A cloth feeding device and a control method for the cloth feeding device

Abstract

The present invention discloses a grain spreading device and a control method thereof. The grain spreading device includes a traveling machine frame and a grain spreader movably arranged on the traveling machine frame. The traveling machine frame is used to be installed on the top of a granary. The grain spreader includes a housing, a driving component, a leveling component, a scanning component and a control device. The housing is movably installed on the traveling machine frame to move along the extending direction of the traveling machine frame. The driving component is installed on the housing to drive the housing to move in the extending direction of the traveling machine frame. The leveling component is installed on the housing and has a grain suction pipe extending downward from the housing. The scanning component is used to scan the topographic information in the granary. The control device is electrically connected to the driving component, the leveling component and the scanning component to control the driving component to drive the housing to move to a specific position according to the topographic information scanned by the scanning component, and to control the leveling component to suck and / or release grains. The technical solution of the present invention solves the problem of leveling the grains in the granary, realizes intelligent bin leveling, eliminates the need for manual entry into the bin, has strong safety and high efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of grain spreading equipment, and particularly relates to a grain spreading device and a control method for the grain spreading device. Background Art

[0002] Grain storage is an important part of the grain circulation, and grain storage technology has a great impact on the quality and quantity of food. At present, about 70% of the grain in China is stored in flat warehouses. Flat warehouses have a large volume, and the amount of grain to be put into the warehouse is large. At present, there are mainly two types of grain spreaders for flat warehouses. One is a speed-controlled grain spreader. The grain is fed onto the conveyor belt and enters the grain spreader through the distributing plate. There are chutes on both sides of the grain spreader. The chutes have a certain inclination. The grain slides down along the two chutes into the granary. There are also two impellers in the grain spreader, which can control the flow rate of the grain falling in the two chutes. The upper parts of the two chute arms of the grain spreader are connected to the guide rails in the granary, and the grain spreader can reciprocate in the granary for grain spreading. This device has the problem that the center of the granary cannot be covered with grain, and it is limited to use in small granaries. The grain spreader can only spread grain on both sides. Since the inclination of the two chutes is very large, the grain spreading resistance is small and the efficiency is high, but the central area of the granary cannot be covered with grain, and the grain can only be piled up on both sides. Although a part of the grain will slide to the central area due to gravity, the grain surface is uneven. The other is a reflux type grain spreader. The grain feeding method of this grain spreader is the same as that of the speed-controlled grain spreader, but the discharging method is different. The reflux type grain spreader does not have a chute, and two rows of grain distribution pipes are arranged on both sides. There is a spiral circulation pushing device in the grain distribution pipe, and there is a discharge port at the lower end of the grain distribution pipe. The opening size of the discharge port can be controlled by a connecting rod. After the grain enters the grain spreader, it is pushed by the spiral conveying device in the two rows of grain distribution pipes in a circulating manner and discharged through the discharge port. The defect is that the volume of the grain pushed by the spiral pipeline is limited, resulting in low grain spreading efficiency, and it is also only limited to grain spreading in small granaries. Other grain spreaders for flat warehouses, such as: flowing type grain spreaders, reciprocating type grain spreaders, are basically similar to the above principles.

[0003] Flat warehouses have a large volume, and the amount of grain to be put into the warehouse is large. There are dead corners in grain spreading, the surface of the granary is uneven, and in the current grain storage industry in China, most of the grain leveling work still retains manual operation. Not only is the grain leveling speed slow, the labor intensity is high, and it is mostly repetitive work, but also there is a lot of dust in the warehouse. The work is not only unsafe and has a high intensity, but also has extremely low efficiency. Summary of the Invention

[0004] The main object of the present invention is to provide a grain spreading device, aiming to solve the problems of dead corners in grain spreading, uneven surface of the granary, and complex flat warehouse operation in the prior art.

[0005] To achieve the above object, the grain spreading device proposed by the present invention includes a traveling machine frame and a grain spreader movably arranged on the traveling machine frame. The traveling machine frame is used to be installed on the top of the granary. The grain spreader includes:

[0006] A housing, which is movably installed on the traveling machine frame to move along the extending direction of the traveling machine frame;

[0007] A driving assembly, which is installed on the housing to drive the housing to move in the extending direction of the traveling machine frame;

[0008] A leveling grain assembly, which is installed on the housing, and the leveling grain assembly has a grain suction pipe extending downward from the housing;

[0009] A scanning assembly, which is used to scan the topographic information in the grain bin; and,

[0010] A control device, which is electrically connected to the driving assembly, the leveling grain assembly and the scanning assembly to control the driving assembly to drive the housing to move to a specific position according to the topographic information scanned by the scanning assembly, and control the leveling grain assembly to suck and / or release grains.

