Grain loading method and system

Abstract

The application relates to the technical field of grain transportation control, and discloses a grain storage and distribution method and system, which aims to solve the problems of poor grain uniformity and waste of storage capacity of the existing method, and mainly comprises the following steps: obtaining three-dimensional point cloud data of a grain storage space, generating a three-dimensional model according to the three-dimensional point cloud data, dividing the three-dimensional model into multiple three-dimensional grid units according to a preset size, and determining the grain surface height of each three-dimensional grid unit in real time, determining a grain filling sequence according to the spatial position and the grain surface height of each three-dimensional grid unit, and controlling a grain conveying device to fill the corresponding three-dimensional grid unit with grain according to the grain filling sequence. The application improves the grain uniformity, avoids the waste of storage capacity, and is particularly suitable for the grain storage and distribution of a flat warehouse.

Description

Technical Field

[0001] The present invention relates to the technical field of grain transportation control, and in particular to a grain silo distributing method and system. Background Art

[0002] Grain loading and spreading refers to the process of loading purchased or processed grain into storage facilities (such as bungalows, shallow circular silos, and vertical silos) through conveying equipment. During the grain loading and spreading process, it is necessary to avoid local accumulation or voids, maximize warehouse capacity utilization, control grain drop and mechanical impact, and prevent particle size / density separation.

[0003] Existing methods for distributing grain in silos primarily include center-point free accumulation and mobile distribution carts. The center-point free accumulation method primarily involves controlling the grain's free fall from the center of the silo's roof, allowing it to spread naturally due to gravity. This method results in a central cone-shaped accumulation of grain, significantly wasting storage capacity at the edges. Furthermore, during free fall, large grains travel a long distance, resulting in a high concentration of coarse grains in the center and fine grains at the edges, leading to poor grain uniformity. The mobile distribution cart method primarily deploys a distribution cart that moves along a track on the silo's roof. By setting a fixed movement path (e.g., a serpentine shape) to change the drop point, the grain is transported during its movement. However, this method does not optimize the distribution cart's movement path. The uniform speed of the distribution cart can easily lead to uneven grain drop per unit area, resulting in wavy grain patterns and poor grain uniformity. Furthermore, frictional resistance against the silo wall hinders grain diffusion, easily forming low-lying areas at the edges, preventing the grain from reaching the safe stacking line and resulting in wasted storage capacity. Summary of the Invention

[0004] The present invention aims to solve the problems of poor grain uniformity and waste of storage capacity in the existing grain storage and distribution method, and proposes another grain storage and distribution method and system.

[0005] The technical solution adopted by the present invention to solve the above technical problems is:

[0006] In a first aspect, the present invention provides a method for distributing grain in a silo, the method comprising:

[0007] Acquire three-dimensional point cloud data of the granary space, and generate a three-dimensional model based on the three-dimensional point cloud data;

[0008] Dividing the three-dimensional model into a plurality of three-dimensional grid units according to a preset size, and determining the grain surface height of each three-dimensional grid unit in real time;

[0009] The grain filling sequence is determined according to the spatial position and grain surface height of each three-dimensional grid unit, and the grain conveying equipment is controlled according to the grain filling sequence to fill the corresponding three-dimensional grid units with grain.

[0010] Furthermore, the grain filling order is determined according to the spatial position of each three-dimensional grid unit and the grain surface height, including:

[0011] Dividing the three-dimensional grid unit into a plurality of grid layers according to the spatial position, and filling the grain in the order of filling from the lowest grid layer to the higher grid layers;

[0012] In the process of filling grain into each grid layer, when the grain surface height of all three-dimensional grid units of the grid layer reaches a preset height, grain filling into the next grid layer is carried out until grain filling of all grid layers is completed.

[0013] Furthermore, the process of filling each grid layer with grain includes:

[0014] Determine the target three-dimensional grid cell with the smallest grain surface height in the current grid layer, and fill the target three-dimensional grid cell with grain. When the grain surface height of the target three-dimensional grid cell reaches a preset height, re-determine the target three-dimensional grid cell with the smallest grain surface height in the current grid layer, and fill the re-determined target three-dimensional grid cell with grain. Repeat this process until the grain surface heights of all three-dimensional grid cells in the current grid layer reach the preset height.

