Intelligent sampler based on multi-angle visual detection

Abstract

The intelligent sampler comprises a climbing bottom frame, a first supporting rod is arranged on the climbing bottom frame through an air cylinder, a first motor is arranged at the end, away from the air cylinder, of the top face of the first supporting rod, a second supporting rod is fixedly installed at the output end of the top of the first motor, and a grain elevator is arranged at the end of the second supporting rod; a vertical sampling pipe is arranged at an inlet of the grain elevator, the sampling pipe is perpendicular to the second supporting rod, a first clamping ring and a second clamping ring are fixedly connected to the middle end and the position, close to the top end, of the outer portion of the sampling pipe in a sleeving mode, and a mixing mechanism is arranged at the position, located at the bottom end, of the outer portion of the sampling pipe; according to the grain sampling device, on the basis of scanning and judging grain point positions, grain particles in a target area are uniformly and sufficiently distributed through mixing and stirring, meanwhile, an intermittent mechanical vibration structure is adopted to knock the outer wall of the sampling pipe to break the adhesion force of the grain particles so as to perform self-cleaning on the pipe wall, and pipeline blockage caused by grain accumulation is effectively prevented; and the sampling efficiency can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of grain sampling, and specifically to an intelligent sampling machine based on multi-angle vision detection. Background Art

[0002] An intelligent sampling machine is an advanced device integrating Internet of Things, robotics technology and automatic control, mainly used for high-precision sample collection in fields such as agriculture, grain storage and transportation, and pharmaceuticals. Its core function is to improve sampling efficiency and accuracy through intelligent means while avoiding the risk of human intervention.

[0003] For example, the intelligent multi-functional grain sampling device with the patent number CN207488015U uniformly arranges feeding ports on a steel pipe to ensure comprehensiveness during the sampling process, but there are still deficiencies, specifically as follows:

[0004] (1) Although it can achieve accurate fixed-point sampling, due to differences in the bulk density of grains or uneven distribution of the suction force of the device, it is easy to cause insufficient grain extraction in local areas, affecting the test results;

[0005] (2) During the sampling process, especially when sucking high-humidity grain particles, sticky substances are likely to form a continuous adsorption layer on the inner wall of the sampling pipe, thereby causing a reduction in the cross-sectional area of the pipe cavity or even blockage, resulting in operation interruption and low efficiency.

[0006] In view of the technical defects in this regard, a solution is proposed now. Summary of the Invention

[0007] The purpose of the present invention is, based on scanning and determining the grain position, to ensure uniform and sufficient distribution of grain particles in the target area through mixing and stirring; at the same time, an intermittent mechanical vibration structure is used to knock on the outer wall of the sampling pipe to break the adhesion force of the grains for self-cleaning of the pipe wall, effectively preventing pipe blockage caused by grain accumulation and facilitating the improvement of sampling efficiency.

[0008] The purpose of the present invention can be achieved through the following technical solutions: An intelligent sampling machine based on multi-angle vision detection, including a climbing chassis. The climbing chassis is provided with a first support rod through a cylinder, and a first motor is arranged at one end of the top surface of the first support rod away from the cylinder. A second support rod is fixedly installed at the top output end of the first motor, and a grain suction device is arranged at the end of the second support rod. There is a vertical sampling pipe at the inlet of the grain suction device, and the sampling pipe is perpendicular to the second support rod. A first clamping ring and a second clamping ring are fixedly sleeved on the middle and near the top of the outer part of the sampling pipe respectively, and a mixing mechanism is arranged at the bottom of the outer part of the sampling pipe;

[0009] Among them, the mixing mechanism includes tray one and tray two. Tray one and tray two are respectively sleeved at the bottom end outside the sampling tube and the upper end of snap ring two. A double-axis gear ring is fixedly installed at the middle through groove on the top surface of tray one, and auxiliary rotation gears are meshed and clamped at the front, rear, and both sides of the double-axis gear ring.

[0010] Furthermore, positioning blocks are fixedly installed at the four corners of the outer ring surfaces of snap ring two and tray two. A T-shaped guide rod is commonly penetrated between the two groups of vertically corresponding positioning blocks, and the top of the T-shaped guide rod is fixedly connected to the bottom surface of the positioning block near the upper end.

[0011] Furthermore, a motor two is arranged on the top surface of one of the positioning blocks close to the upper row, and a spiral rotating shaft is fixedly installed at the bottom output end of the motor two. The bottom of the spiral rotating shaft is threadedly connected to the internal thread groove of the corresponding positioning block at the bottom.