[0011] Optionally, the leveling grain assembly includes a grain suction fan, and the grain suction fan is communicated with the grain suction pipe; and / or,

[0012] The leveling grain assembly has a grain discharging pipe, one end of the grain discharging pipe is communicated with the grain suction pipe, and the other end extends horizontally from the housing;

[0013] The leveling grain assembly further includes a grain discharging fan communicated with the grain discharging pipe.

[0014] Optionally, the grain distributor further includes a grain supplementing assembly, the grain supplementing assembly is installed on the housing, and the grain supplementing assembly includes:

[0015] A grain supplementing pipe, which extends out of the housing for docking with the grain supplementing port of the grain bin; and,

[0016] A grain distributing member, which extends downward from the housing, and the grain distributing member forms a grain discharging channel communicating with the grain supplementing pipe for discharging grains to the grain bin.

[0017] Optionally, the grain distributing member includes:

[0018] A spiral chute cylinder, which is arranged on the housing, the spiral chute cylinder includes a main body arranged in a cylindrical shape and a spiral chute arranged in the main body, the main body extends downward from the housing, and the spiral chute forms the grain discharging channel; and,

[0019] A plurality of grain sliding pipes, which are installed on the lower side of the main body, one end of each grain sliding pipe is communicated with the grain discharging channel, and the other end extends downward and gradually extends circumferentially.

[0020] Optionally, the plurality of grain sliding pipes can be rotatably installed on the main body up and down to adjust the grain discharging angle; and / or,

[0021] The main body can rotate along the vertically extending axis to drive the plurality of grain chute pipes to rotate.

[0022] The present invention further provides a control method for a grain distribution device, and the control method for the grain distribution device includes:

[0023] Obtain the topographic information scanned by the scanning component;

[0024] Determine a control strategy according to the topographic information;

[0025] Control the driving component and the grain leveling component to work according to the control strategy.

[0026] Optionally, the step of determining the control strategy according to the topographic information includes:

[0027] Receive the instruction of the user;

[0028] Determine the control strategy according to the instruction of the user and the topographic information.

[0029] Optionally, when the instruction of the user is to level the grain, the control strategy is:

[0030] According to the topographic information, determine the grain pile and the grain pit for grain leveling;

[0031] Control the driving component to drive the housing to move to the position of the grain pile;

[0032] Control the grain leveling component to suck grain from the grain pile;

[0033] Control the grain leveling component to release grain to the grain pit.

[0034] Optionally, the grain leveling component has a grain outlet pipe, one end of the grain outlet pipe is communicated with the grain suction pipe, and the other end extends horizontally from the housing;

[0035] The grain leveling component further includes a grain outlet fan communicated with the grain outlet pipe;

[0036] The step of controlling the grain leveling component to release grain to the grain pit includes:

[0037] When the housing is located at the position of the grain pile, control the rotation speed of the grain outlet fan according to the distance between the grain pit and the grain pile to spray grain to the grain pit.

[0038] Optionally, the grain distributor further includes a grain supplement component, the grain supplement component is installed on the housing, and the grain supplement component includes:

[0039] A grain supplement pipe extending from the housing for docking with the grain supplement port of the granary; and,

[0040] The grain distribution component extends downward from the housing, and the grain distribution component forms a grain outlet passage communicating with the grain replenishment pipe for discharging grain to the granary.

[0041] When the user's instruction is for grain replenishment, the control strategy is as follows:

[0042] Determine the position of the grain replenishment port according to the terrain information.

[0043] Control the driving component to drive the housing to move to the grain replenishment port, and control the grain replenishment pipe to dock with the grain replenishment port.