[0015] Furthermore, filling the target three-dimensional grid cell with grain includes:

[0016] The grain conveying equipment is controlled according to the spatial position of the target three-dimensional grid unit so that the dropping point of the grain conveying equipment is located within the target three-dimensional grid unit.

[0017] In a second aspect, the present invention provides a grain loading and distributing system, the system comprising: a radar module, a controller, and grain conveying equipment;

[0018] The radar module is used to obtain three-dimensional point cloud data of the granary space and determine the grain surface height of each three-dimensional grid unit in real time;

[0019] The controller is used to generate a three-dimensional model based on the three-dimensional point cloud data, divide the three-dimensional model into multiple three-dimensional grid units according to preset dimensions, determine the grain filling order according to the spatial position and grain surface height of each three-dimensional grid unit, and control the grain conveying equipment to fill the corresponding three-dimensional grid units with grain according to the grain filling order.

[0020] Furthermore, the grain conveying equipment includes a grain blower, an elevator and a hoist, wherein the elevator is used to drive the grain blower, and the hoist is used to supply grain to the grain blower;

[0021] The grain blowing machine comprises a grain conveying pipe, an air source device and a grain inlet device, the air source device is connected with the rear end of the grain conveying pipe, the grain inlet device is located above the middle part of the grain conveying pipe and is connected with the grain conveying pipe, the front end of the grain conveying pipe is sleeved with an extendable pipe, and the front end of the extendable pipe is provided with a grain throwing elbow capable of rotating around the axis thereof.

[0022] The controller is specifically used for controlling the elevator to move and lift first, so that the extendable pipe of the grain blowing machine extends into the window, then controlling the elevator to move and lift, so that the discharge end of the elevator is opposite to the feeding port of the grain inlet device, and finally controlling the air source device to generate high-speed airflow to blow the grain entering the grain conveying pipe into the bin, and controlling the extension and rotation of the extendable pipe and the grain throwing elbow to control the dropping point, so that the dropping point is located in the corresponding three-dimensional grid unit, and the corresponding three-dimensional grid unit is filled with grain.

[0023] Further, the elevator comprises a chassis frame and a lifting support arranged on the chassis frame, the lifting support is provided with a support platform at the top, the grain blowing machine is installed on the support platform, and the chassis frame is provided with traveling wheels and hydraulic support feet at the bottom.

[0024] The lifting support is a hydraulic scissor lifting frame, and the hydraulic system matched with the lifting support is arranged in the chassis frame.

[0025] Further, the grain inlet device comprises a feeding hopper, the feeding port opposite to the discharge end of the elevator is arranged on the side of the feeding hopper, the bottom discharge port of the feeding hopper is connected with the grain conveying pipe through a grain inlet pipe, and the grain inlet pipe is in the form of an arc bending towards the front end of the grain conveying pipe.

[0026] Further, the grain blowing machine is installed on the lifting support through a support seat, the support seat is provided with an extendable rod, the extension direction of the extendable rod is consistent with the extension direction of the extendable pipe, and the extension end of the extendable rod is fixedly connected with the extendable pipe.

[0027] Further, the part connected with the extendable pipe on the grain throwing elbow is provided with a gear ring or a belt wheel coaxial with the extendable pipe, and the outer wall of the extendable pipe is provided with a stepping motor in transmission connection with the gear ring or the belt wheel.