[0012] Furthermore, the center of the top of each auxiliary rotation gear is rotationally connected to tray two through a fixedly installed rotating rod. A double-axis motor is commonly arranged between the top of one of the rotating rods and the bottom surface of tray two. Three vertical plates are equidistantly arranged at the frame of tray one.

[0013] Furthermore, semi-toothed rotating wheels are rotationally arranged at the front, rear, and both sides of the top surface of tray two, and the bottom of the semi-toothed rotating wheel is fixedly connected to the top of the rotating rod. The bottom of one of the semi-toothed rotating wheels is fixedly connected to the top bearing of the double-axis motor.

[0014] Furthermore, sliding frames are respectively sleeved outside each semi-toothed rotating wheel, and a number of tooth grooves are equidistantly arranged on the inner wall of one side of the sliding frame. A concave-shaped limiting frame is slidably sleeved at the bottom of the sliding frame on the top surface of tray two, and the length of the limiting frame is half of the length of the sliding frame.

[0015] Furthermore, sliding grooves are arranged at the front and rear frame bodies of the limiting frame, and sliders fixedly installed at the centers of the front and rear ends of the sliding frame are slidably connected to one side inside the corresponding sliding grooves. A damping spring shock-absorbing ring is commonly arranged between the slider and the inner wall of the other side of the sliding groove. An L-shaped striking rod is fixedly installed at one end of the sliding frame close to the sampling tube.

[0016] Furthermore, a camera device and a ranging radar are installed at the end of tray one, and the camera device and the ranging radar are used to distinguish the state of the grain to be sampled and the distance between the sampling tube and the grain.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] 1. In the present invention, first, the grain suction position is determined by using the grain state information and the grain distance information collected by the imaging device and the ranging radar. Then, the second motor is used to drive the screw shaft to rotate forward and backward. The screw shaft rotates relative to the corresponding positioning block, and the traction tray two and the tray one move up and down reciprocally, forcing several groups of vertical rods to insert into the grain pile. The tray one drives the vertical rods to rotate to stir the grain, so as to ensure that there is sufficient grain at the grain suction position for suction.

[0019] 2. The present invention also sets components such as a semi-toothed runner, a sliding frame, a limiting frame, and an L-shaped striking rod. The tooth part of the semi-toothed runner meshes with the tooth groove on the inner wall of the sliding frame to form a meshing drive, prompting the sliding frame to generate a reciprocating displacement along the guiding track of the limiting frame. The linear motion of the sliding frame synchronously drives the slider to move forward. This component applies pressure to the damping spring shock absorber at the end of the displacement, and the impact energy is buffered and stored through elastic deformation. At the same time, the sliding frame laterally pushes the L-shaped striking rods distributed in an array, making them come into periodic contact and collision with the outer wall of the sampling tube. The synchronous high-frequency knocking of multiple groups of L-shaped striking rods generates a composite vibration, and this vibration is conducted through the tube wall to the internal grain particle layer, thereby significantly improving the particle fluidity, especially for the sampling operation of viscous grains in a high-humidity environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] For the convenience of those skilled in the art to understand, the present invention will be further described below with reference to the accompanying drawings.

[0021] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 is a three-dimensional schematic diagram of the combination of the sampling tube and the mixing mechanism of the present invention;

[0023] Figure 3 is a top view of tray one of the present invention;

[0024] Figure 4 is a plan view of the combination of the sampling tube and the mixing mechanism of the present invention;

[0025] Figure 5 is a top view of tray two of the present invention;

[0026] Figure 6 is a schematic diagram of a partial structure of the mixing mechanism of the present invention.

[0027] In the figure: 1, climbing chassis; 2, cylinder; 3, first support rod; 4, first motor; 5, second support rod; 6, grain suction device; 7, sampling tube; 8, first snap ring; 9, second snap ring; 10, mixing mechanism; 101, first tray; 102, second tray; 103, double-axis gear ring; 104, auxiliary rotating gear; 105, rotating rod; 106, double-axis motor; 107, vertical plate; 108, semi-toothed rotating wheel; 109, sliding frame; 110, limiting frame; 111, slider; 112, damping spring shock absorber ring; 113, L-shaped striking rod; 11, positioning block; 12, T-shaped guide rod; 13, second motor; 14, spiral rotating shaft. Detailed implementation mode

[0028] The technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. 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.

