According to the flat grain rule, the wheel shaft is controlled
With the rotation of the transmission gear, operated with executing flat grain；
Wherein, the control parameter includes: two revolving speeds of two wheel shafts and the rotation angle of the transmission gear.
2. intelligence grain-levelling machine device people according to claim 1, which is characterized in that
Further include: elastic component；
Wherein, the round tube is connected to the bottom of the operation shovel through the elastic component；
The elastic component under external force can deformation occurs.
3. intelligence grain-levelling machine device people according to claim 1, which is characterized in that
The control mechanism includes: direction sensor, position sensor, first processor and DC brushless motor；
Wherein, the first processor, directional information and the position for being arrived according to the direction sensor real-time detection
The location information that sensor real-time detection arrives determines the real time position of the intelligent grain-levelling machine device people；It is moved for described in each
Make point to be performed both by: according to the real time position, when detecting the intelligent grain-levelling machine device people and being located at current action point, according to
Two revolving speeds and rotation angle at the current action point, using the driver in the DC brushless motor, corresponding difference
Drive the rotation of two wheel shafts and the transmission gear.
4. intelligence grain-levelling machine device people according to claim 1, which is characterized in that
The mobile mechanism further include: be located at two at left and right sides of the crawler belt protection side panels, be set to the crawler belt
Flexible brush at gap；
The crawler belt is Kafra fiber rubber belt track；
The edge of the crawler belt is arc-shaped；
The texture of the crawler belt is plain weave；
The marginal dimension of the protection side panel is consistent with the marginal dimension of the crawler belt.
5. intelligence grain-levelling machine device people according to claim 1, which is characterized in that
The power supply mechanism includes: battery group, anti-explosion cable；
Wherein, the anti-explosion cable for forceful electric power connection is separatedly installed with the anti-explosion cable connected for light current；
Minimum range between the center of gravity of the battery group and the center of gravity of the power chassis, within the scope of predetermined deviation；
And/or
Further include: support rod, infrared camera and high-definition camera；
Wherein, the lower end of the support rod is located at the upper surface of the power chassis, and the infrared camera and the high definition are taken the photograph
As head is respectively positioned on the upper end of the support rod；
The control mechanism, for the infrared camera and the collected information of the high-definition camera to be sent to institute in real time
State background control end.
6. intelligence grain-levelling machine device people according to claim 1, which is characterized in that
The power chassis further include: positioned at the chassis manual control end of the power chassis rear end；
Wherein, chassis manual control end includes scram button and run indicator.
7. intelligence grain-levelling machine device people according to claim 1, which is characterized in that
The power chassis further include: outer housing and support bracket；
Wherein, the outer housing uses light aluminum alloy shell；
The support bracket uses steel member；
Any packed part inside the power chassis is all made of aluminium alloy or poly (methyl methacrylate) plate.
8. according to claim 1 to any intelligent grain-levelling machine device people in 7, which is characterized in that further include: it is located at described dynamic
The range sensor of power chassis upper surface；
Wherein, the flat grain rule further include: target Continuous duration, escalation rate threshold value；
Wherein, the control mechanism, for using the range sensor, acquiring in real time during executing the flat grain operation
The range sensor is to the linear distance between silo ceiling；According to collected each linear distance, straight line is constructed
Apart from floating curve；Judge whether the escalation rate of the latter end floating curve in the linear distance floating curve is greater than the floating
Rate threshold value, wherein the duration of the latter end floating curve is the target Continuous duration, if so, according to the supplement prestored
The flat grain rule of type, controls the rotation of the wheel shaft and the transmission gear, to execute flat grain operation again.
9. a kind of flat grain control system characterized by comprising
Background control end and the intelligent grain-levelling machine device people as described in any in claim 1 to 8；
Wherein, the background control end includes: second processor, the first display screen and at least one first control button；
Wherein, the intelligent grain-levelling machine device people, for internal high-definition camera acquired image information to be sent to institute in real time
State second processor；Execute each control command that the second processor is sent；
The second processor, for the Scaned map according to silo as a result, determining flat grain rule, and the flat grain rule is sent out
Give the intelligent grain-levelling machine device people；Control the described image information that the first display screen real-time display receives；It is monitoring
When being directed to the trigger action of any first control button to outside, which is corresponded into default control order
It is sent to the intelligent grain-levelling machine device people.
10. flat grain control system according to claim 9, which is characterized in that
Further include: user holds control terminal；
Wherein, it includes: third processor, second display screen and at least one second control button that the user, which holds control terminal,；
Wherein, the intelligent grain-levelling machine device people, for described image information to be sent to the third processor in real time；Execute institute
State each control command that third processor is sent；
The third processor, the described image information received for controlling the second display screen real-time display；It is monitoring
When being directed to the trigger action of any second control button to outside, which is corresponded into default control order
It is sent to the intelligent grain-levelling machine device people.
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| CN201910220378.5A CN109823872B (en) | 2019-03-22 | 2019-03-22 | Intelligent grain leveling robot and grain leveling control system |
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| CN109823872B (en) | 2024-04-12 |
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