[0028] The beneficial effects of the present invention are as follows: the grain filling and distributing method and system provided by the present invention divides the three-dimensional model of the grain silo space into multiple three-dimensional grid units and obtains the grain surface height of each three-dimensional grid unit in real time. For each three-dimensional grid unit, the grain conveying equipment is controlled to fill the grain according to the principle of first lower layers and then higher layers, and prioritizing low-lying areas within the layers. Compared with traditional two-dimensional plane control, the present invention expands the control dimension to three-dimensional space through active layering. The grain is compacted layer by layer from bottom to top, meeting the static stability conditions under the gravity field, achieving a smoother grain surface, and preventing the upper layer load from damaging the underlying structure. It also reduces the reliance on natural settlement in traditional operations, reduces the uncontrollable impact of gravity settlement on grain uniformity, reduces the rolling distance of grain, improves grain uniformity, and avoids waste of silo capacity. At the same time, the grain conveying equipment provided by the present invention can control the drop point through the precise linkage of the telescopic pipe and the grain throwing elbow. It has a simple structure, convenient control, and a wide controllable drop range, which is conducive to controlling the flatness of the grain surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A schematic diagram of the structure of the grain storage and distribution system provided in the embodiment;

[0030] Figure 2 A schematic diagram of the overall structure of the grain conveying equipment provided in the embodiment;

[0031] Figure 3 An axonometric view of the combined structure of an elevator and a grain blower provided in an embodiment;

[0032] Figure 4 A front view of the combined structure of the elevator and grain blower provided in the embodiment;

[0033] Figure 5 A schematic flow chart of a method for distributing grain in a silo provided in an embodiment;

[0034] Figure 6 Another schematic diagram of the grain silo distributing method provided in the embodiment.

[0035] Description of reference numerals:

[0036] 1-grain blower, 2-elevator, 3-elevator, 4-grain silo, 11-grain conveying pipe, 12-air source device, 13-grain feeding device, 14-telescopic pipe, 15-grain throwing elbow, 16-support base, 17-telescopic rod, 18-stepping motor, 21-chassis frame, 22-lifting bracket, 23-support platform, 24-travel wheel, 25-hydraulic support foot, 41-window, 121-frequency conversion motor, 122-centrifugal fan, 131-feeding port, 132-feeding hopper, 133-grain feeding pipe, 134-air shutoff device. DETAILED DESCRIPTION

[0037] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solution of this embodiment will be clearly and completely described below in conjunction with the drawings in this embodiment.

[0038] The technical solution of the present invention is applicable to the application scenario of grain warehousing, for example, the warehousing of rice, corn, wheat and other grains in a flat warehouse.

[0039] Since the current methods for loading and spreading grain are mainly the center point free stacking method and the mobile spreading vehicle method, the inventors found through research that these two methods are heavily dependent on the natural gravity sedimentation of grain and lack the optimization of the dropping path, resulting in poor uniformity of grain and the easy formation of low-lying areas at the edge of the grain silo, which cannot reach the safe grain stacking line and leads to waste of warehouse capacity.

[0040] Based on this, the technical solution of the present invention is proposed. In the present invention, three-dimensional point cloud data of the granary space is obtained, and a three-dimensional model is generated based on the three-dimensional point cloud data; the three-dimensional model is divided into multiple three-dimensional grid units according to preset dimensions, and the grain surface height of each three-dimensional grid unit is determined in real time; the grain filling order is determined according to the spatial position and grain surface height of each three-dimensional grid unit, and the grain conveying equipment is controlled to fill the corresponding three-dimensional grid units with grain according to the grain filling order.

[0041] Specifically, the present invention extends the control dimension to three-dimensional space, divides the three-dimensional model of the granary space into multiple three-dimensional grid units, and obtains the grain surface height of each three-dimensional grid unit in real time. For the three-dimensional grid units, the grain conveying equipment is controlled to fill the grain according to the principle of low layers first and high layers later, and low-lying areas within the layers are given priority. The grain is compacted layer by layer from bottom to top, which can effectively compensate for the slopes and unevenness formed by the natural accumulation of grain, and actively guide the grain to low-lying areas, greatly reducing the surface height difference of the grain pile commonly seen in manual spreading or fixed-path spreading, achieving a flatter grain surface, a flat grain surface and a more uniform spreading process, reducing the uncontrollable impact of gravity sedimentation on grain uniformity, and reducing the separation or grading of grain particles during the rolling process due to differences in particle size and density. It can also avoid excessive compaction and grain particle damage caused by long-term spreading in local areas, thereby improving the overall uniformity of the grain pile, grain quality and storage stability, and a flatter grain surface can allow more grain to be loaded within the safe grain stacking line, maximizing the utilization of the warehouse capacity.