[0029] Embodiment 1: Please refer to Figure 1 - Figure 6 As shown, the intelligent sampling machine based on multi-angle visual detection includes a climbing chassis 1. The climbing chassis 1 is provided with a first support rod 3 through a cylinder 2. One end of the top surface of the first support rod 3 away from the cylinder 2 is provided with a first motor 4. The top output end of the first motor 4 is fixedly installed with a second support rod 5. The end of the second support rod 5 is provided with a grain suction device 6. There is a vertical sampling tube 7 at the entrance of the grain suction device 6, and the sampling tube 7 is perpendicular to the second support rod 5. A first snap ring 8 and a second snap ring 9 are fixedly sleeved on the middle and near the top of the outer part of the sampling tube 7, respectively. A mixing mechanism 10 is arranged at the bottom of the outer part of the sampling tube 7.

[0030] Among them, the mixing mechanism 10 includes a first tray 101 and a second tray 102. A camera device and a ranging radar are installed at the end of the first tray 101, and the camera device and the ranging radar are used to distinguish the state of the grain to be sampled and the distance between the sampling tube 7 and the grain.

[0031] The first tray 101 and the second tray 102 are respectively sleeved at the bottom of the outer part of the sampling tube 7 and above the second snap ring 9. A double-axis gear ring 103 is fixedly installed at the middle through groove of the top surface of the first tray 101. Auxiliary rotating gears 104 are meshed and clamped at the front, rear, and both sides of the double-axis gear ring 103. The center of the top of each group of auxiliary rotating gears 104 is rotationally connected to the second tray 102 through a fixedly installed rotating rod 105. A double-axis motor 106 is jointly arranged between the top of one of the rotating rods 105 and the bottom surface of the second tray 102. Three vertical plates 107 are equidistantly arranged at the frame of the first tray 101.

[0032] Four positioning blocks 11 are fixedly installed at the four corners of the outer ring surface of the snap ring II 9 and the tray II 102. A T-shaped guide rod 12 is commonly arranged through the two sets of corresponding upper and lower positioning blocks 11. The top of the T-shaped guide rod 12 is fixedly connected to the bottom surface of the positioning block 11 near the upper end. A motor II 13 is arranged on the top surface of one of the positioning blocks 11 in the upper row. The bottom output end of the motor II 13 is fixedly installed with a spiral rotating shaft 14. The bottom of the spiral rotating shaft 14 is threadedly connected to the internal threaded groove of the corresponding positioning block 11 at the bottom;

[0033] During operation, first use the motor I 4 to drive the support rod II 5, the grain suction device 6, the sampling tube 7, the camera device and the ranging radar to turn and move. According to the grain state information and grain distance information collected by the camera device and the ranging radar, then start the motor II 13 to drive the spiral rotating shaft 14 to rotate. The spiral rotating shaft 14 rotates relative to the corresponding positioning block 11 to pull the positioning block 11, the tray II 102 and the tray I 101 to settle synchronously until several groups of vertical plates 107 settle to the feeding position inside the grain pile;

[0034] Then, start the double-shaft motor 106 to drive one of the auxiliary rotating gears 104 to rotate. It meshes with the outside of the double-shaft tooth ring 103 to achieve self-rotation and simultaneously drive the rotation of the remaining unit auxiliary rotating gears 104. The double-shaft tooth ring 103 drives the tray I 101 and several groups of vertical plates 107 to rotate synchronously. Thus, the grain inside the grain pile is evenly mixed by several groups of vertical plates 107 to ensure that there is sufficient grain to be sucked at the grain suction part of the sampling tube 7;

[0035] After the grain at the grain taking place is mixed and stirred, then use the motor II 13 to drive the spiral rotating shaft 14 to rotate in the reverse direction again. The spiral rotating shaft 14 rotates relative to the corresponding positioning block 11 to pull the positioning block 11, the tray II 102 and the tray I 101 to lift synchronously until several groups of vertical plates 107 are separated from the outside of the grain pile. At this time, start the cylinder 2 to push the support rod I 3, the support rod II 5, the grain suction device 6 and the sampling tube 7 to settle synchronously until the sampling tube 7 is inserted into the grain area of the stirring area, start the grain suction device 6, and suck the grain into the sampling tube 7 to complete the grain sampling operation.

