Grain warehouse-in and warehouse-out system and grain warehouse-in and warehouse-out method

Abstract

The invention relates to the field of grain storage, in particular to a grain in-warehouse and out-warehouse system and a grain in-warehouse and out-warehouse method, the grain in-warehouse and out-warehouse system has multiple functions such as grain unloading, warehousing and flattening, is compact in structure and high in integration degree, and meets multiple application scenes such as grain in-warehouse and out-warehouse of a horizontal warehouse; sufficient grain unloading of grain transporting vehicles of various specifications is met, and the device is suitable for horizontal warehouses of various widths and windows of various heights; the control device can achieve automatic control and unmanned operation, the operation safety is guaranteed through remote operation and maintenance, and the operation efficiency is improved; pneumatic conveying is adopted, and the grain breakage rate is low; pollution of dust overflow to the granary is reduced; according to the grain warehouse-in and warehouse-out method, the environment sensing unit, the first dynamic sensing unit and the second dynamic sensing unit are used for providing control signals for the grain warehouse-in and warehouse-out system, automatic control over the grain warehouse-in and warehouse-out system is achieved, manpower consumption is reduced, the grain warehouse-in and warehouse-out efficiency is improved, the grain carrying difficulty is reduced, and the equipment control number is reduced; and the safety of operators is ensured.

Description

Technical Field

[0001] The present invention relates to the field of grain storage, and in particular to a grain storage-in / out system and a grain storage-in / out method. Background Art

[0002] In the field of grain storage, flat warehouses are the most widely used type of grain storage warehouses in my country's warehousing enterprises. Every year, a large amount of bulk grain needs to be entered and exited from the warehouse. When the grain is entered into the warehouse, the grain needs to be transferred from the grain truck to the grain warehouse; when the grain is exited from the warehouse, the grain needs to be transferred from the grain warehouse to the grain truck.

[0003] However, the current process of loading and unloading grain in flat warehouses requires a large number of mechanical equipment, which are numerous, single-function, and low-level automated. Each operation requires a large amount of manpower for on-site handling and splicing. At present, there are many problems in the loading and unloading of grain, such as time-consuming and labor-intensive equipment assembly, low operating efficiency, difficulty in centralized equipment control, high labor intensity for workers, and safety hazards in the equipment handling and splicing process. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art in that there are many types of equipment used for grain entry and exit, which are difficult to control, have high labor intensity and potential safety hazards, and to provide a grain entry and exit system and a grain entry and exit method.

[0005] The present invention provides a grain storage-in and -out system, comprising The device body is provided with a control device, a negative pressure grain suction device, a positive pressure grain pumping device, a moving device, a screening device and a cleaning device; The negative pressure grain suction device is connected to the screening device, the screening device is connected to the cleaning device, and the positive pressure grain pumping device is connected to the cleaning device; the moving device is in contact with the ground; The control device includes a control unit, an environmental sensing unit, a first dynamic sensing unit and a second dynamic sensing unit. The environmental sensing unit is connected to the device body, and the environmental sensing unit is communicatively connected to the control unit; the first dynamic sensing unit is connected to the negative pressure grain suction device, and the first dynamic sensing unit is communicatively connected to the control unit; the second dynamic sensing unit is connected to the positive pressure grain pumping device, and the second dynamic sensing unit is communicatively connected to the control unit; the negative pressure grain suction device, the positive pressure grain pumping device and the mobile device are respectively communicatively connected to the control unit.

[0006] The grain in-and-out system of the present invention can move the device body by a mobile device abutting the ground, and adjust the position of the device body, so that the negative pressure grain suction device and the positive pressure grain pumping device can move to the appropriate position to put grain in and out of the warehouse, thereby improving the grain handling efficiency; the negative pressure grain suction device adopts the negative pressure pneumatic conveying principle, and the grain suction is thorough and has no dead angles; the positive pressure grain pumping device has a compact structure, and controls the grain landing point by airflow, so that the grain can be smoothly transported; the negative pressure grain suction device, the positive pressure grain pumping device and the mobile device are centrally controlled by the control device, thereby reducing manpower consumption, reducing the difficulty of grain handling, reducing the number of equipment controls, improving the grain handling efficiency, and ensuring the personal safety of the operators; the environmental perception unit generates a three-dimensional point Cloud data is used to assist in positioning the three-dimensional map. The control unit performs calculation analysis, decision processing, and sends instructions. Finally, the mobile device completes the addressing of the storage window of the flat warehouse. When grain is put into storage, the first dynamic perception unit obtains material images, extracts features and identifies objects of the grain transport vehicle and grain, and the second dynamic perception unit obtains the flatness of the grain in the warehouse. The screening device and the cleaning device can clean the grain, and both of them can be controlled by the control device. The control unit processes the information obtained by the environmental perception unit, the first dynamic perception unit, and the second dynamic perception unit through the control program, and controls the mobile device, the negative pressure grain suction device, and the positive pressure grain pumping device respectively, so as to realize the automated operation of the grain entry and exit system.

[0007] Preferably, the device body includes a top plate, a bottom plate and a frame, the frame is connected to the top plate, the frame is connected to the bottom plate, the top plate and the bottom plate are spaced apart, and the top plate is located above the bottom plate; the negative pressure grain suction device is connected to the top plate, and the positive pressure grain pumping device is connected to the bottom plate; the mobile device is connected to the frame, the control unit is connected to the bottom plate, and the environmental sensing unit is connected to the frame.

[0008] The device body is formed by connecting the top plate, the bottom plate and the frame, which reduces the weight of the device body and enables the positive pressure grain pumping device and the negative pressure grain suction device to be respectively arranged at different positions of the device body, which is convenient for maintenance.

[0009] Preferably, the negative pressure grain suction device includes a grain suction power system, a grain suction bin and a grain suction rack, the grain suction bin is connected to the top plate, and the grain suction rack is rotatably connected to the top plate; a grain suction pipeline is provided on the grain suction rack, the grain suction pipeline is connected to the grain suction rack, the grain suction pipeline is connected to the grain suction bin, and the grain suction power system is arranged in the grain suction bin; the screening device is connected to the grain suction bin, the first dynamic sensing unit is connected to the grain suction pipeline, and the grain suction power system is connected to the control unit.