[0044] In the technical solution of the present invention, the grain distributor is movably arranged on the traveling crane frame and can move within the granary. When leveling the grain, the scanning component is used to scan the terrain information in the granary. The control device controls the driving component to drive the housing to move to the specific position according to the terrain information. The control device can control the suction pipe of the grain leveling component to suck grain from the grain accumulation area, or control the grain leveling component to release grain to the position where grain replenishment is required. The grain distributor has a simple structure and is easy to operate. The control device controls the grain distributor to move on the traveling crane frame and intelligently suck and release grain, realizing intelligent grain leveling, eliminating the need for manual entry into the granary, with strong safety and high efficiency. Description of the Drawings

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0046] Figure 1 It is a schematic structural diagram of an embodiment of the grain distribution device of the present invention;

[0047] Figure 2 It is Figure 1 a schematic structural diagram of the grain distributor in

[0048] Figure 3 It is Figure 2 a top view of the grain distributor in

[0049] Figure 4 It is Figure 1 a schematic structural diagram of the grain distribution component in

[0050] Figure 5 It is Figure 4 a schematic structural diagram of the grain distribution component in another direction in

[0051] Figure 6Schematic flowchart of an embodiment of the control method for the grain distribution device provided by the present invention;

[0052] Figure 7 For Figure 6 Schematic flowchart of the sub-steps of step S200 in;

[0053] Figure 8 For Figure 7 Schematic flowchart of the control strategy when the user instruction is leveling the grain in;

[0054] Figure 9 For Figure 8 Schematic flowchart of the sub-steps of step S2240 in;

[0055] Figure 10 For Figure 7 Schematic flowchart of the control strategy when the user instruction is replenishing the grain in.

[0056] Explanation of the reference numerals in the drawings:

[0057]

[0058]

[0059] The realization, functional features and advantages of the object of the present invention will be further described in conjunction with the embodiments with reference to the accompanying drawings. Detailed implementation manners

[0060] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0061] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative position relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0062] In addition, the descriptions involving "first", "second", etc. in the present invention are for descriptive purposes only, and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments may be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0063] Grain storage is an important part of the grain circulation, and grain storage technology has a great impact on the quality and quantity of food. At present, about 70% of the grain in China is stored in ordinary warehouses. Ordinary warehouses have a large volume, and the amount of grain to be stored in the warehouse is large. Currently, there are mainly two types of grain distributors in ordinary warehouses. One is the speed-controlled grain distributor. The grain is fed onto the conveyor belt and enters the grain distributor through the baffle plate. There are chutes on both sides of the grain distributor. The chutes have a certain inclination. The grain slides down along the two chutes into the granary. There are also two impellers in the grain distributor, which can control the flow rate of the grain falling along the two chutes. The upper parts of the two chute arms of the grain distributor are connected to the guide rails in the granary, and the grain distributor can move back and forth in the granary for grain distribution. This device has the problem that the center of the granary cannot be filled with grain, and it is limited to use in small granaries. The grain distributor can only distribute grain on both sides. Since the inclination of the two chutes is very large, the grain distribution resistance is small and the efficiency is high, but the central area of the granary cannot be filled with grain, and the grain can only accumulate on both sides. Although a part of the grain will slide to the central area due to gravity, the grain surface is uneven. The other is the reflux type grain distributor. The grain feeding method of this grain distributor is the same as that of the speed-controlled grain distributor, but the discharging method is different. The reflux type grain distributor does not have chutes, and two rows of grain distribution pipes are arranged on both sides. There is a spiral circulation pushing device in the grain distribution pipe. There is a discharge port at the lower end of the grain distribution pipe, and the opening size of the discharge port can be controlled by a connecting rod. After the grain enters the grain distributor, it is pushed by the spiral conveying device in the two rows of grain distribution pipes in a circulating manner and discharged through the discharge port. The defect is that the volume of the grain pushed by the spiral pipeline is limited, resulting in low grain distribution efficiency, and it is also limited to grain distribution in small granaries. Other grain distributors for ordinary warehouses, such as the flowing type grain distributor and the reciprocating type grain distributor, are basically similar to the above principles.

[0064] Ordinary warehouses have a large volume, and the amount of grain to be stored in the warehouse is large. There are dead corners in grain distribution, and the surface of the granary is uneven. At present, in the grain leveling work of the grain storage industry in China, most of it still retains manual operation. Not only is the grain leveling speed slow, the labor intensity is high, and it is mostly repetitive work, but also there is a lot of dust in the warehouse. The work is not only unsafe and has a high intensity, but also has extremely low efficiency.

[0065] In view of this, the present invention proposes a grain distribution device 100, Figures 1 to 5This is an embodiment of the grain distribution device 100 provided by the present invention. The present invention solves the problem of leveling the grain in the granary, realizes intelligent leveling, eliminates the need for manual entry into the granary, and has strong safety and high efficiency. The following will describe the grain distribution device 100 with reference to specific drawings.

