A kind of intelligent rice conveying equipment

Abstract

The present invention relates to an intelligent rice conveying device, comprising a soft guide rail and an automatic transport vehicle, wherein the cross section of the soft guide rail is a stepped structure with multiple step surfaces, the automatic transport vehicle comprises a chassis and a central controller, the front and rear sides of the mobile chassis are respectively provided with a steering wheel and a rear wheel, the steering wheel is connected with an electric steering system, the rear wheel is connected with a drive system, a laser transmitter and a laser receiver are respectively provided at the middle of the bottom of the chassis, and the central controller is electrically connected to the laser transmitter, the laser receiver, the electric steering system and the drive system. The present invention allows the conveying direction to be adjusted or changed according to specific needs, and the conveying flexibility and applicability are high, and automatic driving transportation can be realized, saving production labor costs.

Description

Technical Field

[0001] The invention belongs to the technical field of intelligent conveying, and in particular relates to an intelligent rice conveying device. Background Art

[0002] As one of the most consumed staple foods in the world, rice plays a very important role in people's lives and social development. At present, grain processing companies process rice according to the following process: first, harvesters are used to harvest and thresh rice to obtain grains with husks; then screening equipment is used to remove various impurities in the rice; then the grains are husked by husker, which is also called rice husking, which can remove the husk of rice and obtain brown rice; then the brown rice is milled by rice milling machine, and the cortex of brown rice is removed through the rice milling process, and further made into white rice that meets quality requirements; then the white rice is finely processed, including grading, selection, polishing and color selection; finally, the polished rice is packaged, stored and shipped out.

[0003] Therefore, during the rice processing process, the rice needs to be transferred and processed many times. In the prior art, belt conveyors and transfer vehicles are used for transfer. However, the conveying direction of the belt conveyor is fixed and cannot be adjusted or changed according to production needs, resulting in poor conveying flexibility and applicability. Although the transfer vehicle can adjust or change the conveying direction at will, each transfer vehicle requires a driver, which increases the production labor cost. Summary of the invention

[0004] The present invention provides an intelligent rice conveying device, which can adjust or change the conveying direction according to specific needs, has high conveying flexibility and applicability, can also realize automatic driving transportation, and saves production labor costs.

[0005] The technical solution adopted by the present invention is:

[0006] An intelligent rice conveying device comprises a soft guide rail and an automatic transport vehicle, wherein the cross section of the soft guide rail is a stepped structure with multiple step surfaces, the automatic transport vehicle comprises a chassis and a central controller, the front and rear sides of the chassis are respectively provided with a steering wheel and a rear wheel, the steering wheel is connected to an electric steering system, the rear wheel is connected to a drive system, a laser transmitter and a laser receiver are respectively provided at the middle of the bottom of the chassis, and the central controller is electrically connected to the laser transmitter, the laser receiver, the electric steering system and the drive system;

[0007] Follow these steps to control the autopilot:

[0008] A1. The automatic transport vehicle is placed astride the soft guide rail, and the laser transmitter and the laser receiver are aligned with the step surface in the middle of the soft guide rail;

[0009] A2. Obtain the distance between the bottom of the chassis and the step surface in the middle of the soft guide rail, define the distance as a calibration distance value, use the central controller to control the drive system to drive the rear wheels to drive the automatic transport vehicle forward, in this process, use the central controller to control the laser transmitter to emit a laser beam to the step surface at a preset time interval, use the laser receiver to receive the reflected laser beam in real time and feed it back to the central controller, and use the central controller to calculate the real-time distance value;

[0010] A3. When the central controller determines that the real-time distance value is greater than the calibrated distance value, the central controller controls the electric steering system to drive the steering wheel to rotate toward the step surface on the high side by a preset angle. When the real-time distance value is determined to be less than the calibrated distance value, the central controller controls the electric steering system to drive the steering wheel to rotate toward the step surface on the low side by a preset angle until the real-time distance value is equal to the calibrated distance value.

[0011] Furthermore, a distance sensor is provided at the front end of the chassis, the central controller is electrically connected to the distance sensor, the rear wheels are connected to a braking system, and the braking system is electrically connected to the central controller.