[0010] The first sensing unit is installed on the grain suction pipeline, and the control unit can determine the position of the grain suction pipeline through the information received by the first dynamic sensing unit, so that the control unit can control the positive pressure pump and control the mobile device to adjust the position of the device body; the grain suction power system is a negative pressure pump; after the end of the grain suction pipeline contacts the grain, the negative pressure generated by the negative pressure pump is used to suck the grain into the grain suction bin, and the grain in the grain suction bin is discharged through the positive pressure pump device.

[0011] Preferably, the grain suction rack includes a first seat body, a first drive motor and a push rod, the first seat body is rotatably connected to the top plate, the first drive motor is connected to the top plate, the first drive motor and the first seat body are connected via a gear pair, and the first drive motor can drive the first seat body to rotate; the grain suction pipeline is hinged to the first seat body, one end of the push rod is connected to the first seat body, and the other end is connected to the grain suction pipeline; the first drive motor and the push rod are respectively communicatively connected to the control unit.

[0012] The position of the grain suction pipeline is controlled by the first driving motor and the push rod, so that the position of the grain suction pipeline can be adjusted; the information obtained by the first dynamic sensing unit is used to enable the grain suction pipeline to continuously contact the grain.

[0013] Preferably, the grain suction pipeline includes a first telescopic joint, a second telescopic joint and a first telescopic rod, the first telescopic joint and the second telescopic joint are slidably connected, one end of the first telescopic rod is connected to the first telescopic joint, and the other end is connected to the second telescopic joint, the first telescopic joint is hinged to the first seat body, the push rod is hinged to the first telescopic joint, and the first telescopic rod is communicatively connected to the control unit.

[0014] The grain suction position of the grain suction pipeline can be adjusted by relative sliding between the first telescopic joint and the second telescopic joint, and the telescopic rod is controlled by the control unit.

[0015] Preferably, the positive pressure grain pumping device includes a grain pumping power system, a grain pumping silo and a grain pumping rack, the grain pumping silo is connected to the base plate, and the grain pumping rack is connected to the frame body; the grain pumping rack is provided with a grain pumping pipeline, the grain pumping pipeline is connected to the grain pumping silo, and the grain pumping power system is arranged in the grain pumping silo; the cleaning device is connected to the grain pumping silo, the second dynamic sensing unit is connected to the grain pumping pipeline, and the grain pumping power system is communicatively connected to the control unit.

[0016] The second dynamic sensing unit is installed on the grain pump pipeline. The grain pump power system is a positive pressure pump. The control unit controls the positive pressure pump through the information obtained by the second dynamic sensing unit and controls the mobile device to adjust the position of the device body.

[0017] Preferably, the grain pump rack includes a grain pump connecting pipe, a second seat body, a second drive motor and a support rod; the grain pump connecting pipe is slidably connected to the frame body, the grain pump connecting pipe is communicated with the grain pump pipeline, and the grain pump connecting pipe is communicated with the grain pump bin; the second seat body is rotatably connected to the grain pump connecting pipe, the second drive motor is connected to the grain pump connecting pipe, the second drive motor is connected to the second seat body via a gear pair, and the second drive motor can drive the second seat body to rotate; one end of the support rod is connected to the second seat body, and the other end is connected to the grain pump pipeline; the second drive motor is communicatively connected to the control unit; the frame body includes a telescopic frame, and the grain pump connecting pipe includes a telescopic tube.

[0018] The position of the grain pump pipeline is controlled by the second driving motor, so that the position of the grain pump pipeline can be adjusted; the position of the grain pump pipeline can be adjusted by using the information obtained by the second dynamic sensing unit.

[0019] Preferably, the pump-feed pipeline includes a third telescopic joint, a fourth telescopic joint and a second telescopic rod, the third telescopic joint is slidably connected to the fourth telescopic joint, one end of the second telescopic rod is connected to the third telescopic joint, and the other end is connected to the fourth telescopic joint, the third telescopic joint is connected to the second seat body, the support rod is connected to the third telescopic joint, and the second telescopic rod is communicatively connected to the control unit.

[0020] The grain releasing position of the grain pump pipeline can be adjusted by relative sliding between the third telescopic joint and the fourth telescopic joint, and the second telescopic rod is controlled by the control unit.

[0021] Preferably, the device body is also provided with a channel conversion mechanism, the channel conversion mechanism is connected to the screening device, the channel conversion mechanism is connected to the negative pressure grain suction device, and the channel conversion mechanism is connected to the positive pressure grain pumping device; the channel conversion mechanism connects the screening device and the negative pressure grain suction device, or the channel conversion mechanism connects the positive pressure grain pumping device and the negative pressure grain suction device.

[0022] When grain is put into storage, the channel conversion mechanism turns to one side, and the grain from the negative pressure grain suction device enters the screening device and the cleaning device in turn, and finally reaches the warehouse through the positive pressure grain pumping device; when grain is taken out of storage, the channel conversion mechanism turns to the other side, and the grain from the negative pressure grain suction device directly enters the positive pressure grain pumping device, and then reaches the carriage of the grain transport truck.

[0023] A grain storage-in and -out method of the present invention adopts the above-mentioned grain storage-in and -out system, including a grain storage-in method and a grain storage-out method. The grain storage method includes: A1: Drive the grain truck to the grain unloading position; A2: Move the grain in-and-out system to between the grain truck and the grain silo; A3: The control unit adjusts the displacement of the mobile device, the position of the negative pressure grain suction device and the position of the positive pressure grain pumping device respectively through the control signal of the environment sensing unit, the control signal of the first dynamic sensing unit and the control signal of the second dynamic sensing unit; A4: The grain in-and-out system sucks grain from the grain truck and pumps it into the grain silo; The grain delivery method includes: B1: Drive the grain truck into the grain loading position; B2: Move the grain in-and-out system to between the grain truck and the grain silo; B3: The control unit adjusts the displacement of the mobile device, the position of the negative pressure grain suction device and the position of the positive pressure grain pumping device respectively through the control signal of the environment sensing unit, the control signal of the first dynamic sensing unit and the control signal of the second dynamic sensing unit; B4: The grain in-and-out system draws grain from the granary and pumps it into the grain truck.