[0036] Embodiment 2: Please refer to Figure 4 - Figure 6 As shown in the figure, semi-toothed runners 108 are rotatably arranged at the front, rear, left and right ends of the top surface of the tray II 102. The bottom of the semi-toothed runner 108 is fixedly connected to the top of the rotating rod 105. The bottom of one of the semi-toothed runners 108 is fixedly connected to the top bearing of the double-shaft motor 106. Slide frames 109 are respectively sleeved on the outside of each group of semi-toothed runners 108, and a number of tooth grooves are equidistantly arranged on the inner wall of one side of the slide frame 109;

[0037] A limiting frame 110 with a concave structure is slidably sleeved on the top surface of the second tray 102 and at the bottom of the sliding frame 109. The length of the limiting frame 110 is half of the length of the sliding frame 109. Chute grooves are provided at the front and rear frame bodies of the limiting frame 110. Sliders 111 fixedly installed at the centers of the front and rear ends of the sliding frame 109 are slidably connected to one side inside the corresponding chute grooves. A damping spring shock-absorbing ring 112 is jointly provided between the sliders 111 and the inner walls of the other sides of the chute grooves. An L-shaped striking rod 113 is fixedly installed at one end of the sliding frame 109 close to the sampling tube 7;

[0038] When multiple groups of auxiliary rotating gears 104 operate synchronously, the rotating rods 105 connected to their shaft ends drive the semi-toothed rotating wheel 108 to perform an intermittent rotary motion. During this process, the toothed part of the semi-toothed rotating wheel 108 meshes with the tooth grooves on the inner wall of the sliding frame 109, causing the sliding frame 109 to generate a reciprocating displacement along the guiding track of the limiting frame 110. The linear motion of the sliding frame 109 synchronously drives the slider 111 to move forward. This assembly applies a precise pressure to the damping spring shock-absorbing ring 112 at the end of the displacement, and realizes the buffering and storage of impact energy through elastic deformation. At the same time, the sliding frame 109 laterally pushes the array-distributed L-shaped striking rods 113, causing them to form periodic contact collisions with the outer wall of the sampling tube 7;

[0039] The synchronous high-frequency knocking of multiple groups of L-shaped striking rods 113 generates a composite vibration, and this vibration is conducted through the pipe wall to the internal grain particle layer, thereby significantly improving the particle fluidity, especially for the sampling operation of viscous grains in a high-humidity environment.

[0040] It should be noted that this structure cooperates with the adjustment structure of the above device to realize the real-time adjustment of the position of the second tray 102, and can perform longitudinal multi-stage dynamic knocking on the sampling tube 7, further improving the sampling efficiency of grains;

[0041] Working principle: When the present invention is in use, according to the grain state information and grain distance information collected by the camera device and the ranging radar, then start the second motor 13 to drive the spiral rotating shaft 14 to rotate. The spiral rotating shaft 14 rotates relative to the corresponding positioning block 11, and pulls the positioning block 11, the second tray 102 and the first tray 101 to sink synchronously until several groups of vertical plates 107 sink to the material-taking position inside the grain pile;

[0042] Then, start the double-shaft motor 106 to drive one group of auxiliary rotating gears 104 to rotate. It meshes with the outside of the double-shaft tooth ring 103 to realize self-rotation, and at the same time drives the rotation of the remaining groups of auxiliary rotating gears 104. The double-shaft tooth ring 103 drives the first tray 101 and several groups of vertical plates 107 to rotate synchronously. Thus, the grains inside the grain pile are mixed evenly by several groups of vertical plates 107;

[0043] After the grains at the grain taking place are mixed and stirred, the motor two 13 is used to drive the spiral rotating shaft 14 to rotate reversely again. The spiral rotating shaft 14 rotates relative to the corresponding positioning block 11 to pull the positioning block 11, the tray two 102 and the tray one 101 to be lifted synchronously until several groups of vertical plates 107 are separated from the outside of the grain pile. At this time, the cylinder 2 is started to push the supporting rod one 3, the supporting rod two 5, the grain suction device 6 and the sampling tube 7 to sink synchronously until the sampling tube 7 is inserted into the grain area of the stirring area, and the grain suction device 6 is started to suck the grains into the sampling tube 7;

[0044] During the material taking process, when multiple groups of auxiliary rotating gears 104 rotate synchronously, the rotating rod 105 connected to the shaft end drives the semi-toothed runner 108 to make an intermittent rotary motion. During this process, the toothed part of the semi-toothed runner 108 meshes with the tooth groove on the inner wall of the sliding frame 109, prompting the sliding frame 109 to generate a reciprocating displacement along the guiding track of the limiting frame 110. The linear motion of the sliding frame 109 synchronously drives the slider 111 to move forward;

[0045] And at the end of the displacement, an accurate pressure is applied to the damping spring shock absorber ring 112, and the impact energy is buffered and stored through elastic deformation. At the same time, the sliding frame 109 laterally pushes the L-shaped striking rods 113 distributed in an array, making them come into periodic contact and collision with the outer wall of the sampling tube 7. The synchronous high-frequency knocking of multiple groups of L-shaped striking rods 113 generates a composite vibration, which is transmitted to the internal grain particle layer through the pipe wall, thereby significantly improving the particle fluidity through intervention.