[0042] The technical solution of this embodiment will be clearly and completely described below in conjunction with the drawings in this embodiment. Obviously, the described embodiment is only a part of the embodiments of the present invention, rather than all the embodiments.

[0043] Figure 1 A schematic diagram of the grain storage and distribution system is shown. Figure 1The system includes: radar module, controller and grain conveying equipment.

[0044] Among them, the radar module is used to obtain three-dimensional point cloud data of the granary space and determine the grain surface height of each three-dimensional grid unit in real time; the controller is used to generate a three-dimensional model based on the three-dimensional point cloud data, divide the three-dimensional model into multiple three-dimensional grid units according to preset dimensions, determine the grain filling order according to the spatial position and grain surface height of each three-dimensional grid unit, and control the grain conveying equipment to fill the corresponding three-dimensional grid units with grain according to the grain filling order.

[0045] See also Figures 2 to 4 The grain conveying equipment in this embodiment includes an elevator 2 for driving the grain blower 1 to rise and fall, and an elevator 3 for supplying grain to the grain blower 1. The grain blower 1 includes a grain conveying pipe 11, an air source device 12 and a grain feeding device 13. The air source device 12 is connected to the rear end of the grain conveying pipe 11. The grain feeding device 13 is located above the middle of the grain conveying pipe 11 and is connected to the grain conveying pipe 11. The front end sliding sleeve of the grain conveying pipe 11 is provided with a telescopic pipe 14, and the front end of the telescopic pipe 14 is provided with a grain throwing elbow 15 that can rotate around its axis. The grain throwing elbow 15 is preferably formed by bending a rectangular tube, which can make the grain more dispersed at the bend, thereby reducing the breakage rate. The bending radius and length of the grain throwing elbow 15 are not easy to be too large, and it is sufficient to change the grain throwing direction within a certain extent to ensure that the grain will not be broken when passing through the grain throwing elbow 15.

[0046] This embodiment primarily utilizes an independent elevator 3 to lift the grain, and an independent, elevated grain blower 1 to toss the grain. These two work in tandem, leveraging the high stability of mechanical conveying and the long-distance tossing advantages of pneumatic conveying. Furthermore, the elevator 3 requires minimal power, while the grain blower 1 only blows the grain horizontally, requiring minimal wind. Therefore, the combined structure offers lower operating costs compared to integrated grain pumping trucks and higher loading efficiency compared to integrated conveying equipment for cleaning and siloing. Furthermore, the grain is protected from high-speed collisions with the equipment during both the lifting and blowing processes, thus avoiding the high breakage rate associated with grain pumping trucks.

[0047] Regarding the control of the material distribution point, traditional belt conveyor loading generally increases the grain distribution speed and controls the grain distribution direction by adding a grain throwing belt conveyor to the material distribution end of the belt conveyor. Its structure is relatively complex, and the entire material distribution belt conveyor is heavy. After being raised, it needs to be equipped with a large number of counterweights, which places high demands on the strength and stability of the entire lifting support structure, and there are certain safety hazards. In contrast, this embodiment uses a grain blowing machine 1 to distribute the material. The entire equipment is lighter, and the heavier air source device 12 is placed at the rear end of the grain conveying pipe 11, which can directly play the role of counterweight, avoiding the problem of equipment weight increase caused by adding counterweight. In addition, a telescopic pipe 14 that is slidably connected to the grain conveying pipe 11 is used to achieve pipeline telescoping, and a grain throwing elbow 15 that can rotate around the axis of the telescopic pipe 14 is used to control the grain throwing angle. Compared with the solution of combining a telescopic belt conveyor with a material throwing belt conveyor, this embodiment has a simpler structure, is more convenient to control, and has a wider controllable material drop range, which is conducive to controlling the flatness of the grain surface.