[0066] Referring to Figures 1 to 2 , the grain distribution device 100 includes a traveling machine frame 1 and a grain distributor 2 movably disposed on the traveling machine frame 1. The traveling machine frame 1 is used to be installed on the top of the granary. The grain distributor 2 includes a housing 21, a driving component (not shown in the figure), a grain leveling component 23, a scanning component 22, and a control device 24. The housing 21 is movably installed on the traveling machine frame 1 to move along the extending direction of the traveling machine frame 1. The driving component is installed on the housing 21 to drive the housing 21 to move in the extending direction of the traveling machine frame 1. The grain leveling component 23 is installed on the housing 21, and the grain leveling component 23 has a grain suction pipe 231 extending downward from the housing 21. The scanning component 22 is used to scan the topographic information in the granary. The control device 24 is electrically connected to the driving component, the grain leveling component 23, and the scanning component 22 to control the driving component to drive the housing 21 to move to a specific position according to the topographic information scanned by the scanning component 22, and to control the grain leveling component 23 to suck and / or release grains.

[0067] In the technical solution of the present invention, the grain distributor 2 is movably disposed on the traveling machine frame 1 and can move in the granary. When grain leveling is required, the scanning component 22 is used to scan the topographic information in the granary. The control device 24 controls the driving component to drive the housing 21 to move to the specific position according to the topographic information. The control device 24 can control the grain suction pipe 231 of the grain leveling component 23 to suck grains from the grain accumulation area, or can control the grain leveling component 23 to release grains to the position where grain replenishment is needed. The structure of the grain distributor 2 is simple and the operation is convenient. The control device 24 controls the grain distributor 2 to move on the traveling machine frame 1 and intelligently suck and release grains, realizing intelligent leveling of the granary, eliminating the need for manual entry into the granary, and having strong safety and high efficiency.

[0068] There are various types of the scanning component 22. In this embodiment, the scanning component 22 includes a CCD camera installed on the lower side of the housing 21, and the CCD camera is electrically connected to the control device 24. To facilitate the scanning component 22 to scan the topographic information in the granary, the grain distributor 2 further includes a lighting component 25. In this embodiment, the lighting component 25 includes a spotlight installed on the lower side of the housing 21.

[0069] In order to satisfy the requirement of the leveling grain component 23 for sucking grains, the leveling grain component 23 includes a grain sucking fan 232, and the grain sucking fan 232 is communicated with the grain sucking pipe 231. When the housing 21 moves to the specific position and needs to suck grains, the control device 24 controls the grain sucking fan 232 of the leveling grain component 23 to start, and sucks grains from the grain pile through the grain sucking pipe 231. After the leveling grain component 23 finishes sucking grains, it is necessary to release the sucked grains to the grain pit. There are various ways to release grains to the grain pit, and specific details are not limited. In one embodiment, after the grain sucking fan 232 sucks the grains at the grain pile into the grain sucking pipe 231, the control device 24 controls the driving component to drive the housing 21 to move to the grain pit to release grains. The way for the leveling grain component 23 to store grains is not limited. It can be stored in the grain sucking pipe 231, or a grain storage chamber communicating with the grain sucking pipe 231 can be arranged in the housing 21, and the grain storage chamber is used to store the sucked grains. With this setting, both sucking grains and releasing grains are operated through the grain sucking pipe 231. Due to the step-by-step operation, the grains in the grain pile can be transported to the grain pit at any position in the granary, solving the problem of dead corners in leveling grains, and the leveling is convenient. However, due to the step-by-step operation, sucking grains and releasing grains cannot be carried out simultaneously, and the transportation process is slow and the efficiency is low. In this embodiment, the leveling grain component 23 has a grain discharging pipe 233. One end of the grain discharging pipe 233 is communicated with the grain sucking pipe 231, and the other end extends horizontally from the housing 21. The leveling grain component 23 further includes a grain discharging fan 234 communicated with the grain discharging pipe 233. The grain distributing device 2 can carry out sucking grains and releasing grains step by step, or through the separately arranged grain sucking pipe 231 and grain discharging pipe 233, so that sucking grains and releasing grains can be carried out simultaneously. The leveling grain component 23 sucks grains from the grain pile through the grain sucking pipe 231, and at the same time discharges grains to the grain pit near the grain pile through the grain discharging pipe 233, with higher efficiency. In order to adapt to the different distances between the grain pit near the grain pile and the grain pile, the grain discharging pipe 233 extends horizontally from the housing 21, and the control device 24 controls the rotation speed of the grain discharging fan 234 to control the horizontal grain discharging speed of the grain discharging pipe 233, so as to spray the grains to the grain pits at different distances.