[0046] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the present invention to only the specific implementation manners. Obviously, according to the content of this specification, many modifications and changes can be made. These embodiments are selected and specifically described in this specification to better explain the principle and practical application of the present invention, so that those skilled in the relevant technical field can well understand and utilize the present invention. The present invention is only limited by the claims and their full scope and equivalents.

Claims

1. The intelligent sampling machine based on multi-angle vision detection includes a climbing chassis (1), and is characterized in that, The climbing chassis (1) is provided with a first support rod (3) through a cylinder (2), and a first motor (4) is arranged at one end of the top surface of the first support rod (3) far from the cylinder (2). A second support rod (5) is fixedly installed at the top output end of the first motor (4), and a grain suction device (6) is arranged at the end of the second support rod (5). There is a vertical sampling tube (7) at the entrance of the grain suction device (6), and the sampling tube (7) is perpendicular to the second support rod (5). A first clamping ring (8) and a second clamping ring (9) are fixedly sleeved on the middle and near the top of the outer part of the sampling tube (7), respectively. A mixing mechanism (10) is arranged at the bottom of the outer part of the sampling tube (7). Among them, the mixing mechanism (10) includes a first tray (101) and a second tray (102). The first tray (101) and the second tray (102) are sleeved on the bottom of the outer part of the sampling tube (7) and the upper end of the second clamping ring (9), respectively. A double-axis toothed ring (103) is fixedly installed at the middle through groove on the top surface of the first tray (101), and auxiliary rotating gears (104) are meshed and clamped at the front, rear, and both sides of the double-axis toothed ring (103).

2. The intelligent sampling machine based on multi-angle visual detection according to claim 1, wherein, Four positioning blocks (11) are fixedly installed at the four corners of the outer ring surface of the second clamping ring (9) and the second tray (102). A T-shaped guide rod (12) is commonly arranged through the two corresponding positioning blocks (11) up and down, and the top of the T-shaped guide rod (12) is fixedly connected to the bottom surface of the positioning block (11) near the upper end.

3. The intelligent sampling machine based on multi-angle vision detection according to claim 2, wherein A second motor (13) is arranged on the top surface of one of the positioning blocks (11) in the upper row, and a spiral rotating shaft (14) is fixedly installed at the bottom output end of the second motor (13). The bottom of the spiral rotating shaft (14) is threadedly connected to the internal thread groove of the corresponding positioning block (11) at the bottom.

4. The intelligent sampling machine based on multi-angle vision detection according to claim 1, characterized in that, The center of the top of each auxiliary rotating gear (104) is rotationally connected to the second tray (102) through a fixedly installed rotating rod (105). A double-axis motor (106) is commonly arranged between the top of one of the rotating rods (105) and the bottom surface of the second tray (102). Three vertical plates (107) are equidistantly arranged at the frame of the first tray (101).

5. The intelligent sampling machine based on multi-angle vision detection according to claim 1, characterized in that, Semicircular toothed wheels (108) are rotatably arranged at the front, rear, and both sides of the top surface of the second tray (102), and the bottom of the semicircular toothed wheels (108) is fixedly connected to the top of the rotating rod (105). The bottom of one of the semicircular toothed wheels (108) is fixedly connected to the top bearing of the double-axis motor (106).

6. The intelligent sampling machine based on multi-angle vision detection according to claim 5, characterized in that Each semicircular toothed wheel (108) is slidably sleeved with a sliding frame (109), and a number of tooth grooves are equidistantly arranged on the inner wall of one side of the sliding frame (109). A concave-shaped limiting frame (110) is slidably sleeved on the top surface of the second tray (102) and at the bottom of the sliding frame (109), and the length of the limiting frame (110) is one-half of the length of the sliding frame (109).

7. The intelligent sampling machine based on multi-angle vision detection according to claim 6, characterized in that, Chutes are provided at the front and rear frame bodies of the limiting frame (110), and sliders (111) fixedly installed at the centers of the front and rear ends of the sliding frame (109). The sliders (111) are slidably connected to one side inside the corresponding chutes, and a damping spring shock absorber ring (112) is jointly provided between the sliders (111) and the inner walls of the other sides of the chutes. An L-shaped striking rod (113) is fixedly installed at one end of the sliding frame (109) close to the sampling tube (7).

8. The intelligent sampling machine based on multi-angle vision detection according to claim 1, characterized in that A camera device and a ranging radar are installed at the end of the first tray (101), and the camera device and the ranging radar are used to distinguish the state of the grain to be sampled and the distance between the sampling tube (7) and the grain.

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