[0012] Furthermore, a plurality of slide grooves are provided on the upper surface of the chassis, a slide rod is slidably provided in the slide groove, the upper end of the slide rod extends above the slide groove and is connected to a cargo board, a weight sensor is provided between the lower surface of the cargo board and the upper surface of the chassis, and the central controller is electrically connected to the weight sensor.

[0013] Furthermore, a proximity sensor is provided on one side of the chassis, the proximity sensor is electrically connected to the central controller, and also includes a reference seat matching the proximity sensor, and the reference seat is placed on one side of the soft guide rail.

[0014] Furthermore, when the soft guide rail is arranged in a ring structure, multiple automatic transport vehicles can be arranged at intervals on the soft guide rail, and the two reference seats can be placed on both sides of the soft guide rail respectively. When the automatic transport vehicle drives the proximity sensor close to the reference seat, it transmits an electrical signal to the central controller, and the central controller controls the braking system and the drive system to stop the vehicle.

[0015] Furthermore, in step A2, the operation of obtaining the distance between the bottom of the chassis and the step surface in the middle of the soft guide rail is:

[0016] The central controller is used to control the laser transmitter to emit a light beam to the middle step surface, the laser receiver is used to receive the reflected light beam and transmit an electrical signal to the central controller, and the central controller is used to calculate the distance and store it.

[0017] Furthermore, the soft guide rail is made of rubber or soft plastic, and a plurality of vacuum suction cups are provided on the lower surface of the soft guide rail.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] Different conveying routes can be arranged on the ground by using the soft guide rail, and then the distance between the lower surface of the chassis and the step surface of the soft guide rail can be monitored in real time by using the laser transmitter and the laser receiver. The real-time distance value and the calibrated distance value can be compared by using the central controller, and the steering wheel can be adjusted by controlling the electric steering system in real time according to the comparison result, so that the automatic transport vehicle can automatically follow the curved soft guide rail. The present invention can adjust or change the conveying direction according to specific needs, has high conveying flexibility and applicability, can also realize automatic driving transportation, and saves production labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 for Figure 1 Schematic diagram of the local lateral structure;

[0022] Figure 3 for Figure 2 Schematic diagram of the lateral structure;

[0023] Figure 4 for Figure 3 Enlarged view of point A in the middle;

[0024] Figure 5 It is a schematic diagram of the control principle of the present invention;

[0025] In the figure: 1. chassis; 2. laser transmitter; 3. soft guide rail; 4. steering wheel; 5. distance sensor; 6. cargo plate; 7. slide bar; 8. slide slot; 9. weight sensor; 10. rear wheel; 11. reference seat; 12. proximity sensor; 13. laser receiver; 14. central controller; 15. vacuum suction cup; 16. braking system; 17. drive system; 18. electric steering system; 19. laser beam. DETAILED DESCRIPTION

[0026] In order to better understand the technical content of the present invention, specific embodiments are provided below, and the present invention is further described in conjunction with the accompanying drawings.

[0027] See also Figures 1 to 5The present invention provides an intelligent rice conveying device, comprising a soft guide rail 3 and an automatic transport vehicle, wherein the cross section of the soft guide rail 3 is a stepped structure with multiple step surfaces, the automatic transport vehicle comprises a chassis 1 and a central controller 14, a steering wheel 4 and a rear wheel 10 are respectively arranged on the front and rear sides of the chassis 1, the steering wheel 4 is connected to an electric steering system 18, the rear wheel 10 is connected to a drive system 17, a laser transmitter 2 and a laser receiver 13 are respectively arranged in the middle of the bottom of the chassis 1, the electric steering system 18 and the drive system 17 are both arranged on the chassis 1, and the central controller 14 is electrically connected to the laser transmitter 2, the laser receiver 13, the electric steering system 18 and the drive system 17;

[0028] Follow these steps to control the autopilot:

[0029] A1. Place the soft guide rail 3 on the ground. The soft guide rail 3 is the route to be transported. The automatic transport vehicle is placed across the soft guide rail 3. The soft guide rail 3 is located in the middle of the automatic transport vehicle. The laser transmitter 2 and the laser receiver 13 are vertically aligned with the step surface in the middle of the soft guide rail 3.