[0024] A method for grain in and out of a warehouse of the present invention utilizes data collected by an environmental sensing unit, a first dynamic sensing unit, and a second dynamic sensing unit to control a grain in and out of a warehouse system, thereby realizing automatic control of the grain in and out of a warehouse system, reducing manpower consumption, improving grain in and out of a warehouse efficiency, reducing the difficulty of grain handling, reducing the number of equipment operations, and ensuring the personal safety of operators.

[0025] Compared with the prior art, the present invention has the following beneficial effects: 1. A grain in-and-out storage system of the present invention, through a mobile device abutting the ground, enables the mobile device to move the device body and adjust the position of the device body, so that the negative pressure grain suction device and the positive pressure grain pumping device can be moved to appropriate positions to put grain in and out of the warehouse, thereby improving the grain handling efficiency; the negative pressure grain suction device adopts the negative pressure pneumatic conveying principle, and the grain suction is thorough and has no dead angles; the positive pressure grain pumping device has a compact structure and controls the grain landing point through airflow, so that the grain can be smoothly transported; the negative pressure grain suction device, the positive pressure grain pumping device and the mobile device are centrally controlled by the control device, thereby reducing manpower consumption, reducing the difficulty of grain handling, reducing the number of equipment controls, improving the grain handling efficiency, and ensuring the personal safety of the operators; the environmental perception unit generates a three-dimensional Point cloud data is used to assist in positioning the three-dimensional map. The control unit performs calculation analysis, decision processing, and sends instructions. Finally, the mobile device completes the addressing of the storage window of the flat warehouse. When the grain is stored in the warehouse, the first dynamic perception unit obtains the material image, extracts the features and recognizes the objects of the grain transport vehicle and the grain, and the second dynamic perception unit obtains the flatness of the grain in the warehouse. The screening device and the cleaning device can clean the grain, and both the screening device and the cleaning device can be controlled by the control device. The control unit processes the information obtained by the environmental perception unit, the first dynamic perception unit, and the second dynamic perception unit through the control program, and controls the mobile device, the negative pressure grain suction device, and the positive pressure grain pumping device respectively, so as to realize the automatic operation of the grain in and out system. 2. The present invention provides a grain in-and-out storage system, which has multiple functions such as grain unloading, storage, and warehouse closing, has a compact structure and high integration, and can meet multiple application scenarios such as grain out-and-out storage and storage in flat warehouses; it can meet the requirements of various specifications of grain transport vehicles for full grain unloading, and is suitable for flat warehouses of various widths and windows of various heights, and the equipment has strong adaptability; the control device can realize automatic control through programming, realize unmanned operation, and no manual participation is required on site. Through remote operation and maintenance, the safety of the operation is effectively guaranteed, and the operation efficiency is improved; pneumatic conveying is adopted, and the grain damage rate is low; dust spillage is avoided, and the pollution to the grain warehouse is reduced; it has good economic value and practical value; 3. The present invention provides a method for grain in and out of the warehouse, which uses the data collected by the environmental sensing unit, the first dynamic sensing unit and the second dynamic sensing unit to provide a control signal to the grain in and out of the warehouse system, thereby realizing automatic control of the grain in and out of the warehouse system, reducing manpower consumption, improving the efficiency of grain in and out of the warehouse, reducing the difficulty of grain handling, reducing the number of equipment operations, and ensuring the personal safety of operators. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of a grain storage-in and -out system of the present invention; Figure 2 It is a structural schematic diagram of the grain suction rack of the present invention; Figure 3It is a structural schematic diagram of the pump grain rack of the present invention; Figure 4 It is a schematic diagram of the use state of grain entering the grain storage of a grain storage-in and -out system of the present invention; Figure 5 It is a schematic diagram of the use state of a grain storage-in / out system of the present invention when grain is out of storage; Figure 6 It is a connection schematic diagram of the channel conversion mechanism of the present invention; Figure 7 The figure is a schematic diagram of the control principle of a grain storage-in and -out system of the present invention.

[0027] Markings in the figure: 1-device body, 11-bottom plate, 12-frame, 13-top plate, 2-control unit, 3-negative pressure grain suction device, 31-grain suction pipeline, 311-first telescopic joint, 312-second telescopic joint, 313-first telescopic rod, 32-grain suction bin, 33-grain suction rack, 331-push rod, 332-first seat, 333-first drive motor, 4-positive pressure grain pumping device, 41-grain pumping rack, 411-grain pumping connecting pipe, 412-first Second seat, 413-second drive motor, 414-support rod, 42-pump grain bin, 43-pump grain pipeline, 431-third telescopic joint, 432-fourth telescopic joint, 433-second telescopic rod, 434-pump grain head, 435-third drive motor, 5-moving device, 6-cleaning device, 7-screening device, 81-environmental perception unit, 82-first dynamic perception unit, 83-second dynamic perception unit, 9-channel conversion mechanism, 100- Grain transport vehicle, 101- Storage window of flat warehouse, 103- Flat warehouse door. DETAILED DESCRIPTION

[0028] The present invention is further described in detail below in conjunction with specific embodiments. However, this should not be understood as the scope of the above subject matter of the present invention being limited to the following embodiments, and all technologies realized based on the content of the present invention belong to the scope of the present invention.