[0048] See also Figure 3 and Figure 4 The lift 2 in this embodiment includes a chassis frame 21 and a lifting bracket 22 arranged on the chassis frame 21. A support platform 23 is provided on the top of the lifting bracket 22, and the grain blower 1 is installed on the support platform 23. The bottom of the chassis frame 21 is provided with walking wheels 24 and hydraulic support feet 25. Furthermore, the lifting bracket 22 is preferably a hydraulic scissor lift, and the hydraulic system adapted thereto is located in the chassis frame 21. A drive motor is provided in the chassis frame 21 for driving the walking wheels 24 to rotate to move the equipment. After the lift 2 is moved into position, the hydraulic support feet 25 are lowered and the walking wheels 24 are lifted off the ground to fix the equipment. The lifting bracket 22 adopts a hydraulic scissor lift, which has high support strength and stable structure.

[0049] For elevator 3, a conventional inclined belt conveyor, inclined scraper conveyor, inclined screw conveyor, or bucket elevator can be used. The specific equipment to be used depends on the existing equipment of the grain depot and the height of the grain silo windows. Most existing loading belt conveyors can meet the requirements and reduce the grain depot's procurement costs.

[0050] In the grain blower 1, the grain delivery pipe 11 is a straight steel pipe. Its size is designed based on the window 41 of the grain silo 4 and the required grain storage rate, ensuring that the grain delivery pipe 11 can extend into the grain silo 4 through the window 41. The air source device 12 is preferably a centrifugal fan 122 driven by a variable frequency motor 121. The variable frequency motor 121 is used to adjust the speed of the centrifugal fan 122 to achieve effective conveying efficiency and control the drop point.

[0051] The grain feeding device 13 includes a feed hopper 132. A feed port 131, which is connected to the discharge end of the elevator 3, is located on the side of the feed hopper 132. The bottom discharge port of the feed hopper 132 is connected to the grain conveying pipe 11 via a grain feed pipe 133. The grain feed pipe 133 is an arc-shaped structure that bends toward the front end of the grain conveying pipe 11. The grain feed pipe 133 is designed to use gravity to give the grain an initial forward velocity when it enters the grain conveying pipe 11, while also preventing gas turbulence at the connection between the grain feed pipe 133 and the grain conveying pipe 11, thereby ensuring the stability of the pneumatic conveying effect of the grain.

[0052] In this embodiment, a damper 134 is installed between the discharge port of the feed hopper 132 and the grain feed pipe 133. This damper 134 is an existing device primarily used for discharging materials from pneumatic conveying and ventilation dust removal systems. This damper 134 prevents air from being blown out of the feed port 131 of the feed hopper 132, ensuring efficient pneumatic conveying of grain. It also ensures continuous and uniform grain feeding, ensuring even delivery of the grain.

[0053] Regarding the telescopic method of telescopic pipe 14, the preferred solution of this embodiment is that the grain blower 1 is mounted on the lifting bracket 22 via a support base 16. The support base 16 is provided with a telescopic rod 17. The telescopic direction of telescopic rod 17 is consistent with the telescopic direction of telescopic pipe 14, and the telescopic end of telescopic rod 17 is fixedly connected to telescopic pipe 14. The telescopic rod 17 can be a hydraulic rod, an electric push rod, or a rack driven by a motor gear. The inner diameter of telescopic pipe 14 can be close to the outer diameter of grain conveying pipe 11, so that telescopic pipe 14 can be directly mounted on the outside of grain conveying pipe 11. Alternatively, the telescopic pipe 14 can be slightly larger so that a sliding joint can be provided between the telescopic pipe 14 and grain conveying pipe 11 to achieve a sliding connection between the two.