[0030] A2. Obtain the distance between the bottom of the chassis 1 and the step surface in the middle of the soft guide rail 3, define the distance as the calibrated distance value, and store the calibrated distance value in the central controller 14. Use the central controller 14 to control the drive system 17 to drive the rear wheel 10, and the rear wheel 10 drives the automatic transport vehicle forward. The direction of the steering wheel 4 is the forward direction, and the moving speed is set to 2 km / h. In this process, use the central controller 14 to control the laser transmitter 2 to emit a laser beam 19 to the step surface at a preset time interval, and the preset time interval is set to 20ms. Use the laser receiver 13 to receive the reflected laser beam 19 in real time and feed it back to the central controller 14, and use the central controller 14 to calculate the real-time distance value;

[0031] A3. The central controller 14 is used to compare the real-time distance value with the calibrated distance value. When it is determined that the real-time distance value is greater than the calibrated distance value, the central controller 14 controls the electric steering system 18 to drive the steering wheel 4 to rotate by a preset angle toward the step surface direction of the high side. When it is determined that the real-time distance value is less than the calibrated distance value, the central controller 14 controls the electric steering system 18 to drive the steering wheel 4 to rotate by a preset angle toward the step surface direction of the low side. The preset angle is set to 1 degree. The central controller 14 recalculates the real-time distance value. The central controller 14 compares the new real-time distance value with the calibrated distance value. When it is determined that the real-time distance value is greater than the calibrated distance value, the central controller 14 controls the electric steering system 18 to drive the steering wheel 4 to rotate by a preset angle toward the step surface direction of the high side. When it is determined that the real-time distance value is less than the calibrated distance value, the central controller 14 controls the electric steering system 18 to drive the steering wheel 4 to rotate by a preset angle toward the step surface direction of the low side until the real-time distance value is equal to the calibrated distance value.

[0032] It should be noted that in this embodiment, the moving speed, the predetermined time interval and the preset turning angle can be set or adjusted according to specific usage requirements, and are not limited to 2km / h, 20ms and 1 degree in this embodiment. The implementation plan after the parameters are adjusted or changed should also fall within the scope of protection of the present invention.

[0033] During transportation, the present invention can arrange different transportation routes on the ground by using the soft guide rail 3. After the automatic transport vehicle is placed on the soft guide rail 3, the rice is loaded on the chassis 1. The laser transmitter 2 and the laser receiver 13 are used to monitor the distance between the lower surface of the chassis 1 and the step surface of the soft guide rail 3 in real time. The central controller 14 is used to compare the real-time distance value with the calibrated distance value. According to the comparison result, the electric steering system 18 is controlled in real time to adjust the steering wheel 4 so that the steering wheel 4 can be rotated and adjusted in the direction close to the soft guide rail 3, so that the automatic transport vehicle can automatically follow the curved soft guide rail 3. The present invention can adjust or change the transportation direction according to specific needs, has high transportation flexibility and applicability, can also realize automatic driving transportation, and saves production labor costs.

[0034] Preferably, the front end of the chassis 1 is provided with a distance sensor 5, the central controller 14 is electrically connected to the distance sensor 5, and the rear wheel 10 is connected to a brake system 16, which is provided on the chassis 1 and electrically connected to the central controller 14. When the automatic transport vehicle moves forward, the distance sensor 5 is used to detect the distance of the object in front. When the distance is less than a preset value, the central controller 14 controls the driving system 17 and / or the brake system 16 to slow down or stop the automatic transport vehicle, so as to avoid collisions between adjacent automatic transport vehicles or collisions between the automatic transport vehicle and pedestrians, thereby improving transportation safety.

