CN109969808A - A kind of grain collecting machine people and its control method - Google Patents
A kind of grain collecting machine people and its control method Download PDFInfo
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- CN109969808A CN109969808A CN201910367323.7A CN201910367323A CN109969808A CN 109969808 A CN109969808 A CN 109969808A CN 201910367323 A CN201910367323 A CN 201910367323A CN 109969808 A CN109969808 A CN 109969808A
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- gunnysack
- pack
- channel
- machine structure
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 64
- 230000033001 locomotion Effects 0.000 claims abstract description 21
- 235000013339 cereals Nutrition 0.000 claims description 395
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 45
- 230000005540 biological transmission Effects 0.000 claims description 34
- 239000000428 dust Substances 0.000 claims description 24
- 238000007789 sealing Methods 0.000 claims description 19
- 238000004040 coloring Methods 0.000 claims description 10
- 238000003032 molecular docking Methods 0.000 claims description 8
- 230000000007 visual effect Effects 0.000 claims description 6
- 238000005303 weighing Methods 0.000 claims description 6
- 238000005452 bending Methods 0.000 claims description 4
- 235000013305 food Nutrition 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 claims description 2
- 238000007373 indentation Methods 0.000 claims description 2
- 239000002689 soil Substances 0.000 claims description 2
- 230000008450 motivation Effects 0.000 claims 1
- 238000012856 packing Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 8
- 238000003860 storage Methods 0.000 description 5
- 230000005484 gravity Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 239000000835 fiber Substances 0.000 description 3
- 238000012271 agricultural production Methods 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- 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
- B65B1/00—Packaging fluent solid material, e.g. powders, granular or loose fibrous material, loose masses of small articles, in individual containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, or jars
- B65B1/04—Methods of, or means for, filling the material into the containers or receptacles
- B65B1/16—Methods of, or means for, filling the material into the containers or receptacles by pneumatic means, e.g. by suction
-
- 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
- B65B43/26—Opening or distending bags; Opening, erecting, or setting-up boxes, cartons, or carton blanks
- B65B43/34—Opening or distending bags; Opening, erecting, or setting-up boxes, cartons, or carton blanks by internal pressure
-
- 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
- B65B61/00—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages
- B65B61/28—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for discharging completed packages from machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G53/00—Conveying materials in bulk through troughs, pipes or tubes by floating the materials or by flow of gas, liquid or foam
- B65G53/04—Conveying materials in bulk pneumatically through pipes or tubes; Air slides
- B65G53/24—Gas suction systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/005—Control arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/02—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads
- B65G65/06—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads with endless scraping or elevating pick-up conveyors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/04—Bulk
- B65G2201/042—Granular material
Abstract
The present invention discloses a kind of grain collecting machine people and its control method, grain collecting machine people includes mobile platform, grain purchasing machine structure, pack device, driving mechanism, sensor and controller, mobile platform bottom is equipped with the walking mechanism moved horizontally, grain purchasing machine structure is to collect grain, pack device is docked with grain purchasing machine structure, to the grain pack for collecting grain purchasing machine structure, driving mechanism is to drive walking mechanism, grain purchasing machine structure and pack device, controller is to control driving mechanism according to sensor.In technical solution provided by the invention, after the grain for collecting ground by grain purchasing machine structure, grain is sent to pack device, automatic bagging is carried out to grain by pack device again, also, by sensor collection signal, controller controls the movement of mobile platform, grain purchasing machine structure and pack device according to signal, so grain collecting machine people may be implemented receives grain and packing automatically, to greatly improve the efficiency of grain collecting.
Description
Technical field
The present invention relates to agricultural machinery technological field, in particular to a kind of grain collecting machine people and its control method.
Background technique
At home and abroad, the vast rural areas are received mostly or using traditional artificial mode for grain on dring yard at present
Collection is also required to frequently carry out grain collecting operation in the process in addition, the storage in grain takes grain out of a granary to sun it, transports, process etc..Traditional people
Work mode is mainly to rely on people's dustpan and wooden winnowing spade grain is transported in gunnysack up and down reciprocatingly again and again, and need someone
, this manual type is cumbersome and time consuming, brings great trouble to current agricultural production for the opening of control gunnysack.
Summary of the invention
The main object of the present invention is to propose a kind of grain collecting machine people and its control method, it is intended to be designed a kind of high
The grain collecting tool of effect.
To achieve the above object, a kind of grain collecting machine people proposed by the present invention, comprising:
Mobile platform, bottom are equipped with the walking mechanism moved horizontally；
Grain purchasing machine structure is installed on the mobile platform, to collect grain；
Pack device is installed on the mobile platform, and docks with the grain purchasing machine structure, to receive the grain purchasing machine structure
The grain of collection packs；
Driving mechanism, to drive the walking mechanism, the grain purchasing machine structure and the pack device；
Sensor and controller, the controller is electrically connected the sensor and the driving mechanism, to according to institute
Sensor is stated, the driving mechanism is controlled.
Optionally, the grain purchasing machine structure includes the belt grain purchasing machine structure for being installed on the front end of the mobile platform, the band
Formula grain purchasing machine structure includes:
Poly- grain device is installed on the lower front end of the mobile platform, the poly- grain device open setting forward, to gather
Grain；
Band transmission device, vertically to and lower end be obliquely installed on the mobile platform, the band transmission device forward
Upper end and pack device docking, lower end and poly- grain device docking；And
Grain device is shoveled, towards the conveyer belt with transmission device is attached to, to scoop up grain；
Wherein, the driving mechanism includes band transmission driving mechanism, and the band transmission driving mechanism is to drive the band
Transmission device, and the shovel grain device is driven, so that the shovel grain device can scoop up the grain gathered by the poly- grain device, and
It is passed up to the pack device.