[0054] Regarding the rotational mechanism of the grain throwing elbow 15, a preferred solution in this embodiment is to install a coaxial ring gear or pulley on the portion of the elbow 15 connected to the telescopic pipe 14. A stepper motor 18 is installed on the outer wall of the telescopic pipe 14, drivingly connected to the ring gear or pulley. The grain throwing elbow 15 and the telescopic pipe 14 can be rotatably connected via a bearing, which improves the reliability of the connection and the smoothness of the rotation. Using a stepper motor 18 to control the rotation of the grain throwing elbow 15 enables precise control of the rotation angle and real-time feedback, facilitating the controller's planning of the material distribution path.

[0055] See also Figure 5 Based on the above-mentioned grain storage and distribution system, the grain storage and distribution method provided in this embodiment includes the following steps:

[0056] Step 1: Obtain three-dimensional point cloud data of the granary space, and generate a three-dimensional model based on the three-dimensional point cloud data.

[0057] In practical applications, a radar module can be installed on the top of the granary. The radar module can be a millimeter-wave radar and / or a lidar. The millimeter-wave radar has a strong dust penetration capability, while the lidar has a higher accuracy. You can choose one of them according to the actual situation, or you can adopt a hybrid method of millimeter-wave dominance + laser local reinforcement (dynamic adjustment of fusion weight).

[0058] The radar module is used to scan the granary space to generate three-dimensional point cloud data with three-dimensional spatial coordinates. After the controller filters and de-noises the three-dimensional point cloud data and aligns the coordinates (unified to the warehouse coordinate system), it uses the corresponding algorithm to perform three-dimensional reconstruction, that is, converting the discrete point cloud into a continuous surface representation to generate a three-dimensional model of the granary space.

[0059] Step 2: Divide the three-dimensional model into a plurality of three-dimensional grid units according to a preset size, and determine the grain surface height of each three-dimensional grid unit in real time.

[0060] In practical applications, the three-dimensional model of the granary space is divided into multiple three-dimensional grid units, for example, into cubes of 1 meter × 1 meter × 1 meter, where each cube is a three-dimensional grid unit. The radar module is then used to determine the grain surface height of each three-dimensional grid unit in real time.

[0061] When the radar module is a millimeter-wave radar, it transmits a high-frequency frequency-modulated continuous wave (FMCW) to the grain surface corresponding to the three-dimensional grid cell. The reflected echo is then analyzed. The frequency difference between the transmitted and returned signals, combined with the speed of light and the FMC parameters, is used to calculate the grain surface distance. When the radar module is a lidar, it transmits a laser beam to the grain surface corresponding to the three-dimensional grid cell. The received echo reflected from the grain surface is then compared with the transmitted signal and, after appropriate processing, the grain surface distance is calculated. Once the grain surface distance is obtained, the grain surface height can be calculated based on the radar module's installation position and the grain surface distance. In practice, the grain surface height can be either the grain surface height at the center point of the three-dimensional grid cell or the average height of multiple points within the three-dimensional grid cell. This can be selected based on actual needs. The grain surface height changes in real time as the grain is loaded into the silo.

[0062] Step 3: Determine the grain filling sequence according to the spatial position and grain surface height of each three-dimensional grid unit, and control the grain conveying equipment to fill the corresponding three-dimensional grid units with grain according to the grain filling sequence.

[0063] In this embodiment, the grain filling order is determined according to the spatial position and grain surface height of each three-dimensional grid unit, including: dividing the three-dimensional grid unit into several grid layers according to the spatial position, and the grain filling order is filling layer by layer from the bottom grid layer to the higher grid layer.

[0064] In the process of filling grain into each grid layer, when the grain surface height of all three-dimensional grid units of the grid layer reaches a preset height, grain filling into the next grid layer is carried out until grain filling of all grid layers is completed.

[0065] Among them, the process of filling each grid layer with grain includes: determining the target three-dimensional grid unit with the smallest grain surface height in the current grid layer, filling the target three-dimensional grid unit with grain, and when the grain surface height of the target three-dimensional grid unit reaches a preset height, re-determining the target three-dimensional grid unit with the smallest grain surface height in the current grid layer, and filling the re-determined target three-dimensional grid unit with grain, and so on until the grain surface height of all three-dimensional grid units in the current grid layer reaches the preset height.