[0035] Preferably, a slide groove 8 is provided at each of the four corners of the upper surface of the chassis 1, a slide bar 7 is slidably provided in the slide groove 8, the upper end of the slide bar 7 extends above the slide groove 8 and is fixedly connected to a cargo board 6, a weight sensor 9 is provided on the upper surface of the chassis 1, the upper surface of the weight sensor 9 contacts the lower surface of the cargo board 6, and the central controller 14 is electrically connected to the weight sensor 9. After the rice is loaded on the cargo board 6, the cargo board 6 will drive the slide bar 7 to slide downward in the slide groove 8, and the lower surface of the cargo board 6 will press on the upper end of the weight sensor 9, and the weight sensor 9 transmits a loading electrical signal to the central controller 14 to measure the loading weight, and can determine whether the cargo board 6 is fully loaded or empty.

[0036] Preferably, a proximity sensor 12 is provided on one side of the chassis 1, and the proximity sensor 12 is electrically connected to the central controller 14, and also includes a reference seat 11 that matches the proximity sensor 12. The reference seat 11 is placed on one side of the soft guide rail 3, and when the automatic transport vehicle travels to the side close to the reference seat 11, the proximity sensor 12 sends an electrical signal to the central controller 14 after approaching the reference seat 11, and the electrical signal of empty or full load can be used as an input command to control the automatic transport vehicle to stop and move forward.

[0037] Preferably, when the soft guide rail 3 is arranged in a ring structure, multiple automatic transport vehicles can be placed at equal intervals on the soft guide rail 3, which can greatly improve the transportation efficiency. The two reference seats 11 are respectively placed on both sides of the soft guide rail 3. When the automatic transport vehicle drives the proximity sensor 12 to approach the reference seat 11, it transmits an electrical signal to the central controller 14, and the central controller 14 controls the braking system 16 and the driving system 17 to stop the vehicle.

[0038] For ease of understanding, Figure 1 The left side of the circular soft guide rail 3 is a loading area, and the right side is an unloading area. The loading and unloading control process is as follows:

[0039] B1. Using steps A1 to A3, control multiple automatic transport vehicles to perform counterclockwise circular transportation along the soft guide rail 3, and use the distance sensor 5 to detect the distance of the vehicle in front during transportation to slow down or stop, so as to maintain a safe distance between the front and rear vehicles and avoid hitting pedestrians;

[0040] B2. When the first automatic transport vehicle drives the distance sensor 5 to move close to the reference seat 11 on the left, the proximity sensor 12 on the automatic transport vehicle transmits an electrical signal to the central controller 14, and the central controller 14 controls the automatic transport vehicle to stop at the reference seat 11 on the left. To ensure a safe distance, the automatic transport vehicles on the rear side will also stop at the rear side of the first automatic transport vehicle in sequence;

[0041] B3, loading rice onto each stopped automatic transport vehicle, when the rice loading weight is greater than or equal to a preset value (full load state), the weight sensor 9 transmits an electrical signal to the central controller 14, and the central controller 14 controls the automatic transport vehicle to move forward;

[0042] B4, when the automatic transport vehicle drives the rice to the reference seat 11 on the right side, the proximity sensor 12 transmits an electrical signal to the central controller 14, and the central controller 14 controls the braking system 16 and the driving system 17 to stop the vehicle;

[0043] B5. After the rice on the cargo plate 6 is unloaded, the weight sensor 9 detects that the loading weight is less than or equal to the preset value (empty state), and the weight sensor 9 transmits an electrical signal to the central controller 14, and the central controller 14 controls the braking system 16 and the driving system 17 to move forward, thereby realizing automatic circulation transportation;

[0044] It should be noted that loading and unloading can be achieved by manpower or robotic arms.

[0045] Preferably, in step A2, the operation of obtaining the distance between the bottom of the chassis 1 and the step surface in the middle of the soft guide rail 3 is:

[0046] The central controller 14 is used to control the laser transmitter 2 to emit a light beam to the middle step surface, and the laser receiver 13 is used to receive the reflected light beam and transmit an electrical signal to the central controller 14. The central controller 14 calculates the measured distance and stores it. This value is determined as the calibration distance value. After each new arrangement of the soft guide rail 3, the old calibration distance value should be cleared and re-measured and calibrated to improve the accuracy of the calibration.

