CN118010124A - Automatic monitoring system for grain injection of granary - Google Patents
Automatic monitoring system for grain injection of granary Download PDFInfo
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Abstract
The invention discloses an automatic monitoring system for grain injection in a granary, which belongs to the technical field of grain injection monitoring in the granary, and comprises the following components: a grain injection belt scanning module; a grain injection belt speed acquisition module; a coordinate system building module; a scanning point coordinate modeling module; a concave data coordinate modeling module; the upward convex data coordinate modeling module; a function fitting module; a scanning interval acquisition module; an area calculation module; the grain injection amount calculating module calculates grain injection increment of the granary; the grain injection total amount acquisition module acquires the original grain storage amount of the granary, and adds the grain injection increment of the granary to obtain the grain storage amount after the granary is changed. According to the invention, the function fitting module, the area calculating module and the grain injection amount calculating module are arranged, so that the set scanning points are few, the monitoring cost is in a controllable range, the real-time grain injection amount can be estimated more accurately, and the caused error is ensured to be in an allowable range.
Description
Technical Field
The invention belongs to the technical field of grain injection monitoring of a granary, and particularly relates to an automatic grain injection monitoring system of the granary.
Background
In grain reserve work, calculation of granary reserves is an extremely important ring, and the granary needs to be filled with grains, so that the granary reserves can be changed continuously, and certain measures need to be taken for monitoring the reserves.
One of the monitoring modes is that when the grain injection of the granary is monitored, a monitoring device is arranged at the top of the granary, a three-dimensional coordinate point set of the upper surface of the grain is measured, after the computer collects coordinate data, a mathematical model is built according to the upper surface of the grain, the peripheral surface of the granary and the ground of the granary, and the volume of the model is calculated, so that the grain storage capacity in the granary is obtained. Because the granary area is big, need set up a large amount of monitoring devices for calculating accurately, lead to warehouse fund to throw into more, can not obtain fine benefit. While the estimation result can be obtained by estimating the amount of the injected grain in real time according to the conveying speed of the grain injecting belt, the accuracy of the estimation is erroneous because the thickness and shape of the grain deposited on the belt are different, and the error caused when the grain injecting time is long is out of range.
Disclosure of Invention
In order to solve the technical problems, the invention provides the automatic grain injection monitoring system for the granary, which is provided with the function fitting module, the area calculating module and the grain injection calculating module, has fewer scanning points, monitors the cost within a controllable range, can accurately estimate the real-time grain injection amount, and ensures that the caused error is within an allowable range.
In order to achieve the purpose, the invention adopts the technical scheme that the automatic monitoring system for grain injection in the granary comprises:
The grain injection belt scanning module is used for setting at least one scanning point at a fixed position of the grain injection belt, wherein the at least one scanning point is positioned in the same plane, a plane formed by the at least one scanning point is perpendicular to the grain injection belt, the plane formed by the at least one scanning point is recorded as a scanning section, the at least one scanning point uses ultrasound to scan to obtain concave data of the lower surface of the grain injection belt intersecting the scanning section, and the at least one scanning point uses ultrasound to scan to obtain convex data of the upper surface of the grain on the grain injection belt intersecting the scanning section;
The grain injection belt speed acquisition module acquires the real-time transmission speed of the grain injection belt;
the coordinate system establishment module establishes an xy coordinate system in the scanning section;
The scanning point coordinate modeling module acquires coordinates of at least one scanning point in an xy coordinate system;
the concave data coordinate modeling module performs coordinate modeling according to the concave data;
the upward convex data coordinate modeling module performs coordinate modeling according to upward convex data;
The function fitting module is used for fitting according to the concave data to obtain a concave fitting function and fitting according to the convex data to obtain a convex fitting function;
The scanning interval acquisition module acquires scanning interval time for scanning by transmitting ultrasound from at least one scanning point;
the area calculating module is used for obtaining grain cross sections of grains on the grain injection belt and intersecting the scanning cross sections and calculating the areas of the grain cross sections;
The grain injection amount calculating module calculates grain injection increment of the granary;
The grain injection total amount acquisition module acquires the original grain storage amount of the granary, and adds the grain injection increment of the granary to obtain the grain storage amount after the granary is changed.