Optionally, the poly- grain device is arranged in the tubular of front and back opening, and including sequentially connected epipleural, left side
Plate, lower side panel and right side plate, the rear end of the epipleural are formed with the first notch, and the lower end with transmission device is from described
One indentation, there protrudes into the poly- grain device and forms docking；And/or
The poly- grain device has contact with grain and contact surface facing forward, and the sensor is including between the upper and lower every setting
In multiple pressure sensors of the contact surface, to determine the real-time thickness of grain according to the multiple pressure sensor；
And/or
The shovel grain device is multiple along being circumferentially with for the conveyer belt；And/or
The shovel grain device includes being convexly equipped in the connecting plate of the conveyer belt and from the connecting plate towards the conveyer belt
The bending plate that is bent to form of direction of transfer；And/or
There are two rib portions for fold formation outwardly respectively for the both sides of the conveyer belt, and the shovel grain device is along the transmission
The width direction of band extends, and its both ends correspondence is abutted with described two rib portions.
Optionally, the grain purchasing machine structure includes the air suction type grain purchasing machine structure for being installed on the front of the pack device, described
Air suction type grain purchasing machine structure includes:
Shell, offers grain-entering mouth and grain outlet, and the enclosure interior is formed with the connection grain-entering mouth and described puts out cereal
The suction grain channel of mouth；
Crop inlet pipe, one end butt up against the grain-entering mouth；
Grain dischzrging tube, one end butt up against the grain outlet, and the other end is docked with the pack device；And
Air extractor is installed on the shell, to form negative pressure in the suction grain channel, so that grain can be described in
Crop inlet pipe is inhaled into the suction grain channel, enters the pack device by the grain dischzrging tube.
Optionally, the suction grain channel includes:
Into grain channel, along front and back to arrangement, front end is connected to the grain-entering mouth；And
It puts out cereal channel, vertically to arrangement, the upper end connection rear end into grain channel, lower end is connected to the grain outlet；
Wherein, the air extractor to described into forming negative pressure in grain channel so that grain be sucked into it is described into
The rear end in grain channel, after along it is described put out cereal channel fall.
Optionally, the aft bulkhead having into grain channel to be contacted with grain, the aft bulkhead shape into grain channel
At there is filter structure, the filter structure allows dust to pass through, grain is stopped to pass through to be arranged to；
The suction grain channel further includes dust discharge channel, and the one end in the dust discharge channel is connected at described into behind grain channel
The outside of end wall, and being docked with the filter structure so that the dust into grain channel may pass through the filter structure and
Into the dust discharge channel.
Optionally, the pack device includes:
Pedestal is equipped with pack station；
Gunnysack conveying device is movably installed in the pedestal, to convey gunnysack to the pack station；
Shedding motion is movably installed in the pedestal, opens to be formed in the gunnysack upper end being located at the pack station
Mouthful, so that grain can be packed into gunnysack；And
Closing device is movably installed in the pedestal, to be located at it is described pack station at gunnysack loading after the completion of,
The gunnysack is sealed.
Optionally, the gunnysack conveying device includes gunnysack case and two rotating cylinders, and the gunnysack case is installed on the seat
Body, the gunnysack case are located at the top of the pack station, and are formed with gunnysack delivery outlet, the fiber crops towards the pack station
The gunnysack set in bag case to store volume, described two drum rotations are installed on the pedestal and are located at outside the gunnysack case, institute
It states two rotating cylinders parallel and is oppositely arranged with the gunnysack delivery outlet, formed between described two rotating cylinders with so that gunnysack is logical
The channel crossed；And/or
The shedding motion includes the two sides for setting up the pack station separately and two clampings for being slidably mounted on the pedestal
Part, so that sliding is drawn after described two clamping pieces can correspond to the upper end peristoma for clamping gunnysack from the two sides in gunnysack width direction
The upper end opening of gunnysack is opened and is formed, the driving mechanism includes the clamping piece driving to drive described two clamping piece slidings
Mechanism；And/or
The closing device include horizontal extension be installed on it is described pack station above sealing clip, the driving mechanism
Including the sealing clip driving mechanism to drive the sealing clip flexible；And/or
The pack device further include rotation be installed on it is described pack station at rotating base, the rotating base to
It carries gunnysack and carries out loading, and rotate and tighten gunnysack, the driving mechanism includes the rotation to drive the rotating base rotation
Turn driving mechanism；And/or
The pack device is installed on the rear end of the mobile platform, and the pedestal is in cabinet setting open backwards, institute
State pack station be located in the pedestal, the pack device further include be movably installed in it is packed under the pedestal set, it is described
Under it is packed set the corresponding pack station and be arranged, the gunnysack of sealing is released the pedestal backwards；And/or
The sensor includes weighing sensor, and the weighing sensor corresponds to the pack station and is installed on the seat
Body, to weigh to the gunnysack being located at the pack station.
Optionally, the sensor includes the visual sensor for being installed on the mobile platform forward, to collect front
Colouring information.
A kind of control method for grain collecting machine people that the present invention also proposes, face of the sensor to collect front
The real-time thickness of color information and/or grain, the control method include:
According to the colouring information in front, the moving direction of the mobile platform is controlled；And/or the real-time thickness according to grain
Degree, controls the movement speed of the mobile platform.
In technical solution provided by the invention, after the grain that ground is collected by the grain purchasing machine structure, grain is sent to
The pack device, then automatic bagging is carried out to grain by the pack device, also, pass through the sensor collection signal,
The controller controls the movement of the mobile platform, the grain purchasing machine structure and the pack device according to signal, so can be with
Realize that the grain collecting machine people receives grain and packing automatically, to greatly improve the efficiency of grain collecting.
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 only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
The structure shown according to these attached drawings obtains other attached drawings.
Fig. 1 is the structural schematic diagram of the embodiment of grain collecting machine people provided by the invention；
Fig. 2 is the structural schematic diagram in Fig. 1 at belt grain purchasing machine structure；
Fig. 3 is the structural schematic diagram of poly- grain device in Fig. 2；
Fig. 4 is the structural schematic diagram in Fig. 1 at air suction type grain purchasing machine structure；
Fig. 5 is the structural schematic diagram of enclosure interior in Fig. 4；
Fig. 6 is the structural schematic diagram of pack device in Fig. 1；
Fig. 7 is the structural schematic diagram of closing device in Fig. 6；
Fig. 8 is the partial structure diagram in Fig. 6.