[0029] Unless otherwise specified, in the description of the specific embodiments of the present invention, the terms indicating the orientation or position relationship such as "up", "down", "left", "right", "center", "inside", "outside", etc. are all expressions based on the orientation or position relationship shown in the drawings, or are the orientation or position relationship when the invented product / equipment / device is usually used. These terms of orientation or position relationship are only for the convenience of describing the scheme of the present invention or simplifying the description in the specific embodiments, so as to facilitate the technicians to quickly understand the scheme, and do not indicate or imply that a specific device / component / element must have a specific orientation, or be constructed and operated in a specific position relationship, and therefore cannot be understood as a limitation on the present invention.

[0030] In addition, if the terms "horizontal", "vertical", "overhanging", "parallel" and the like appear, it does not mean that the corresponding devices / components / elements are required to be absolutely horizontal or vertical or overhanging or parallel, but may be slightly tilted or have deviations. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but may be slightly tilted. Alternatively, it can be simplified to mean that the corresponding devices / components / elements are set in directions such as "horizontal", "vertical", "overhanging", "parallel", etc., and can have an error / deviation of ±10% relative to the corresponding direction setting, more preferably an error / deviation within ±8%, more preferably an error / deviation within ±6%, more preferably an error / deviation within ±5%, and more preferably an error / deviation within ±4%. As long as the corresponding device / component / element is within the error / deviation range, it can still achieve its role in the scheme of the present invention.

[0031] In addition, the expressions “first”, “second”, “third”, etc., which appear in the terms, are merely used to distinguish the description of the same or similar components and should not be understood as emphasizing or implying the relative importance of specific components.

[0032] In addition, in the description of the embodiments of the present invention, "several", "plurality" and "a number" represent at least 2. It can be any number such as 2, 3, 4, 5, 6, 7, 8, 9, and even more than 9.

[0033] In addition, in the description of the technical solution of the present invention, unless otherwise clearly specified / defined / restricted, the terms "set", "install", "connect", "connected", "provided with", "laid", and "arranged" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, and can be welding, riveting, bolting, threading, and other commonly used connection means in the field. This connection can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection, or an indirect connection through an intermediate medium, and it can be the internal connection of two elements.

[0034] Example 1 like Figure 1-Figure 7 As shown, a grain storage system includes: A grain storage system, comprising: The device body 1 is provided with a control device, a negative pressure grain suction device 3, a positive pressure grain pumping device 4, a moving device 5, a screening device 7 and a cleaning device 6; The negative pressure grain suction device 3 is connected to the screening device 7, the screening device 7 is connected to the cleaning device 6, the positive pressure grain pumping device 4 is connected to the cleaning device 6; the moving device 5 is in contact with the ground; The control device includes a control unit 2, an environmental sensing unit 81, a first dynamic sensing unit 82 and a second dynamic sensing unit 83. The environmental sensing unit 81 is connected to the device body 1, and the environmental sensing unit 81 is communicatively connected to the control unit 2; the first dynamic sensing unit 82 is connected to the negative pressure grain suction device 3, and the first dynamic sensing unit 82 is communicatively connected to the control unit 2; the second dynamic sensing unit 83 is connected to the positive pressure grain pumping device 4, and the second dynamic sensing unit 83 is communicatively connected to the control unit 2; the negative pressure grain suction device 3, the positive pressure grain pumping device 4 and the mobile device 5 are respectively communicatively connected to the control unit 2.

[0035] The mobile device is abutted against the ground so that the mobile device can move the device body and adjust the position of the device body, so that the negative pressure grain suction device and the positive pressure grain pumping device can be moved to the appropriate position to put grain in and out of the warehouse, thereby improving the efficiency of grain transportation; the negative pressure grain suction device adopts the principle of negative pressure pneumatic conveying, and the grain is sucked thoroughly without dead angles. The positive pressure grain pumping device has a compact structure and controls the grain landing point through airflow, so that the grain can be smoothly transported; the negative pressure grain suction device, the positive pressure grain pumping device and the mobile device are centrally controlled by the control device, which reduces manpower consumption, reduces the difficulty of grain transportation, reduces the number of equipment operations, improves grain transportation efficiency, and ensures the personal safety of operators; the environmental perception unit includes a laser radar and a differential combined navigator, which generates three-dimensional point cloud data through the laser radar, and assists in positioning the three-dimensional map in combination with the differential combined navigation. The control unit performs calculation analysis, decision processing, and sends instructions, and finally the mobile device completes the storage window of the flat warehouse. For household addressing, the laser radar can be replaced by a high-definition camera, and image recognition is used to complete the addressing of the entry window; when grain is entering the warehouse, the first dynamic perception unit obtains the material image, extracts the features and recognizes the objects of the grain transport vehicle and the grain, the first dynamic perception unit can be a high-definition camera or a laser radar, and the second dynamic perception unit obtains the flatness of the grain in the warehouse, the second dynamic perception unit can be a high-definition camera or a laser radar; when grain is leaving the warehouse, the first dynamic perception unit is used for the perception unit to obtain the characteristics of the grain in the warehouse, and the second dynamic perception unit recognizes the flatness of the grain transport vehicle and the grain; the control unit processes the information obtained by the environmental perception unit, the first dynamic perception unit and the second dynamic perception unit through the control program to control the mobile device, the negative pressure grain suction device and the positive pressure grain pumping device respectively, so as to realize the automatic operation of the grain entry and exit system; the screening device and the cleaning device can clean the grain, and both the screening device and the cleaning device can be controlled by the control device.

[0036] In an optional embodiment, the device body 1 is composed of a top plate 13, a bottom plate 11 and a frame 12, the top plate 13 is connected to the top of the frame 12, the bottom plate 11 is connected to the bottom of the frame 12, the top plate 13 and the bottom plate 11 are spaced apart, the top plate 13 is located above the bottom plate 11, so that sufficient space is reserved between the bottom plate 11 and the top plate 13 for placing the positive pressure grain pumping device 4; the negative pressure grain suction device 3 is connected to the top plate 13, the top plate 13 supports the negative pressure grain suction device 3, the positive pressure grain pumping device 4 is connected to the bottom plate 11, the bottom plate 11 supports the positive pressure grain pumping device 4; the mobile device 5 is connected to the frame 12, the mobile device 5 is located below the bottom plate 11, the control unit 2 is connected and fixed to the bottom plate 11, and the environmental sensing unit 81 is installed on the frame 12.