Preferably, the scanning of at least one scanning point by using ultrasound to acquire the concave data of the lower surface of the grain injection belt intersecting with the scanning section comprises the following steps:
At least one scanning point located below the lower surface of the grain injection belt emits ultrasonic waves, the ultrasonic waves intersect with the lower surface of the grain injection belt to respectively obtain at least one concave identification point, and the scanning points are matched with the concave identification points formed by ultrasonic waves of the scanning points;
acquiring a first emission angle of a scanning point in a scanning section, and acquiring a first distance between the scanning point and a corresponding concave identification point;
And summarizing the first emission angle and the first interval distance of at least one scanning point to obtain concave data.
Preferably, the scanning by ultrasonic at least one scanning point to obtain the upward convex data of the upper surface of the grain on the grain injection belt intersecting with the scanning section comprises the following steps:
At least one scanning point positioned above the upper surface of the grain injection belt emits ultrasonic waves, the ultrasonic waves intersect with the upper surface of the grain on the grain injection belt to respectively obtain at least one upward convex identification point, and the scanning points are matched with the upward convex identification points formed by the ultrasonic waves of the scanning points;
acquiring a second emission angle of the scanning point in the scanning section, and acquiring a second separation distance between the scanning point and the corresponding concave identification point;
And summarizing the second emission angle and the second separation distance of at least one scanning point to obtain upward convex data.
Preferably, the coordinate modeling module for the concave data performs coordinate modeling according to the concave data, including the following steps:
acquiring coordinates of scanning points corresponding to the concave identification points;
Acquiring a first emission angle and a first interval distance of a scanning point corresponding to the concave identification point;
And calculating the coordinates of the concave recognition points.
Preferably, the upward convex data coordinate modeling module performs coordinate modeling according to upward convex data, and the method comprises the following steps:
Acquiring coordinates of scanning points corresponding to the upward convex identification points;
Acquiring a second emission angle and a second separation distance of a scanning point corresponding to the upward convex identification point;
And calculating the coordinates of the upward convex identification points.
Preferably, the function fitting module fits the concave fitting function according to the concave data, and the method comprises the following steps:
Coordinate fitting of at least one concave recognition point is used to obtain a concave fitting function.
Preferably, the function fitting module fits the upward fitting function according to the upward data, and the method comprises the following steps:
and (5) coordinate fitting of at least one upward convex identification point is used to obtain an upward convex fitting function.
Preferably, the scan interval acquisition module acquires scan interval time of at least one scan point transmitting ultrasound for scanning, including the steps of:
Acquiring the preparation interval time of ultrasonic scanning at each scanning point;
And superposing at least one preparation interval time and averaging to obtain the scanning interval time.
Preferably, the area calculating module calculates the area of the grain section, comprising the steps of:
calculating to obtain two intersection points of the concave fitting function and the convex fitting function as boundary intersection points;
the part of the curve corresponding to the concave fitting function, which is positioned between the intersection points of the two boundaries, is used as a concave curve;
the part of the curve corresponding to the upward convex fitting function, which is positioned between the intersection points of the two boundaries, is used as an upward convex curve;
acquiring a region surrounded by a concave curve and an upward curve as a grain section;
integrating the grain section according to the functional relation of the concave curve and the convex curve to obtain the area of the grain section.
Preferably, the grain injection amount calculation module calculates the increment of grain injection of the granary, comprising the following steps:
Acquiring at least one scanning interval time in the grain filling process of the granary, calculating the area of the grain section in each scanning interval time, and enabling the area of the grain section to correspond to the scanning interval time one by one;
multiplying the area of the grain section by the corresponding scanning interval time and the real-time transmission speed to obtain the grain injection increment in the scanning interval time;
And superposing at least one grain injection increment in the scanning interval time to obtain the grain injection increment of the granary.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the fixed position of the belt in the grain injection process is monitored by arranging the concave data coordinate modeling module, the convex data coordinate modeling module, the function fitting module, the area calculating module and the grain injection amount calculating module, and the monitored position area is small, so that the set scanning points are few, and the monitoring cost is in a controllable range. In addition, the invention can identify the concave degree of the lower surface of the belt, and identify the shape of the upper surface of grains on the belt, and can accurately estimate the real-time grain injection amount according to the thickness and shape of grains piled on the belt, thereby ensuring that the caused error is within the allowable range even when the grain injection time is longer.