Drawing reference numeral explanation:
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
It is to be appreciated that if relating to directionality instruction (such as up, down, left, right, before and after ...) in the embodiment of the present invention,
Then directionality instruction is only used for explaining and close in the relative position under a certain particular pose (as shown in the picture) between each component
System, motion conditions etc., if the particular pose changes, directionality instruction is also correspondingly changed correspondingly.
In addition, being somebody's turn to do " first ", " second " etc. if relating to the description of " first ", " second " etc. in the embodiment of the present invention
Description be used for description purposes only, be not understood to indicate or imply its relative importance or implicitly indicate indicated skill
The quantity of art feature." first " is defined as a result, the feature of " second " can explicitly or implicitly include at least one spy
Sign.In addition, the meaning of the "and/or" occurred in full text, including three schemes arranged side by side, by taking " A and/or B " as an example, including the side A
The scheme that case or B scheme or A and B meet simultaneously.In addition, the technical solution between each embodiment can be combined with each other, but
To be based on can be realized by those of ordinary skill in the art, when the combination of technical solution occur it is conflicting or can not
Will be understood that the combination of this technical solution is not present when realization, also not the present invention claims protection scope within.
At home and abroad, the vast rural areas are received mostly or using traditional artificial mode for grain on dring yard at present
Collection is also required to frequently carry out grain collecting operation in the process in addition, the storage in grain takes grain out of a granary to sun it, transports, process etc..Traditional people
Work mode is mainly to rely on people's dustpan and wooden winnowing spade grain is transported in gunnysack up and down reciprocatingly again and again, and need someone
, this manual type is cumbersome and time consuming, brings great trouble to current agricultural production for the opening of control gunnysack.
In consideration of it, the present invention provides a kind of grain collecting machine people, Fig. 1 to Fig. 8 is grain collecting machine provided by the invention
The embodiment of device people.
Referring to Fig. 1, in the present embodiment, the grain collecting machine people 100 includes mobile platform 1, grain purchasing machine structure, dress
Bag mechanism 2, driving mechanism, sensor and controller 3,1 bottom of mobile platform are equipped with the walking mechanism 11 moved horizontally, institute
It states grain purchasing machine structure and is installed on the mobile platform 1, to collect grain, the pack device 2 is installed on the mobile platform 1,
And docked with the grain purchasing machine structure, to the grain pack for collecting the grain purchasing machine structure, the driving mechanism is to drive
State walking mechanism 11, the grain purchasing machine structure and the pack device 2, the controller 3 is electrically connected the sensor and described
Driving mechanism, to control the driving mechanism according to the sensor.
In technical solution provided by the invention, after the grain that ground is collected by the grain purchasing machine structure, grain is sent to
The pack device 2, then automatic bagging is carried out to grain by the pack device 2, also, believe by the sensor collection
Number, the controller 3 controls the movement of the mobile platform 1, the grain purchasing machine structure and the pack device 2 according to signal, such as
This may be implemented the grain collecting machine people 100 and receives grain and packing automatically, to greatly improve the efficiency of grain collecting.
The grain that ground is collected by the grain purchasing machine structure, can not be cooked special limit for the pattern of the grain purchasing machine structure
Fixed, the grain purchasing machine structure can be belt grain purchasing machine structure or air suction type grain purchasing machine structure etc., it is to be understood that the grain collecting
Robot 100 can be provided only with single grain purchasing machine structure, for example, the grain purchasing machine structure includes that belt grain purchasing machine structure 4 (please refers to figure
Or air suction type grain purchasing machine structure 7 (please referring to Fig. 4) 2)；The grain collecting machine people 100 can also be equipped with a variety of differences simultaneously
The grain purchasing machine structure of type, for example, referring to Fig. 1, in the present embodiment, the grain purchasing machine structure includes belt grain purchasing machine structure 4 and institute
Air suction type grain purchasing machine structure is stated, specifically, the belt grain purchasing machine structure 4 is located at the front of the air suction type grain purchasing machine structure 7, in this way
During collecting grain using the grain collecting machine people 100, the uncollected grain of the belt grain purchasing machine structure 4 can be with
By the air suction type grain purchasing machine structure 7 to collecting, collection efficiency is so not only improved, but also reduces energy use.
As described above, the grain purchasing machine structure may include belt grain purchasing machine structure 4, specifically, Fig. 1 and Fig. 2 are please referred to,
In the present embodiment, the grain purchasing machine structure includes the belt grain purchasing machine structure 4 for being installed on the front end of the mobile platform 1, the band
Formula grain purchasing machine structure 4 includes that poly- grain device 41, band transmission device 42 and shovel grain device 43, the poly- grain device 41 are installed on described
The lower front end of mobile platform 1, the poly- grain device 41 open setting forward, to gather grain, 42 edge of band transmission device
Upward and downward and lower end are obliquely installed on the mobile platform 1, the upper end with transmission device 42 and the sack filling machine forward
Structure 2 docks, and lower end and the poly- grain device 41 dock, and the shovel grain device 43 is towards being attached to the transmission with transmission device 42
Band 421, to scoop up grain, wherein the driving mechanism includes band transmission driving mechanism 51, and the band transmits driving mechanism 51
To drive the band transmission device 42, and drive the shovel grain device 43 so that the shovel grain device 43 can scoop up it is described
The grain that poly- grain device 41 is gathered, and be passed up to the pack device 2, the belt grain purchasing machine structure 4 passes through the poly- grain
Device 41 gathers grain, so that being conducive to the shovel grain device 43 scoops up grain, grain is scooped up by the shovel grain device 43
Afterwards and as the conveyer belt 421 is passed up, the grain on the last shovel grain device 43 can fall under gravity
To the pack device 2.