[0066] This embodiment controls the grain conveying equipment to fill the grain according to the principle of low layers first and high layers later, and low-lying areas first. The grain is compacted layer by layer from bottom to top, meeting the static stability conditions under the gravity field, effectively compensating for the slopes and unevenness formed by the natural accumulation of grain, and actively guiding the grain to low-lying areas, greatly reducing the surface height difference of the grain pile commonly seen in manual spreading or fixed-path spreading, achieving a flatter grain surface, a flatter grain surface and a more uniform spreading process, reducing the impact of the uncontrollable gravity sedimentation on the uniformity of the grain, and reducing the separation or grading of grain particles during the rolling process due to differences in particle size and density. It can also avoid excessive compaction and damage to grain particles caused by long-term spreading in local areas, thereby improving the overall uniformity of the grain pile, grain quality and storage stability, and a flatter grain surface can allow more grain to be loaded within the safe grain stacking line, maximizing the use of warehouse capacity.

[0067] In this embodiment, filling the target three-dimensional grid unit with grain includes: controlling the grain conveying equipment according to the spatial position of the target three-dimensional grid unit so that the dropping point of the grain conveying equipment is located within the target three-dimensional grid unit.

[0068] In practice, the controller first controls the movement and elevation of elevator 2 based on the position of window 41 of grain silo 4, allowing telescopic pipe 14 of grain blower 1 to extend into window 41. It then controls the movement and elevation of elevator 3, allowing its discharge end to align with feed port 131 of grain feeder 13. When grain needs to be filled into the target three-dimensional grid cell, the controller controls air source 12 to generate a high-speed airflow to blow grain entering grain delivery pipe 11 into the silo. Simultaneously, the controller controls the drop point by controlling the expansion and contraction of telescopic pipe 14 and the rotation of grain-throwing elbow 15, ensuring that the drop point is within the corresponding three-dimensional grid cell, thereby completing the grain filling process.

[0069] See also Figure 6In practical applications, during the grain loading and distributing process, the drop point can be controlled to align with the center of the three-dimensional grid unit, and then the grain can be transported at a constant flow rate. During the transportation process, it can be determined in real time whether the grain surface height of the current three-dimensional grid unit reaches the preset height, where the preset height can be the height of the three-dimensional grid unit. If so, it is determined whether the current three-dimensional grid unit is the last three-dimensional grid unit, that is, whether the grain surface heights of all three-dimensional grid units in the grid layer have reached the preset height. If not, the grain is filled in the next three-dimensional grid unit. If so, the grain filling of the next grid layer is entered until the grain filling of all three-dimensional grid units is completed. Finally, the controller can be used to perform global leveling filling according to the grain surface height, so that the final grain surface is leveled and the grain loading and distributing is completed.

Claims

1. A method for distributing grain in a silo, characterized in that: The method comprises: Acquire three-dimensional point cloud data of the granary space, and generate a three-dimensional model based on the three-dimensional point cloud data; Dividing the three-dimensional model into a plurality of three-dimensional grid units according to a preset size, and determining the grain surface height of each three-dimensional grid unit in real time; determining a grain filling sequence according to the spatial position and grain surface height of each three-dimensional grid unit, and controlling the grain conveying equipment to fill the corresponding three-dimensional grid units with grain according to the grain filling sequence; The grain filling order is determined based on the spatial position of each three-dimensional grid unit and the grain surface height, including: Dividing the three-dimensional grid unit into a plurality of grid layers according to the spatial position, and filling the grain in the order of filling from the lowest grid layer to the higher grid layers; In the process of filling grain into each grid layer, when the grain surface height of all three-dimensional grid units of the grid layer reaches a preset height, grain filling into the next grid layer is carried out until grain filling of all grid layers is completed.