[0037] In an optional embodiment, the negative pressure grain suction device 3 includes a grain suction power system, a grain suction bin 32 and a grain suction frame 33. The grain suction bin 32 is fixedly connected to the top plate 13, and the grain suction frame 33 is rotatably connected to the top plate 13, so that the angle of the grain suction frame 33 is adjustable; a grain suction pipeline 31 is provided on the grain suction frame 33, and the grain suction pipeline 31 is connected to the grain suction frame 33, and the grain suction pipeline 31 is connected to the grain suction bin 32. A negative pressure pump is provided in the grain suction bin 32 as a grain suction power system. After starting the negative pressure pump, the grain located at the end of the grain suction pipeline 31 can be sucked into the grain suction bin 32 through the grain suction pipeline 31; the positive pressure grain pumping device 4 is connected to the grain suction bin 32, the first dynamic sensing unit 82 is connected to the grain suction pipeline 31, and the negative pressure pump is connected to the control unit 2, so that the first dynamic sensing unit 82 can monitor the position of the grain suction pipeline 31 more accurately.

[0038] In an optional embodiment, the grain suction rack 33 is composed of a first seat body 332, a first drive motor 333 and a push rod 331. The first seat body 332 is rotatably connected to the top plate 13 to achieve angle control of the grain suction pipeline 31. The first drive motor 333 is connected to the top plate 13. The first drive motor 333 and the first seat body 332 are connected via a gear pair. The first drive motor 333 can drive the first seat body 332 to rotate, and the rotation angle of the grain suction pipeline 31 is controlled by the control unit 2; the grain suction pipeline 31 is hinged to the first seat body 332, one end of the push rod 331 is connected to the first seat body 332, and the other end is connected to the grain suction pipeline 31, and the height of the grain suction pipeline 31 is controlled by the control unit 2; the first drive motor 333 and the push rod 331 are respectively communicated with the control unit 2, so that the position of the grain suction pipeline 31 can be controlled.

[0039] In an optional embodiment, the grain suction pipeline 31 includes a first telescopic joint 311, a second telescopic joint 312 and a first telescopic rod 313. The first telescopic joint 311 and the second telescopic joint 312 are slidably connected. One end of the first telescopic rod 313 is connected to the first telescopic joint 311, and the other end is connected to the second telescopic joint 312. The first telescopic joint 311 is hinged to the first seat body 332, the push rod 331 is hinged to the first telescopic joint 311, and the first telescopic rod 313 is communicatively connected to the control unit 2. The length of the grain suction pipeline 31 is adjusted by relative sliding between the first telescopic joint 311 and the second telescopic joint 312, so that the grain suction position of the grain suction pipeline 31 can be adjusted, and the telescopic rod is controlled by the control unit 2.

[0040] In an optional embodiment, the positive pressure grain pumping device 4 includes a grain pumping power system, a grain pumping silo 42 and a grain pumping rack 41. The grain pumping silo 42 is connected to the bottom plate 11, and the grain pumping rack 41 is connected to the frame 12, so as to facilitate position adjustment of the grain pumping rack 41; the grain pumping rack 41 is provided with a grain pumping pipeline 43, and the grain pumping pipeline 43 is connected to the grain pumping silo 42; the grain pumping silo 42 is provided with a positive pressure pump as a grain pumping power system, and grain is pumped out from the grain pumping pipeline 43 by starting the positive pressure pump; the cleaning device 6 is connected to the grain pumping silo 42, the second dynamic sensing unit 83 is connected to the grain pumping pipeline 43, and the positive pressure pump is communicatively connected to the control unit 2, so that the control unit 2 controls the positive pressure pump.

[0041] In an optional embodiment, the grain pump rack 41 is composed of a grain pump connecting pipe 411, a second seat body 412, a second drive motor 413 and a support rod 414; the grain pump connecting pipe 411 is slidably connected to the rack body 12, the grain pump connecting pipe 411 is connected to the grain pump pipeline 43, and the grain pump connecting pipe 411 is connected to the grain pump bin 42; the second seat body 412 is rotatably connected to the grain pump connecting pipe 411, the second drive motor 413 is connected to the grain pump connecting pipe 411, the second drive motor 413 is connected to the second seat body 412 through a gear pair, and the second drive motor 413 is connected to the second seat body 412 through a gear pair. 13 can drive the second seat body 412 to rotate; one end of the support rod 414 is connected to the second seat body 412, and the other end is connected to the pump-grain pipeline 43; the second drive motor 413 is communicated with the control unit 2, and the rotation angle of the pump-grain pipeline 43 is controlled by the two drive motors, thereby realizing the control of the pump-grain position of the pump-grain pipeline 43; the frame 12 is a telescopic frame, and the pump-grain connecting pipe 411 is a telescopic pipe. The frame body cooperates with the pump-grain connecting pipe to perform telescopic adjustment, so that the height of the pump-grain frame 41 can be adjusted, thereby realizing the adjustment of the height of the pump beam.

[0042] In an optional embodiment, the grain pump pipeline 43 includes a third telescopic joint 431, a fourth telescopic joint 432 and a second telescopic rod 433. The third telescopic joint 431 and the fourth telescopic joint 432 are slidably connected. One end of the second telescopic rod 433 is connected to the third telescopic joint 431, and the other end is connected to the fourth telescopic joint 432. The third telescopic joint 431 is connected to the second seat body 412, the support rod 414 is connected to the third telescopic joint 431, and the second telescopic rod 433 is communicatively connected to the control unit 2. Through the relative sliding between the third telescopic joint 431 and the fourth telescopic joint 432, the grain release position of the grain pump pipeline 43 can be adjusted, and the second telescopic rod 433 is controlled by the control unit 2.