The belt grain purchasing machine structure 4 gathers grain by the poly- grain device 41, for the pattern of the poly- grain device 41
Particular determination can not be done, for example, the poly- grain device 41 can be downwardly inclined plate setting, can with referring to Fig. 3,
In the present embodiment, the poly- grain device 41 is arranged in the tubular of front and back opening, and including sequentially connected epipleural 411, a left side
Side plate 412, lower side panel 413 and right side plate 414, the rear end of the epipleural 411 are formed with the first notch 415, the band transmission
The lower end of device 42 is protruded into the poly- grain device 41 from first notch 415 and forms docking (as described above, institute
Grain collecting machine people 100 is stated by the sensor collection signal, referring to Fig. 3, in the present embodiment, the poly- grain device
41 have contact with grain and contact surface facing forward, and the sensor includes between the upper and lower every set on the multiple of the contact surface
Pressure sensor 61 passes through the multiple pressure to determine the real-time thickness of grain according to the multiple pressure sensor 61
The real-time thickness that force snesor 61 measures grain controls the movement speed of the mobile platform 1 according to the real-time thickness of grain,
The efficiency for receiving grain can so be promoted.Further, referring to Fig. 3, in the present embodiment, the front end of the lower side panel 413 is formed
There is the second notch 418, it is on the left plate 412 and the opposite side of the right side plate 414 and corresponding with second notch 418
Position form the contact surface, by the setting of second notch 418, be conducive to the pressure sensing on the contact surface
Device 61 contacts and accurately measures the thickness of grain with grain), the band transmission device 42 protrudes into the poly- grain device 41, this
It can be bonded with the inner sidewall of the poly- grain device 41 at the moment described in sample with the shovel grain device 43 on transmission device 42, be conducive to institute
It states belt grain purchasing machine structure 4 and collects more grains.
Further, referring to Fig. 3, in the present embodiment, the left plate 412 and the right side plate 414 are in from front to back
Setting is gradually mutually drawn close, grain can be allowed to gather from the front end of the poly- grain device 41 to its rear end in this way, to be conducive to
The shovel grain device 43 scoops up grain.
Same set-up mode can be referring to Fig. 3, in the present embodiment, the lower side panel 413 includes before being set to it
End and horizontally disposed horizontal zone 416 and the tilting zone 417 being obliquely installed upward set on its rear end and from front to back,
The lower side panel 413 scoops up grain by the horizontal zone 416, the grain scooped up can along the tilting zone 417 to
Upper accumulation, such grain can relatively easily gather on the lower side panel 413 it is in heaps, to be conducive to shovel grain dress
It sets 43 and scoops up grain.
The belt grain purchasing machine structure 4 is scooped up by the shovel grain device 43 and (is asked by the grain that the poly- grain device 41 is gathered
Referring to Fig.2, in the present embodiment, the shovel grain device 43 is multiple along being circumferentially with for the conveyer belt 421, can be promoted in this way
The speed of grain collecting), particular determination can not be done for the pattern of the shovel grain device 43, specifically, referring to Fig. 2,
In the present embodiment, the shovel grain device 43 includes being convexly equipped in the connecting plate 431 of the conveyer belt 421 and from the connecting plate
431 bending plates 432 being bent to form towards the direction of transfer of the conveyer belt 421, the connecting plate 431 described in this way and the bending plate
A storage space is formd between 432, can prevent grain from falling from the shovel grain device 43, to be conducive to the shovel
Grain device 43 scoops up more grains.
Same set-up mode can be referring to Fig. 2, in the present embodiment, the both sides of the conveyer belt 421 be distinguished
Fold outwardly is formed there are two rib portion 422, and the shovel grain device 43 extends along the width direction of the conveyer belt 421, and its
Both ends correspondence is abutted with described two rib portions 422, is formed and is stopped by described two rib portions 422, can prevented in grain
During being transferred into the pack device 2, there is the case where grain is fallen from the band transmission device 42.
The belt grain purchasing machine structure 4 drives the band transmission device 42, the grain that will be collected by the driving mechanism
It is sent to the pack device 2, specifically, referring to Fig. 2, in the present embodiment, the band transmission device 42 includes between the upper and lower
Every and the shafts 423 that extend along left and right of be staggered two of front and back, described two rotational installations of shafts 423 in the mobile platform 1,
And it is sequentially connected by the conveyer belt 421；Band transmission driving mechanism 51 include along left and right arrangement driving motor 511,
And it is installed on the driving wheel 512 of the transmission shaft of the driving motor 511, the one of the driving wheel 512 and a shaft 423
End is opposite, and by belt 513 and the end formed transmission connection (referring to Fig. 2, in the present embodiment, described two shafts 423
In with the belt 513 cooperation one and the driving wheel 512 be correspondingly provided with the belt 513 cooperate endless-belt
Slot, the endless-belt slot can not only play the role of being oriented to the belt 513, moreover it is possible to the belt 513 be avoided to occur
The case where loosening), the band transmission device 42 is driven by belt wheel transmission mechanism, not only structure is relatively simple, and the band
The efficiency that formula grain purchasing machine structure 4 collects grain also can be higher.
Further, referring to Fig. 2, in the present embodiment, in described two shafts 423 underlying one one end with
About 512 driving wheel is opposite, and forms transmission connection by the belt 513, and the band described in this way transmits driving mechanism 51
And it is described comparatively reasonable with the layout between transmission device 42, the overall structure of the grain collecting machine people 100 also can
It is more compact.