[0070] As the grain is continuously consumed, the grain bin needs to be replenished with grain. The grain distributor 2 further includes a grain replenishing component 26 for replenishing the grain bin with grain. The grain replenishing component 26 is installed on the housing 21. The grain replenishing component 26 includes a grain replenishing pipe 261 and a grain distributing member 262. The grain replenishing pipe 261 extends out of the housing 21 for docking with the grain replenishing port of the grain bin. The grain distributing member 262 extends downward from the housing 21. The grain distributing member 262 forms a grain outlet passage communicating with the grain replenishing pipe 261 for discharging grain into the grain bin. Further, in order to facilitate the docking of the grain replenishing pipe 261 with the grain replenishing port, the grain distributor 2 further includes an infrared emitting device provided on the housing 21 for sensing the grain replenishing port. Similarly, in order to ensure the docking accuracy, an electromagnet is provided at the docking end of the grain replenishing pipe 261, which is energized during grain replenishment to attract the magnetic part of the grain replenishing port, and to prevent the grain replenishing pipe 261 from detaching from the grain replenishing port during the grain feeding process. After the grain bin replenishment is completed, the power is cut off to separate the grain replenishing pipe 261 from the grain replenishing port. In order to ensure the sealing performance of the grain feeding from the grain replenishing port to the grain replenishing pipe 261, an elastic sealing sleeve is provided at the pipe orifice of the grain replenishing pipe 261.

[0071] In one embodiment, the housing 21 can be separately provided so that the grain replenishing component 26 is separated from the grain leveling component 23. The grain replenishment and the grain leveling can be carried out simultaneously or step by step. In one embodiment, the housing 21 can also be integrally provided to simultaneously meet the two functions of grain replenishment and grain leveling through an integral structure, which is convenient for operation. In another embodiment, the housing 21 is detachably provided, and the specific form is not limited.

[0072] There are various types of the grain distributing member 262, which are not specifically limited. In this embodiment, the grain distributing member 262 includes a spiral chute cylinder 2621 and a plurality of grain chutes 2622. The spiral chute cylinder 2621 is disposed in the housing 21. The spiral chute cylinder 2621 includes a main body 26211 arranged in a cylindrical shape and a spiral chute 26212 disposed in the main body 26211. The main body 26211 extends downward from the housing 21. The spiral chute 26212 forms the grain outlet passage. The plurality of grain chutes 2622 are installed on the lower side of the main body 26211, with one end communicating with the grain outlet passage and the other end extending downward and gradually extending circumferentially. When replenishing grain, the grain enters the main body 26211 from the replenishing pipe 261, flows downward through the spiral chute 26212 into the plurality of grain chutes 2622, and enters the granary from the plurality of grain chutes 2622. The spiral chute 26212 evenly disperses the grain and projects it evenly into the granary through the plurality of grain chutes 2622. The grain is evenly laid, improving the efficiency of leveling the grain and avoiding concentrated accumulation at the replenishing opening. Further, the plurality of grain chutes 2622 can be rotatably installed up and down on the main body 26211 to adjust the grain outlet angle, thereby controlling the planar diameter of the grain pile formed when discharging grain from the grain distributing member 262 to the granary during grain replenishment. Similarly, the main body 26211 can rotate along the axis extending in the up and down direction to drive the plurality of grain chutes 2622 to rotate. When discharging grain, the main body 26211 rotates to drive the spiral chute 26212 to rotate. The grain evenly disperses and flows into the plurality of grain chutes 2622 under the action of centrifugal force and the tangential force generated by the curved surface. The plurality of grain chutes 2622 rotate to evenly spray the grain in the circumferential direction into the granary. It should be noted that in the setting where the plurality of grain chutes 2622 can be rotatably installed up and down on the main body 26211 and the main body 26211 drives the plurality of grain chutes 2622 to rotate, either one can exist or both can exist. Obviously, the technical effect brought by the coexistence is the best. When both exist, by changing the grain outlet angle of the plurality of grain chutes 2622 and cooperating with the rotation of the main body 26211 to evenly spray the grain in the circumferential direction, the grain can fall into the granary in concentric circles at multiple different distances, making the grain evenly distributed in the granary.