[0043] In an optional embodiment, the mobile device 5 includes a plurality of guide wheels, which are rotatably connected to the frame 12, and each guide wheel is provided with a driving device, which is communicated with the control unit 2, and the guide wheel is in contact with the ground; four guide wheels are provided, and the four guide wheels support the device body 1, and the operation of the driving device is controlled by the control unit 2; the guide wheels have a steering function; and the driving device is a servo motor.

[0044] In an optional embodiment, the device body 1 is further provided with a channel conversion mechanism 9, which is connected to the screening device 7, the channel conversion mechanism 9 is connected to the negative pressure grain suction device 3, and the channel conversion mechanism 9 is connected to the positive pressure grain pumping device 4; when grain is put into storage, the channel conversion mechanism 9 turns to one side, and the grain of the negative pressure grain suction device 3 enters the screening device 7 and the cleaning device 6 in sequence, and then reaches the warehouse through the positive pressure grain pumping device 4; when grain is taken out of storage, the channel conversion mechanism 9 turns to the other side, and the grain of the negative pressure grain suction device 3 directly enters the positive pressure grain pumping device 4, and then reaches the carriage of the grain transport vehicle 100; the channel conversion mechanism 9 connects the screening device 7 and the negative pressure grain suction device 3, or the channel conversion mechanism 9 connects the positive pressure grain pumping device 4 and the negative pressure grain suction device 3.

[0045] In an optional implementation manner, a grain pumping head 434 is provided at the end of the grain pumping pipeline 43 , and the grain pumping head 434 is hinged to the grain pumping pipeline 43 , and is driven by a third driving motor 435 to change the grain discharge direction.

[0046] In an optional embodiment, the device body 1 also includes a maintenance staircase, and the top plate 13 is provided with an inspection port. The maintenance staircase passes through the inspection port, and the maintenance staircase is connected to the top plate 13, and the maintenance staircase is connected to the bottom plate 11. Through the maintenance staircase, the operating personnel can climb to the top plate 13 to perform maintenance on the negative pressure grain suction device 3.

[0047] In a specific implementation manner, the grain in-and-out storage system is composed of a negative pressure grain suction device 3, a screening device 7, a cleaning device 6, a positive pressure grain pumping device 4 and a moving device 5; the negative pressure grain suction device 3 includes a grain suction bin 32 and a grain suction rack 33, and a vehicle type / material surface AI dynamic sensing identification element is installed on the grain suction rack 33 as a first dynamic sensing unit 82; a negative pressure pump is provided in the grain suction bin 32, and the negative pressure pneumatic conveying principle is adopted to suck grain thoroughly without dead ends; the positive pressure grain pumping device 4 includes a grain pumping bin 42 and a grain pumping rack 41, a second seat body 412 is rotatably connected to a grain pumping connecting pipe 411, and a flat storage dynamic sensing identification element is installed on the grain pumping rack 41 as a second dynamic sensing unit 83, and a positive pressure pump is installed in the grain pumping bin 42, and the positive pressure pneumatic conveying principle is adopted, with a compact structure, and the grain landing point is controlled by airflow; the moving device 5 includes a plurality of guide wheels installed at the bottom of the device body 1, and an environmental sensing unit 81 is installed on the frame 12.

[0048] When grain is put in or taken out of the warehouse, the flat warehouse where the grain needs to be put in or taken out and the route for taking it in or out are set in the control unit 2, and the device body 1 automatically runs to the flat warehouse according to the set flat warehouse and the route for taking it in or out.

[0049] When entering the warehouse, the device body 1 sucks the grain from the grain transport vehicle 100 through the grain suction bin 32 in the negative pressure grain suction device 3, and then the grain is screened by the screening device 7 and cleaned by the cleaning device 6, and then the grain is input into the flat warehouse through the grain pumping pipeline 43 of the positive pressure grain pumping device 4 from the flat warehouse storage window 101.

[0050] When leaving the warehouse, the device body 1 sucks the grain in the warehouse out from the flat warehouse door 103 through the grain suction bin 32 in the negative pressure grain suction device 3, and then loads the grain into the grain transport vehicle 100 through the grain pumping pipeline 43 of the positive pressure grain pumping device 4; in order to ensure that the grain is more fully left the warehouse, the grain pile in the middle of the flat warehouse can be sent to the flat warehouse door 103 with the help of a grain digger and other designs, and then the grain entry and exit system completes the leaving the warehouse.

[0051] The environment sensing unit 81, the first dynamic sensing unit 82 and the second dynamic sensing unit 83 may all include sensing devices such as laser radar, high-definition camera, differential combination navigator, etc., and the control unit 2 is a high-performance industrial computer.

[0052] The environment perception unit 81 is installed on the frame 12. The environment perception unit 81 includes a laser radar and a differential combined navigator. The laser radar generates three-dimensional point cloud data, and the differential combined navigation is combined to assist in positioning the three-dimensional map. The control unit 2 performs calculation analysis, decision processing, and sends instructions. Finally, the mobile device 5 completes the addressing of the flat warehouse entry window 101.

[0053] The mobile device 5 has a four-wheel steering movement function, which can realize the mobile device 5 to move forward, backward, left and right, and turn; after completing the addressing of the flat warehouse entrance window 101, the control unit 2 controls the actuator on the positive pressure grain pumping device 4 to realize the up and down lifting and forward and backward extension of the grain pumping pipeline 43, and controls the mobile device 5 to move four wheels Steering and sideways, so that the grain pumping pipeline 43 carries the grain pumping pipeline into the flat warehouse entrance window 101.

[0054] The vehicle type / material surface AI dynamic sensing and identification element serving as the first dynamic sensing unit 82 is installed at the end of the grain suction pipeline 31. The material image is acquired through the vehicle type / material surface AI dynamic sensing and identification element, and feature extraction and object recognition are performed on the grain truck 100 and the grain. The control unit 2 controls the actuator on the negative pressure grain suction device 3 to realize the yaw, pitch, and extension of the grain suction pipeline 31 to cover the grain at various positions in the grain truck 100, thereby achieving the purpose of adaptive grain searching and unloading. The vehicle type / material surface AI dynamic sensing and identification element can be a high-definition camera or a lidar.