As described above, the grain purchasing machine structure may include air suction type grain purchasing machine structure 7, specifically, please refer to Fig. 1, Fig. 4
And Fig. 5, in the present embodiment, the grain purchasing machine structure includes the air suction type grain purchasing machine structure for being installed on the front of the pack device 2
7, the air suction type grain purchasing machine structure 7 includes shell 71, crop inlet pipe 73, grain dischzrging tube 74 and air extractor 75, and the shell 71 is opened
Equipped with grain-entering mouth 711 and grain outlet 712, the connection grain-entering mouth 711 and the grain outlet 712 are formed with inside the shell 71
Suction grain channel 72, described 73 one end of crop inlet pipe butts up against the grain-entering mouth 711, described 74 one end of grain dischzrging tube butt up against it is described go out
Grain mouth 712, the other end are docked with the pack device 2, and the air extractor 75 is installed on the shell 71, to described
It inhales and forms negative pressure in grain channel 72, so that grain can be inhaled into the suction grain channel 72 from the crop inlet pipe 73, by described
Grain dischzrging tube 74 enters the pack device 2, forms negative pressure in the suction grain channel 72 by the air extractor 75, so as to
To suck in the suction grain channel 72 grain on ground (similar to the working principle of dust catcher), it is finally sent to the dress
Bag mechanism 2.
By the air extractor 75 (specifically, referring to Fig. 5, in the present embodiment, the air extractor 75 includes turning
The dynamic exhaust fan 751 being installed in the shell 71, the driving mechanism include the pumping to drive the exhaust fan 751 to rotate
Gas driving mechanism 52,75 structure of air extractor described in this way are relatively simple) in 72 (in the present embodiment, the institute of suction grain channel
It states and pipeline is installed inside shell 71, to form the suction grain channel 72, the processing method for inhaling grain channel 72 described in this way is more
Negative pressure is formed in simply), to the grain on ground be sucked in the suction grain channel 72, for the tool for inhaling grain channel 72
Body pattern can not do particular determination, specifically, referring to Fig. 5, in the present embodiment, the suction grain channel 72 includes logical into grain
Road 721 and channel 722 of putting out cereal, it is described into grain channel 721 along front and back to arrangement, front end is connected to the grain-entering mouth 711, it is described go out
Vertically to arrangement, upper end is connected to the rear end into grain channel 721 in grain channel 722, and lower end is connected to the grain outlet 712,
In, the air extractor 75 to described into forming negative pressure in grain channel 721 so that grain be sucked into it is described logical into grain
The rear end in road 721, after fall along the channel 722 of putting out cereal, the air extractor 75 is described into being formed in grain channel 721
Negative pressure, grain can be sucked into described into behind the rear end in grain channel 721, and grain, which will receive gravity, to be influenced along the channel of putting out cereal
722 fall, and most the pack device 2 are sent to through the grain dischzrging tube 74 afterwards, to realize the collection of grain.
Further, referring to Fig. 5, in the present embodiment, the rear end having into grain channel 721 to be contacted with grain
Wall, the aft bulkhead into grain channel 721 are formed with filter structure 723, and the filter structure 723 allows dirt to be arranged to
Soil passes through, and stops grain to pass through, the suction grain channel 72 further includes (in the present embodiment, the air extractor of dust discharge channel 724
75 are installed in the dust discharge channel 724, and opposite with the filter structure 723, are conducive to the air extractor 75 in this way and exist
It is described into forming negative pressure in grain channel 721), the one end in the dust discharge channel 724 is connected at described into behind grain channel 721
The outside of end wall, and docked with the filter structure 723, so that the dust into grain channel 721 may pass through the strainer
Structure 723 and enter the dust discharge channel 724, by the air suction type grain purchasing machine structure 7 collect grain when, have dust and grain
It is inhaled into the suction grain channel 72 together, now by forming the filter structure 723 in the aft bulkhead into grain channel 721
(referring to Fig. 5, in the present embodiment, the aft bulkhead into grain channel 721 includes the cambered surface region of cambered surface setting, the filter
Web frame 723 is formed in the cambered surface region, and the filter structure 723 is set to the cambered surface region, is conducive to opposite increase
The surface area of the filter structure 723, to promote the filter effect of the filter structure 723), in this way in dust and grain one
It rises when being inhaled into the rear end into grain channel 721, grain enters described put out cereal after will receive the blocking of the filter structure 723
Channel 722, dust can pass through the filter structure 723 without channel 722 of putting out cereal described in entrance, so pass through the air suction type
Grain purchasing machine structure 7 is collected the dust being sent in the grain of the pack device 2 and opposite can be reduced.
Dust, which enters the dust discharge channel 724, can be collected dust, can also be exhausted directly to outside the shell 71,
Specifically, referring to Fig. 5, in the present embodiment, the shell 71 offer dust-exhausting port 713 (specifically, referring to Fig. 5,
In the present embodiment, the dust-exhausting port 713 is towards a left side or towards the right upper end for being set to the shell 71), the dust discharge channel 724 it is another
End is connected to the dust-exhausting port 713, and the structure of the mechanism to be handled dust in this way is relatively simple.
By be installed at the grain-entering mouth 711 crop inlet pipe 73 (specifically, referring to Fig. 5, in the present embodiment, institute
Grain-entering mouth 711 is stated forward set on the upper end of the shell 71 so that it is convenient to install the crop inlet pipe 73), grain is sucked into institute
State and inhale in grain channel 72, most afterwards the grain dischzrging tube 74 through being installed at the grain outlet 712 and to enter the pack device 2 (specific
Ground, referring to Fig. 5, in the present embodiment, the grain outlet 712 is downward set on the lower end of the shell 71 so that it is convenient to install
The grain dischzrging tube 74), specifically, referring to Fig. 4, in the present embodiment, the air suction type grain purchasing machine structure 7 further includes set on described
The suction grain mouth 76 of the other end of crop inlet pipe 73, the suction grain mouth 76 are cylindrical in shape setting, and its one end far from the crop inlet pipe 73
The closer crop inlet pipe 73 of size one end size it is big, the air suction type can be promoted by the way that the suction grain mouth 76 is arranged
The receipts grain efficiency of grain purchasing machine structure 7.