[0073] Based on the grain distributing device 100, the present invention proposes a control method for the grain distributing device. By using machine vision technology and intelligently controlling the operation of the grain distributing device 100, manual operation is not required, and the grain distributing efficiency is improved.

[0074] Please refer to Figure 6 , Figure 6 which is a schematic flowchart of an embodiment of the control method for the grain distributing device provided by the present invention. The control method for the grain distributing device includes the following steps:

[0075] S1000: Obtain the topographic information scanned by the scanning component 22;

[0076] S2000: Determine the control strategy according to the topographic information;

[0077] S3000: Control the driving component and the grain leveling component 23 to work according to the control strategy.

[0078] In this embodiment, the control device 24 obtains the topographic information scanned by the scanning component 22. The topographic information is not specifically limited. In this embodiment, the topographic information includes the three-dimensional image of the granary, the grain distribution map on the plane of the granary, the positions of the grain piles and grain pits in the granary. Determine the control strategy according to the topographic information, and control the driving component and the grain leveling component 23 to work according to the control strategy. Using machine vision technology, the grain distribution device 100 is intelligently controlled to work without manual operation, improving the grain distribution efficiency.

[0079] Specifically, step S2000 includes:

[0080] S2100: Receive the instruction of the user;

[0081] S2200: Determine the control strategy according to the instruction of the user and the topographic information.

[0082] There are various user instructions. When the user instruction is for grain leveling, the control strategy includes the following steps:

[0083] S2210: Determine the grain piles and grain pits for grain leveling according to the topographic information;

[0084] S2220: Control the driving component to drive the housing 21 to move to the position of the grain pile;

[0085] S2230: Control the grain leveling component 23 to suck grain from the grain pile;

[0086] S2240: Control the grain leveling component 23 to release the grain into the grain pit.

[0087] After the user inputs the instruction to level the grain, the volume of the grain pile and the volume of the grain pit, as well as the distance between the grain pile and the grain pit, are calculated according to the topographic information. The grain transfer amount of the grain pile and the grain replenishment amount of the grain pit are determined based on the volume of the grain pile and the volume of the grain pit. The grain pile and the grain pit for leveling the grain are determined, and the path is planned. According to the path, the driving component is controlled to drive the housing 21 to move to the position of the grain pile, the grain leveling component 23 is controlled to suck grain from the grain pile, and the grain leveling component 23 is controlled to release grain into the grain pit. There are various steps for releasing grain into the grain pit. In one embodiment, after sucking the grain, the driving component is controlled to drive the housing 21 to move to the position of the grain pit, and the grain leveling component 23 is controlled to release grain into the grain pit. In this embodiment, the grain leveling component 23 has the grain outlet pipe 233. One end of the grain outlet pipe 233 is connected to the grain suction pipe 231, and the other end extends horizontally from the housing 21. The grain leveling component 23 further includes the grain outlet fan 234 connected to the grain outlet pipe 233. The step of controlling the grain leveling component 23 to release grain into the grain pit in step S2240 includes:

[0088] S2241: The housing 21 is located at the position of the grain pile, and the rotation speed of the grain outlet fan 234 is controlled according to the distance between the grain pit and the grain pile to spray grain into the grain pit.

[0089] There is no need to control the driving component to drive the housing 21 to move again. The grain leveling component 23 is directly controlled to release grain into the nearby grain pit at the position of the grain pile. The steps are simple, the grain sucking and releasing are carried out simultaneously, and the grain leveling efficiency is high. In order to accurately release the grain into the grain pit, the rotation speed of the grain outlet fan 234 is controlled according to the distance between the grain pit and the grain pile to spray grain into the grain pit. The greater the distance, the greater the rotation speed and the greater the spraying distance.

[0090] The grain distributor 2 further includes the grain replenishment component 26. The grain replenishment component 26 is installed on the housing 21. The grain replenishment component 26 includes a grain replenishment pipe 261 and a grain distributing member 262. The grain replenishment pipe 261 extends out of the housing 21 for docking with the grain replenishment port of the granary. The grain distributing member 262 extends downward from the housing 21. The grain distributing member 262 forms a grain outlet channel communicating with the grain replenishment pipe 261 for discharging grain into the granary. When the grain distributor 2 includes the grain replenishment component 26, the user instruction in step S2100 further includes grain replenishment. When the user instruction is for grain replenishment, the control strategy includes the following steps:

[0091] S2250: Determine the position of the grain replenishment port according to the topographic information;

[0092] S2260: Control the driving component to drive the housing 21 to move to the grain replenishment port, and control the grain replenishment pipe 261 to dock with the grain replenishment port.