2. The method for distributing grain in a silo according to claim 1, characterized in that: The process of filling each grid layer with grain includes: Determine the target three-dimensional grid cell with the smallest grain surface height in the current grid layer, and fill the target three-dimensional grid cell with grain. When the grain surface height of the target three-dimensional grid cell reaches a preset height, re-determine the target three-dimensional grid cell with the smallest grain surface height in the current grid layer, and fill the re-determined target three-dimensional grid cell with grain. Repeat this process until the grain surface heights of all three-dimensional grid cells in the current grid layer reach the preset height.

3. The method for distributing grain in a silo according to claim 2, characterized in that: Filling the target three-dimensional grid cells with grain includes: The grain conveying equipment is controlled according to the spatial position of the target three-dimensional grid unit so that the dropping point of the grain conveying equipment is located within the target three-dimensional grid unit.

4. A grain silo distributing system, characterized in that: For implementing the grain silo distributing method according to any one of claims 1 to 3, the system comprises: a radar module, a controller and grain conveying equipment; The radar module is used to obtain three-dimensional point cloud data of the granary space and determine the grain surface height of each three-dimensional grid unit in real time; The controller is used to generate a three-dimensional model based on the three-dimensional point cloud data, divide the three-dimensional model into multiple three-dimensional grid units according to preset dimensions, determine the grain filling order according to the spatial position and grain surface height of each three-dimensional grid unit, and control the grain conveying equipment to fill the corresponding three-dimensional grid units with grain according to the grain filling order.

5. The grain storage and distributing system according to claim 4, characterized in that: The grain conveying equipment includes a grain blower, an elevator and a hoist, wherein the elevator is used to drive the grain blower and the hoist is used to supply grain to the grain blower; The grain blower includes a grain conveying pipe, an air source device and a grain feeding device. The air source device is connected to the rear end of the grain conveying pipe. The grain feeding device is located above the middle of the grain conveying pipe and is connected to the grain conveying pipe. The front end sliding sleeve of the grain conveying pipe is provided with a telescopic pipe. The front end of the telescopic pipe is provided with a grain throwing elbow that can rotate around its axis. The controller is specifically used to: first control the movement and lifting of the elevator according to the position of the window of the grain silo, so that the telescopic pipe of the grain blower extends into the window, then control the movement and lifting of the elevator so that its discharge end is connected with the feed port of the grain feeding device, and finally control the air source device to generate a high-speed airflow to blow the grain entering the grain conveying pipe into the silo. At the same time, the dropping point is controlled by controlling the extension and contraction of the telescopic pipe and the rotation of the grain throwing elbow, so that the dropping point is located in the corresponding three-dimensional grid unit, thereby realizing the filling of grain in the corresponding three-dimensional grid unit.

6. The grain storage and distributing system according to claim 5, characterized in that: The elevator includes a chassis frame and a lifting bracket arranged on the chassis frame, a support platform is provided on the top of the lifting bracket, the grain blower is installed on the support platform, and a walking wheel and a hydraulic support foot are provided at the bottom of the chassis frame; The lifting bracket is a hydraulic scissor lift bracket, and the hydraulic system adapted thereto is located in the chassis frame.

7. The grain storage and distributing system according to claim 5, characterized in that: The grain feeding device includes a feed hopper, a feed port connected to the discharge end of the elevator is arranged on the side of the feed hopper, and the bottom discharge port of the feed hopper is connected to the grain delivery pipe through the grain feed pipe, and the grain feed pipe is an arc structure bent toward the front end of the grain delivery pipe.

8. The grain storage and distributing system according to claim 5, characterized in that: The grain blower is installed on the lifting bracket through a support seat. A telescopic rod is provided on the support seat. The telescopic direction of the telescopic rod is consistent with the telescopic direction of the telescopic pipe. The telescopic end of the telescopic rod is fixedly connected to the telescopic pipe.

9. The grain storage and distributing system according to claim 5, characterized in that: A gear ring or a pulley coaxial with the telescopic pipe is provided on the portion of the grain throwing elbow connected to the telescopic pipe, and a stepping motor drivingly connected to the gear ring or the pulley is provided on the outer wall of the telescopic pipe.

Images