After the grain collecting machine people 100 completes the collection of grain by the grain purchasing machine structure, then pass through the pack
The grain that the grain purchasing machine structure is collected by mechanism 2 packs, specifically, referring to Fig. 6, in the present embodiment, the pack device 2
Including pedestal 21, gunnysack conveying device 22, shedding motion 23 and closing device 24, the pedestal 21 is equipped with pack station, institute
It states gunnysack conveying device 22 and is movably installed in the pedestal 21, to convey gunnysack to the pack station, the shedding motion
23 are movably installed in the pedestal 21, to form opening in the gunnysack upper end being located at the pack station, so that grain can
It is packed into gunnysack, the closing device 24 is movably installed in the pedestal 21, in the gunnysack dress being located at the pack station
After the completion of grain, which is sealed, is initially that empty gunnysack is delivered to the bagger by the gunnysack conveying device 22
Then position forms opening in gunnysack upper end by the shedding motion 23, the grain of the grain purchasing machine structure collection described in this way can be from opening
Gunnysack is packed at mouthful finally to be sealed the gunnysack for filling grain by the closing device 24 after gunnysack fills grain,
It works so as to complete the automatic packaging of grain collecting.
The pack device 2 specifically please refers to Fig. 6 and Fig. 8 by the replacement that the conveying device 22 completes gunnysack,
In the present embodiment, the gunnysack conveying device 22 includes gunnysack case 221 and two rotating cylinders 222, and the gunnysack case 221 is installed
In the pedestal 21, the gunnysack case 221 is located at the top of the pack station, and is formed with gunnysack towards the pack station
Delivery outlet (is not shown), the gunnysack set in the gunnysack case 221 to store volume, the described two rotation of rotating cylinder 222 peaces
Loaded on the pedestal 21 and it is located at outside the gunnysack case 221, described two rotating cylinders 222 are parallel and opposite with the gunnysack delivery outlet
Setting is speciality fiber crops in the gunnysack case 221 to form the channel passed through for gunnysack between described two rotating cylinders 222
Bag, one is long and the other is short on sack closure both sides, and long sealing connects next gunnysack, and gunnysack itself is rolled into tubular for convenience and can be processed into
Both sides degrees of shrinkage is different, gunnysack above can be pulled down under gravity after a gunnysack is pushed down, and then described two
A rotating cylinder 222 can lock after rotating a fixing turn, and two gunnysack junctions are pulled open, then because degree of shrinkage is different, newly
Gunnysack can be opened a gap in upper end, and the shedding motion 23 can be formed by the gap and is open.
The pack device 2 by the shedding motion 23 gunnysack upper end formed be open, specifically, please refer to Fig. 6 and
Fig. 8, in the present embodiment, the shedding motion 23 include setting up the two sides of the pack station separately and being slidably mounted on the pedestal
21 two clamping pieces 231, so that described two clamping pieces 231, which can be corresponded to from the two sides in gunnysack width direction, clamps gunnysack
Upper end peristoma after, the upper end opening of gunnysack is pulled open and is formed in sliding, and the driving mechanism includes to drive described two folders
The clamping piece driving mechanism (being not shown) that gripping member 231 is slided, described two clamping pieces 231 first clamp gunnysack mouth, then
It slides and is pulled into opening and eaten with loading.
Further, referring to Fig. 6, in the present embodiment, the corresponding clamping piece 231 of the pedestal 21 is equipped with sliding slot
211, the sliding slot 211 extends along the glide direction of the clamping piece 231, and the clamping piece 231 has and the sliding slot 211
The sliding part being slidably matched can be played the role of by the setting of the sliding slot 211 to 231 slide-and-guide of clamping piece.
After the shedding motion 23 forms opening in gunnysack upper end, the grain that the grain purchasing machine structure is collected can be packed into fiber crops
Bag, enters gunnysack in order to facilitate grain, please refers to Fig. 1 and Fig. 6, in the present embodiment, the corresponding bagger of the pedestal 21
Position is formed with entrance upward, and the grain purchasing machine structure has the end of putting out cereal for being located at 21 top of pedestal, and the grain purchasing machine structure goes out
The grain delivery groove 8 being obliquely installed is installed, to form the receipts by the grain delivery groove 8 between grain end and the entrance of the pedestal 21
Docking between grain machine structure and the pack device 2 can be played the role of collecting guiding to grain by the grain delivery groove 8,
Be conducive to for grain to be packed into the gunnysack being located at the pack station.
Specifically, Fig. 1, Fig. 4 and Fig. 6 are please referred to, in the present embodiment, the belt grain purchasing machine structure 4 passes through the defeated grain
Slot 8 is docked with the pack device 2, and the pedestal 21 is formed with grain storage chamber 28, and the air suction type grain purchasing machine structure 7 goes out described in
Grain pipe 74 is connected to the grain storage chamber 28.
When gunnysack is filled (specifically, referring to Fig. 6, in the present embodiment, the sensor includes weighing sensor
62, the corresponding pack station of the weighing sensor 62 is installed on the pedestal 21, to at the pack station
Gunnysack weigh), the shedding motion 23 can unclamp gunnysack, then be sealed by the closing device 24 to gunnysack, tool
Body, Fig. 6 and Fig. 7 are please referred to, in the present embodiment, the closing device 24 is installed on the bagger including horizontal extension
The sealing clip 241 of position top, the driving mechanism include the sealing clip driving mechanism to drive the sealing clip 241 flexible
53 (referring to Fig. 5, in the present embodiment, the sealing clip driving mechanism 53 is installed on the shell of the air suction type grain purchasing machine structure 7
In body 71), by the sealing clip 241, (sealing clip 241 is the common structure on existing sealing machine, therefore herein just not
It is described in detail) gunnysack to be sealed, 24 structure of closing device described in this way is relatively simple.
Gunnysack is sealed for convenience, referring to Fig. 6, in the present embodiment, the pack device 2 further includes rotation
Turn to be installed on the rotating base 25 at the pack station, the rotating base 25 carries out loading to carry gunnysack, and rotates
Gunnysack is tightened, the driving mechanism includes the rotary drive mechanism to drive the rotating base 25 to rotate, and is filled in gunnysack
When, the shedding motion 23 can unclamp gunnysack, it is rotated by the rotating base 25, so that the upper end of gunnysack is tightened, thus
Be conducive to the closing device 24 to seal gunnysack.