[0047] Preferably, the soft guide rail 3 is made of rubber or soft plastic, and a plurality of vacuum suction cups 15 are provided on the lower surface of the soft guide rail 3, which is convenient for bending and adjusting the conveying guide path. After the adjustment is completed, the vacuum suction cups 15 can be used to fix the soft guide rail 3 on the ground to avoid state changes after the adjustment is completed.

[0048] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An intelligent rice conveying device, Features: It comprises a soft rail and an automatic transport vehicle, wherein the cross section of the soft rail is a stepped structure with multiple step surfaces, the automatic transport vehicle comprises a chassis and a central controller, the front and rear sides of the chassis are respectively provided with a steering wheel and a rear wheel, the steering wheel is connected to an electric steering system, the rear wheel is connected to a drive system, a laser transmitter and a laser receiver are respectively provided at the middle of the bottom of the chassis, and the central controller is electrically connected to the laser transmitter, the laser receiver, the electric steering system and the drive system; Perform the following steps to control the automatic driving: A1. The automatic transport vehicle is placed astride the soft guide rail, and the laser transmitter and the laser receiver are aligned with the step surface in the middle of the soft guide rail; A2. Obtain the distance between the bottom of the chassis and the step surface in the middle of the soft guide rail, define the distance as a calibration distance value, use the central controller to control the drive system to drive the rear wheels to drive the automatic transport vehicle forward, in this process, use the central controller to control the laser transmitter to emit a laser beam to the step surface at a preset time interval, use the laser receiver to receive the reflected laser beam in real time and feed it back to the central controller, and use the central controller to calculate the real-time distance value; A3. When the central controller determines that the real-time distance value is greater than the calibrated distance value, the central controller controls the electric steering system to drive the steering wheel to rotate toward the step surface on the high side by a preset angle. When the real-time distance value is determined to be less than the calibrated distance value, the central controller controls the electric steering system to drive the steering wheel to rotate toward the step surface on the low side by a preset angle until the real-time distance value is equal to the calibrated distance value.

2. The intelligent rice conveying equipment according to claim 1, Features: A distance sensor is arranged at the front end of the chassis, the central controller is electrically connected to the distance sensor, the rear wheel is connected to a brake system, and the brake system is electrically connected to the central controller.

3. The intelligent rice conveying equipment according to claim 2, Features: The upper surface of the chassis is provided with a plurality of slide grooves, a slide rod is slidably provided in the slide grooves, the upper end of the slide rod extends above the slide grooves and is connected to a cargo plate, a weight sensor is provided between the lower surface of the cargo plate and the upper surface of the chassis, and the central controller is electrically connected to the weight sensor.

4. The intelligent rice conveying device according to claim 3, Features: A proximity sensor is arranged on one side of the chassis, and the proximity sensor is electrically connected to the central controller. The chassis also includes a reference seat matched with the proximity sensor, and the reference seat is placed on one side of the soft guide rail.

5. The intelligent rice conveying device according to claim 4, Features: When the soft guide rail is arranged in a ring structure, multiple automatic transport vehicles can be arranged at intervals on the soft guide rail, and the two reference seats are placed on both sides of the soft guide rail respectively. When the automatic transport vehicle drives the proximity sensor to approach the reference seat, an electrical signal is transmitted to the central controller, and the central controller controls the braking system and the driving system to stop the vehicle.

6. An intelligent rice conveying device according to any one of claims 1 to 5, Features: In step A2, the operation of obtaining the distance between the bottom of the chassis and the step surface in the middle of the soft guide rail is: The central controller is used to control the laser transmitter to emit a light beam to the middle step surface, the laser receiver is used to receive the reflected light beam and transmit an electrical signal to the central controller, and the central controller is used to calculate the distance and store it.

7. An intelligent rice conveying device according to any one of claims 1 to 5, Features: The soft guide rail is made of rubber or soft plastic, and a plurality of vacuum suction cups are arranged on the lower surface of the soft guide rail.

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