[0055] The second seat body 412 is rotationally connected to the grain outlet end of the grain pump connecting pipe 411, and the flattening dynamic sensing and identification element is installed at the end of the grain pump pipeline 43 as the second dynamic sensing unit 83; when the grain is put into the warehouse, the flattening dynamic sensing and identification element obtains the flatness of the grain in the warehouse, and the control unit 2 controls the orientation of the second seat body 412 and the grain pumping rate of the grain pump warehouse 42 to achieve preliminary flattening and reduce the subsequent manual flattening workload; the flattening dynamic sensing and identification element can be a high-definition camera or a lidar.

[0056] The first seat body 332 and the second seat body 412 are bent pipes, one end of the second seat body 412 is connected to the grain pump pipeline 43, and the other end is connected to the grain pump connecting pipe 411. The second seat body 412 can rotate 360° to meet the requirement of loading grain in the flat warehouse without dead ends; one end of the first seat body 332 is connected to the grain suction pipeline 31 and the other end is connected to the grain suction bin 32.

[0057] A channel conversion mechanism 9 is arranged at the discharge port of the grain suction bin 32. The channel conversion mechanism 9 is a three-way valve. The three ends of the three-way valve are respectively connected to the grain suction bin 32, the screening device 7 and the grain pumping bin 42. The grain suction bin 32 and the screening device 7 can be connected through the three-way valve, or the grain suction bin 32 and the grain pumping bin 42 can be connected through the three-way valve, so as to realize the conversion of the discharge direction of the grain suction bin 32; when the grain is put into the warehouse, the three-way valve turns to one side, and the grain enters the screening device 7 and the cleaning device 6 in turn, and then reaches the warehouse through the positive pressure grain pumping device 4; when the grain is discharged from the warehouse, the three-way valve turns to the other side, and the grain directly enters the positive pressure grain pumping device 4 and then reaches the carriage of the grain transport vehicle 100.

[0058] After completing the grain in and out of a warehouse, the control unit 2 controls the device body 1 to enter the next designated position for operation, or automatically returns to the parking garage for parking.

[0059] To ensure the normal operation of the equipment, the control unit 2 sequentially controls the positive pressure grain pumping device 4, the cleaning device 6, the screening device 7 and the negative pressure grain suction device 3 to start when entering the warehouse; the control unit 2 sequentially controls the positive pressure grain pumping device 4 and the negative pressure grain suction device 3 to start when leaving the warehouse; the equipment status is monitored online in real time during operation, and the equipment can be automatically shut down in an emergency in case of a fault.

[0060] Example 2 A method for grain storage in and out, using a grain storage in and out system of embodiment 1, including a grain storage in method and a grain storage out method, The grain storage method includes: A1: Drive the grain truck to the grain unloading position; A2: Move the grain in-and-out system to between the grain truck and the grain silo; A3: The control unit adjusts the displacement of the mobile device, the position of the negative pressure grain suction device and the position of the positive pressure grain pumping device respectively through the control signal of the environment sensing unit, the control signal of the first dynamic sensing unit and the control signal of the second dynamic sensing unit; A4: The grain in-and-out system sucks grain from the grain truck and pumps it into the grain silo; The grain delivery method includes: B1: Drive the grain truck into the grain loading position; B2: Move the grain in-and-out system to between the grain truck and the grain silo; B3: The control unit adjusts the displacement of the mobile device, the position of the negative pressure grain suction device and the position of the positive pressure grain pumping device respectively through the control signal of the environment sensing unit, the control signal of the first dynamic sensing unit and the control signal of the second dynamic sensing unit; B4: The grain in-and-out system draws grain from the granary and pumps it into the grain truck.

[0061] A method for grain in and out of a warehouse of the present invention utilizes data collected by an environmental sensing unit, a first dynamic sensing unit, and a second dynamic sensing unit to control a grain in and out of a warehouse system, thereby realizing automatic control of the grain in and out of a warehouse system, reducing manpower consumption, improving grain in and out of a warehouse efficiency, reducing the difficulty of grain handling, reducing the number of equipment operations, and ensuring the personal safety of operators.

[0062] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A grain storage system, characterized in that: include A device body (1), wherein the device body (1) is provided with a control device, a negative pressure grain suction device (3), a positive pressure grain pumping device (4), a moving device (5), a screening device (7) and a cleaning device (6); The negative pressure grain suction device (3) is connected to the screening device (7), the screening device (7) is connected to the cleaning device (6), and the positive pressure grain pumping device (4) is connected to the cleaning device (6); the moving device (5) is in contact with the ground; The control device comprises a control unit (2), an environment sensing unit (81), a first dynamic sensing unit (82) and a second dynamic sensing unit (83); the environment sensing unit (81) is connected to the device body (1), and the environment sensing unit (81) is communicatively connected to the control unit (2); the first dynamic sensing unit (82) is connected to the negative pressure grain suction device (3), and the first dynamic sensing unit (82) is communicatively connected to the control unit (2); the second dynamic sensing unit (83) is connected to the positive pressure grain pumping device (4), and the second dynamic sensing unit (83) is communicatively connected to the control unit (2); the negative pressure grain suction device (3), the positive pressure grain pumping device (4) and the mobile device (5) are respectively communicatively connected to the control unit (2).

2. A grain storage-in and -out system according to claim 1, characterized in that: The device body (1) comprises a top plate (13), a bottom plate (11) and a frame (12); the frame (12) is connected to the top plate (13); the frame (12) is connected to the bottom plate (11); the top plate (13) and the bottom plate (11) are arranged at a distance; the top plate (13) is located above the bottom plate (11); the negative pressure grain suction device (3) is connected to the top plate (13); the positive pressure grain pumping device (4) is connected to the bottom plate (11); the moving device (5) is connected to the frame (12); the control unit (2) is connected to the bottom plate (11); and the environment sensing unit (81) is connected to the frame (12).