The gunnysack of sealing is unloaded from the pack device 2 for convenience, referring to Fig. 6, in the present embodiment, it is described
Pack device 2 is installed on the rear end of the mobile platform 1, and the pedestal 21 is in cabinet setting open backwards, the bagger
Position is located in the pedestal 21, and the pack device 2 further includes being movably installed in packed under the pedestal 21 to set 26, under described
It is packed to set the 26 corresponding pack station settings, the gunnysack of sealing is released the pedestal 21 backwards, pass through the lower bag
The automation for unloading gunnysack from the pack device 2 may be implemented in the setting of device 26, is pushed down it in a gunnysack
Gunnysack above can be pulled down under gravity afterwards.
Specifically, referring to Fig. 6, in the present embodiment, packed under described to set 26 include being movably installed in the pedestal 21
Push rod 261, the push rod 261 have sagittal active strokes, the gunnysack of sealing is released the pedestal 21 backwards,
The driving mechanism includes to drive the push rod driving mechanism 54 of 261 fore-aft travel of push rod (referring to Fig. 5, in this reality
Apply in example, the push rod driving mechanism 54 is installed in the shell 71 of the air suction type grain purchasing machine structure 7), it is packed under described in this way
Set 26 structure it is relatively simple.
Referring to Fig. 6, in the present embodiment, the open-mouth of the pedestal 21 backwards is movably installed with gag lever post 27, to
Switch the opening, the driving mechanism includes to drive the movable gag lever post driving mechanism of the gag lever post 27, by grain
During being packed into gunnysack, the gag lever post 27 is the opening backwards for closing the pedestal 21, described after gunnysack is filled
The activity of gag lever post 27 and open the opening, it is packed under described to set the gunnysack that 26 will fill and release the pedestal 21 backwards.
The grain collecting machine people 100 intelligently and efficiently collects grain by the sensor collection signal, to realize
Food, referring to Fig. 1, in the present embodiment, the sensor includes the visual sensor for being installed on the mobile platform 1 forward
63, it is to walk along grain edge to collect grain by the grain collecting machine people 100 to collect the colouring information in front
Food, therefore in the visual sensor 63 (referring to Fig. 1, in the present embodiment, the visual sensor 63 is located at the poly- grain
The left or right side of device 41) to should be half be grain color for the colouring information that is collected into, half is ground color, and described
The colouring information that visual sensor 63 is actually collected into can compare after being passed to the controller 3 with normal data, and then calculate
The 100 next step direction of advance of grain collecting machine people out, to control the moving direction of the mobile platform 1.
The present invention also provides the control method of grain collecting machine people a kind of, the artificial above-mentioned grain of the grain collecting machine
Eat collecting robot people, the sensor of the grain collecting machine people to collect front colouring information and/or grain it is real-time
Thickness, the control method include:
According to the colouring information in front, the moving direction of the mobile platform 1 is controlled；And/or the real-time thickness according to grain
Degree, controls the movement speed of the mobile platform 1.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all in the present invention
Inventive concept under, using equivalent structure transformation made by description of the invention and accompanying drawing content, or directly/be used in it indirectly
He is included in scope of patent protection of the invention relevant technical field.
Claims (10)
1. a kind of grain collecting machine people characterized by comprising
Mobile platform, bottom are equipped with the walking mechanism moved horizontally；
Grain purchasing machine structure is installed on the mobile platform, to collect grain；
Pack device is installed on the mobile platform, and docks with the grain purchasing machine structure, to collect the grain purchasing machine structure
Grain pack；
Driving mechanism, to drive the walking mechanism, the grain purchasing machine structure and the pack device；
Sensor and controller, the controller is electrically connected the sensor and the driving mechanism, to according to the biography
Sensor controls the driving mechanism.
2. grain collecting machine people as described in claim 1, which is characterized in that the grain purchasing machine structure includes being installed on the shifting
The belt grain purchasing machine structure of the front end of moving platform, the belt grain purchasing machine structure include:
Poly- grain device is installed on the lower front end of the mobile platform, the poly- grain device open setting forward, to gather grain
Food；
Band transmission device, vertically to and lower end be obliquely installed on the mobile platform forward, it is described with the upper of transmission device
End and pack device docking, lower end and the poly- grain device docking；And
Grain device is shoveled, towards the conveyer belt with transmission device is attached to, to scoop up grain；
Wherein, the driving mechanism includes band transmission driving mechanism, and the band transmission driving mechanism is to drive the band to transmit
Device, and the shovel grain device is driven, so that the shovel grain device can scoop up the grain gathered by the poly- grain device, and upwards
It is sent to the pack device.
3. grain collecting machine people as claimed in claim 2, which is characterized in that the poly- grain device is in the tubular of front and back opening
Setting, and including sequentially connected epipleural, left plate, lower side panel and right side plate, the rear end of the epipleural is formed with first
Notch, the lower end with transmission device are protruded into the poly- grain device from first indentation, there and form docking；And/or
The poly- grain device has contact with grain and contact surface facing forward, and the sensor includes between the upper and lower every set on institute
The multiple pressure sensors for stating contact surface, to determine the real-time thickness of grain according to the multiple pressure sensor；With/
Or,
The shovel grain device is multiple along being circumferentially with for the conveyer belt；And/or
The shovel grain device includes being convexly equipped in the connecting plate of the conveyer belt and from the connecting plate towards the biography of the conveyer belt
Send the bending plate that direction is bent to form；And/or
There are two rib portions for fold formation outwardly respectively for the both sides of the conveyer belt, and the shovel grain device is along the conveyer belt
Width direction extends, and its both ends correspondence is abutted with described two rib portions.