[0093] Obtain the position of the grain supplement port according to the geomorphic information, plan a path, and control the driving component to drive the housing 21 to move to the grain supplement port according to the path. Control the grain supplement pipe 261 to dock with the grain supplement port for grain supplement. After the grain supplement is completed, control the grain supplement pipe 261 to disengage from the grain supplement port.

[0094] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structural transformation made by using the content of the specification and drawings of the present invention under the inventive concept of the present invention, or direct / indirect application in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. A cloth grain device, characterized in that, It includes a traveling machine frame and a grain distributing device movably arranged on the traveling machine frame. The traveling machine frame is used to be installed on the top of a granary. The grain distributing device includes: A housing, which is movably installed on the traveling machine frame to move along the extending direction of the traveling machine frame; A driving assembly, which is installed on the housing to drive the housing to move in the extending direction of the traveling machine frame; A leveling grain assembly, which is installed on the housing and has a grain suction pipe extending downward from the housing; A scanning assembly, which is used to scan the topographic information in the granary; and A control device, which is electrically connected to the driving assembly, the leveling grain assembly and the scanning assembly to control the driving assembly to drive the housing to move to a specific position according to the topographic information scanned by the scanning assembly, and to control the leveling grain assembly to suck and / or release grains; The leveling grain assembly includes a grain suction fan, and the grain suction fan is communicated with the grain suction pipe; and / or the leveling grain assembly has a grain discharging pipe, one end of the grain discharging pipe is communicated with the grain suction pipe, and the other end extends horizontally from the housing; The leveling grain assembly further includes a grain discharging fan communicated with the grain discharging pipe; The grain distributing device further includes a grain supplementing assembly, which is installed on the housing. The grain supplementing assembly includes: A grain supplementing pipe, which extends out of the housing to be docked with the grain supplementing port of the granary; and A grain distributing member, which extends downward from the housing. The grain distributing member forms a grain discharging channel communicating with the grain supplementing pipe to discharge grains to the granary; The grain distributing member includes: A spiral chute cylinder, which is arranged on the housing. The spiral chute cylinder includes a main body arranged in a cylindrical shape and a spiral chute arranged in the main body. The main body extends downward from the housing, and the spiral chute forms the grain discharging channel; and A plurality of grain discharging pipes, which are installed on the lower side of the main body, one end of which is communicated with the grain discharging channel, and the other end extends downward and gradually extends circumferentially; The plurality of grain discharging pipes can be rotatably installed on the main body up and down to adjust the grain discharging angle; and / or the main body can rotate along the axis extending in the up and down direction to drive the plurality of grain discharging pipes to rotate.

2. A control method for a cloth and grain device, characterized in that Based on the grain distributing device as claimed in claim 1, it includes: Obtaining the topographic information scanned by the scanning assembly; Determining a control strategy according to the topographic information; Controlling the driving assembly and the leveling grain assembly to work according to the control strategy.

3. The control method of the cloth feeding device according to claim 2, characterized in that, The step of determining the control strategy according to the topographic information includes: Receiving an instruction from the user; Determining the control strategy according to the instruction from the user and the topographic information.

4. The control method of the cloth feeding device according to claim 3, characterized in that, When the instruction from the user is for leveling grains, the control strategy is: Determining the grain pile and grain pit for leveling grains according to the topographic information; Controlling the driving assembly to drive the housing to move to the grain pile position; Controlling the leveling grain assembly to suck grains from the grain pile; Controlling the leveling grain assembly to release grains to the grain pit.

5. The control method of the cloth feeding device according to claim 4, characterized in that The step of controlling the leveling grain assembly to release grains to the grain pit includes: When the housing is at the grain pile position, controlling the rotation speed of the grain discharging fan according to the distance between the grain pit and the grain pile to spray grains to the grain pit.

6. The control method of the cloth feeding device according to claim 3, characterized in that, When the instruction from the user is for grain supplementing, the control strategy is: Determining the position of the grain supplementing port according to the topographic information; Control the driving component to drive the housing to move to the grain supplement port, and control the grain supplement pipe to dock with the grain supplement port.

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