3. A grain storage-in and -out system according to claim 2, characterized in that: The negative pressure grain suction device (3) comprises a grain suction power system, a grain suction bin (32) and a grain suction frame (33); the grain suction bin (32) is connected to the top plate (13), and the grain suction frame (33) is rotatably connected to the top plate (13); a grain suction pipeline (31) is provided on the grain suction frame (33), the grain suction pipeline (31) is connected to the grain suction frame (33), the grain suction pipeline (31) is connected to the grain suction bin (32), and the grain suction power system is provided in the grain suction bin (32); the screening device (7) is connected to the grain suction bin (32), the first dynamic sensing unit (82) is connected to the grain suction pipeline (31), and the grain suction power system is connected to the control unit (2).

4. A grain storage-in and -out system according to claim 3, characterized in that: The grain suction rack (33) comprises a first seat body (332), a first drive motor (333) and a push rod (331); the first seat body (332) is rotatably connected to the top plate (13); the first drive motor (333) is connected to the top plate (13); the first drive motor (333) and the first seat body (332) are connected via a gear pair; the first drive motor (333) can drive the first seat body (332) to rotate; the grain suction pipeline (31) is hinged to the first seat body (332); one end of the push rod (331) is connected to the first seat body (332) and the other end is connected to the grain suction pipeline (31); the first drive motor (333) and the push rod (331) are respectively connected to the control unit (2) for communication.

5. A grain storage-in and -out system according to claim 4, characterized in that: The grain suction pipeline (31) comprises a first telescopic joint (311), a second telescopic joint (312) and a first telescopic rod (313); the first telescopic joint (311) and the second telescopic joint (312) are slidably connected; one end of the first telescopic rod (313) is connected to the first telescopic joint (311) and the other end is connected to the second telescopic joint (312); the first telescopic joint (311) is hinged to the first seat body (332); the push rod (331) is hinged to the first telescopic joint (311); and the first telescopic rod (313) is communicatively connected to the control unit (2).

6. A grain storage-in and -out system according to claim 2, characterized in that: The positive pressure grain pumping device (4) comprises a grain pumping power system, a grain pumping bin (42) and a grain pumping rack (41), wherein the grain pumping bin (42) is connected to the bottom plate (11), and the grain pumping rack (41) is connected to the rack body (12); the grain pumping rack (41) is provided with a grain pumping pipeline (43), the grain pumping pipeline (43) is in communication with the grain pumping bin (42), and the grain pumping power system is arranged in the grain pumping bin (42); the cleaning device (6) is connected to the grain pumping bin (42), the second dynamic sensing unit (83) is connected to the grain pumping pipeline (43), and the grain pumping power system is communicatively connected to the control unit (2).

7. A grain storage-in and -out system according to claim 6, characterized in that: The grain pumping rack (41) comprises a grain pumping connecting pipe (411), a second seat body (412), a second driving motor (413) and a supporting rod (414); the grain pumping connecting pipe (411) is slidably connected to the rack body (12); the grain pumping connecting pipe (411) is in communication with the grain pumping pipeline (43); the grain pumping connecting pipe (411) is in communication with the grain pumping bin (42); the second seat body (412) is rotatably connected to the grain pumping connecting pipe (411); the second driving motor (413) is in communication with the grain pumping connecting pipe (411); The second drive motor (413) and the second seat body (412) are connected via a gear pair, and the second drive motor (413) can drive the second seat body (412) to rotate; one end of the support rod (414) is connected to the second seat body (412), and the other end is connected to the pump-grain pipeline (43); the second drive motor (413) is communicatively connected to the control unit (2); the frame (12) comprises a telescopic frame, and the pump-grain connecting pipe (411) comprises a telescopic pipe.

8. A grain storage-in and -out system according to claim 7, characterized in that: The pump-feed pipeline (43) comprises a third telescopic joint (431), a fourth telescopic joint (432) and a second telescopic rod (433); the third telescopic joint (431) is slidably connected to the fourth telescopic joint (432); one end of the second telescopic rod (433) is connected to the third telescopic joint (431) and the other end is connected to the fourth telescopic joint (432); the third telescopic joint (431) is connected to the second seat body (412); the support rod (414) is connected to the third telescopic joint (431); and the second telescopic rod (433) is communicatively connected to the control unit (2).

9. A grain storage-in and -out system according to any one of claims 1 to 8, characterized in that: The device body (1) is further provided with a channel conversion mechanism (9), the channel conversion mechanism (9) is connected to the screening device (7), the channel conversion mechanism (9) is connected to the negative pressure grain suction device (3), and the channel conversion mechanism (9) is connected to the positive pressure grain pumping device (4); the channel conversion mechanism (9) connects the screening device (7) and the negative pressure grain suction device (3), or the channel conversion mechanism (9) connects the positive pressure grain pumping device (4) and the negative pressure grain suction device (3).

10. A method for grain storage in and out, characterized in that: A grain storage-in and -out system according to any one of claims 1 to 9 is used, comprising a grain storage-in method and a grain storage-out method. The grain storage method includes: A1: Drive the grain truck to the grain unloading position; A2: Move the grain in-and-out system to between the grain truck and the grain silo; A3: The control unit adjusts the displacement of the mobile device, the position of the negative pressure grain suction device and the position of the positive pressure grain pumping device respectively through the control signal of the environment sensing unit, the control signal of the first dynamic sensing unit and the control signal of the second dynamic sensing unit; A4: The grain in-and-out system sucks grain from the grain truck and pumps it into the grain silo; The grain delivery method includes: B1: Drive the grain truck into the grain loading position; B2: Move the grain in-and-out system to between the grain truck and the grain silo; B3: The control unit adjusts the displacement of the mobile device, the position of the negative pressure grain suction device and the position of the positive pressure grain pumping device respectively through the control signal of the environment sensing unit, the control signal of the first dynamic sensing unit and the control signal of the second dynamic sensing unit; B4: The grain in-and-out system draws grain from the granary and pumps it into the grain truck.

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