4. grain collecting machine people as described in claim 1, which is characterized in that the grain purchasing machine structure includes being installed on the dress
The air suction type grain purchasing machine structure in the front of bag mechanism, the air suction type grain purchasing machine structure include:
Shell, offers grain-entering mouth and grain outlet, and the enclosure interior, which is formed with, is connected to the grain-entering mouth and the grain outlet
Inhale grain channel；
Crop inlet pipe, one end butt up against the grain-entering mouth；
Grain dischzrging tube, one end butt up against the grain outlet, and the other end is docked with the pack device；And
Air extractor is installed on the shell, to form negative pressure in the suction grain channel, so that grain can be from described into grain
Pipe is inhaled into the suction grain channel, enters the pack device by the grain dischzrging tube.
5. grain collecting machine people as claimed in claim 4, which is characterized in that the suction grain channel includes:
Into grain channel, along front and back to arrangement, front end is connected to the grain-entering mouth；And
It puts out cereal channel, vertically to arrangement, the upper end connection rear end into grain channel, lower end is connected to the grain outlet；
Wherein, the air extractor to described into forming negative pressure in grain channel so that grain be sucked into it is described logical into grain
The rear end in road, after along it is described put out cereal channel fall.
6. grain collecting machine people as claimed in claim 5, which is characterized in that described to have into grain channel to be connect with grain
The aft bulkhead of touching, the aft bulkhead into grain channel are formed with filter structure, and the filter structure allows dirt to be arranged to
Soil passes through, and grain is stopped to pass through；
The suction grain channel further includes dust discharge channel, and the one end in the dust discharge channel is connected at the aft bulkhead into grain channel
Outside, and docked with the filter structure, so that the dust into grain channel may pass through the filter structure and enter
The dust discharge channel.
7. grain collecting machine people as described in claim 1, which is characterized in that the pack device includes:
Pedestal is equipped with pack station；
Gunnysack conveying device is movably installed in the pedestal, to convey gunnysack to the pack station；
Shedding motion is movably installed in the pedestal, to form opening in the gunnysack upper end being located at the pack station, makes
Gunnysack can be packed by obtaining grain；And
Closing device is movably installed in the pedestal, to be located at it is described pack station at gunnysack loading after the completion of, to this
Gunnysack is sealed.
8. grain collecting machine people as claimed in claim 7, which is characterized in that the gunnysack conveying device include gunnysack case with
And two rotating cylinders, the gunnysack case are installed on the pedestal, the gunnysack case is located at the top of the pack station, and towards institute
It states pack station and is formed with gunnysack delivery outlet, the gunnysack set in the gunnysack case to store volume, described two drum rotation peaces
Loaded on the pedestal and it is located at outside the gunnysack case, described two rotating cylinders are parallel and are oppositely arranged with the gunnysack delivery outlet, with
The channel passed through for gunnysack is formed between described two rotating cylinders；And/or
The shedding motion includes the two sides for setting up the pack station separately and two clamping pieces for being slidably mounted on the pedestal, is made
After described two clamping pieces can correspond to the upper end peristoma for clamping gunnysack from the two sides in gunnysack width direction, sliding is pulled open and shape
At the upper end opening of gunnysack, the driving mechanism includes the clamping piece driving mechanism to drive described two clamping piece slidings；
And/or
The closing device include horizontal extension be installed on sealing clip above the pack station, the driving mechanism includes
To the sealing clip driving mechanism for driving the sealing clip flexible；And/or
The pack device further includes the rotating base that rotation is installed at the pack station, and the rotating base is to carry
Gunnysack carries out loading, and rotates and tighten gunnysack, and the driving mechanism includes to drive the rotation of the rotating base rotation to drive
Motivation structure；And/or
The pack device is installed on the rear end of the mobile platform, and the pedestal is in cabinet setting open backwards, the dress
Bag station be located in the pedestal, the pack device further include be movably installed in it is packed under the pedestal set, the lower bag
Device corresponds to the pack station setting, the gunnysack of sealing is released the pedestal backwards；And/or
The sensor includes weighing sensor, and the weighing sensor corresponds to the pack station and is installed on the pedestal, is used
To weigh to the gunnysack being located at the pack station.
9. grain collecting machine people as described in claim 1, which is characterized in that the sensor includes described in facing forward be installed on
The visual sensor of mobile platform, to collect the colouring information in front.
10. a kind of control method of grain collecting machine people as claimed in any one of claims 1 to 9, the sensor is used
To collect the colouring information in front and/or the real-time thickness of grain, which is characterized in that the control method includes:
According to the colouring information in front, the moving direction of the mobile platform is controlled；And/or the real-time thickness according to grain, control
Make the movement speed of the mobile platform.
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| CN201910367323.7A CN109969808B (en) | 2019-04-30 | 2019-04-30 | Grain collection robot and control method thereof |
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| CN201910367323.7A CN109969808B (en) | 2019-04-30 | 2019-04-30 | Grain collection robot and control method thereof |
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| CN107324077A (en) * | 2017-07-12 | 2017-11-07 | 安徽工程大学 | Receipts grain assembly suitable for grain purchasing machine |
| CN107381090A (en) * | 2017-07-12 | 2017-11-24 | 安徽工程大学 | Grain purchasing machine |
| CN108502548A (en) * | 2018-05-07 | 2018-09-07 | 聊城大学 | Hand propelled grain purchasing machine with bogey and its application method |
| CN109533492A (en) * | 2019-01-07 | 2019-03-29 | 桂林电子科技大学 | A kind of intelligent cereal bagging device and method based on binocular vision |
| CN209777708U (en) * | 2019-04-30 | 2019-12-13 | 武汉轻工大学 | Grain collection robot |
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|---|---|---|---|---|
| US20100037569A1 (en) * | 2008-08-12 | 2010-02-18 | Carlos Alberto Martinez | Self-Propelled Bagging Machine For Storing Grain In A Sleeve |
| CN103964217A (en) * | 2013-02-05 | 2014-08-06 | 华东师范大学附属枫泾中学 | Grain collector |
| CN107324077A (en) * | 2017-07-12 | 2017-11-07 | 安徽工程大学 | Receipts grain assembly suitable for grain purchasing machine |
| CN107381090A (en) * | 2017-07-12 | 2017-11-24 | 安徽工程大学 | Grain purchasing machine |
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