Drawings
FIG. 1 is a schematic diagram of the automatic monitoring system for grain filling in a granary according to the present invention;
FIG. 2 is a schematic diagram of a flow of concave data obtained by scanning at least one scanning point by using ultrasound to obtain the intersection of the lower surface of the grain injection belt and the scanning section in the invention;
FIG. 3 is a schematic diagram of a flow of upward convex data of the upper surface of grain on the grain injecting belt intersecting with the scanning section obtained by scanning at least one scanning point by using ultrasound in the invention;
FIG. 4 is a schematic diagram of a coordinate modeling process performed by the concave data coordinate modeling module according to the present invention;
FIG. 5 is a schematic diagram of a coordinate modeling process performed by the coordinate modeling module according to the data of the upward projection;
FIG. 6 is a schematic diagram of a scanning interval time flow for scanning by acquiring ultrasound emitted by at least one scanning point by the scanning interval acquisition module according to the present invention;
FIG. 7 is a schematic diagram of a flow chart of calculating the area of a grain section by the area calculation module;
FIG. 8 is a schematic diagram of the incremental flow of the grain filling calculation module for calculating grain filling in a granary according to the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1, a grain filling automatic monitoring system for a grain bin, comprising:
The grain injection belt scanning module is used for setting at least one scanning point at a fixed position of the grain injection belt, wherein the at least one scanning point is positioned in the same plane, a plane formed by the at least one scanning point is perpendicular to the grain injection belt, the plane formed by the at least one scanning point is recorded as a scanning section, the at least one scanning point uses ultrasound to scan to obtain concave data of the lower surface of the grain injection belt intersecting the scanning section, and the at least one scanning point uses ultrasound to scan to obtain convex data of the upper surface of the grain on the grain injection belt intersecting the scanning section;
The grain injection belt speed acquisition module acquires the real-time transmission speed of the grain injection belt;
the coordinate system establishment module establishes an xy coordinate system in the scanning section;
The scanning point coordinate modeling module acquires coordinates of at least one scanning point in an xy coordinate system;
the concave data coordinate modeling module performs coordinate modeling according to the concave data;
the upward convex data coordinate modeling module performs coordinate modeling according to upward convex data;
The function fitting module is used for fitting according to the concave data to obtain a concave fitting function and fitting according to the convex data to obtain a convex fitting function;
The scanning interval acquisition module acquires scanning interval time for scanning by transmitting ultrasound from at least one scanning point;
the area calculating module is used for obtaining grain cross sections of grains on the grain injection belt and intersecting the scanning cross sections and calculating the areas of the grain cross sections;
The grain injection amount calculating module calculates grain injection increment of the granary;
The grain injection total amount acquisition module acquires the original grain storage amount of the granary, and adds the grain injection increment of the granary to obtain the grain storage amount after the granary is changed.
Referring to fig. 2, at least one scanning point uses ultrasound to scan to obtain concave data of the lower surface of the grain injection belt intersecting with the scanning section, comprising the following steps:
At least one scanning point located below the lower surface of the grain injection belt emits ultrasonic waves, the ultrasonic waves intersect with the lower surface of the grain injection belt to respectively obtain at least one concave identification point, and the scanning points are matched with the concave identification points formed by ultrasonic waves of the scanning points;
acquiring a first emission angle of a scanning point in a scanning section, and acquiring a first distance between the scanning point and a corresponding concave identification point;
Summarizing the first emission angle and the first interval distance of at least one scanning point to obtain concave data;
When the grain on the grain injection belt changes, the degree of downward sinking of the grain injection belt changes, and if the situation is not considered, the estimated grain injection amount has larger error.
Referring to fig. 3, at least one scanning point uses ultrasound to scan to obtain the upward protruding data of the upper surface of the grain on the grain injection belt intersecting with the scanning section, comprising the following steps:
At least one scanning point positioned above the upper surface of the grain injection belt emits ultrasonic waves, the ultrasonic waves intersect with the upper surface of the grain on the grain injection belt to respectively obtain at least one upward convex identification point, and the scanning points are matched with the upward convex identification points formed by the ultrasonic waves of the scanning points;
acquiring a second emission angle of the scanning point in the scanning section, and acquiring a second separation distance between the scanning point and the corresponding concave identification point;
summarizing the second emission angle and the second separation distance of at least one scanning point to obtain upward convex data;
when the grain on the grain injection belt changes, the upper surface of the grain on the grain injection belt changes, and if the situation is not considered, the estimated grain injection amount has larger error.
Referring to fig. 4, the coordinate modeling module for the concave data performs coordinate modeling according to the concave data, including the following steps:
acquiring coordinates of scanning points corresponding to the concave identification points;
Acquiring a first emission angle and a first interval distance of a scanning point corresponding to the concave identification point;
calculating to obtain coordinates of the concave recognition points;
And calculating the abscissa offset and the ordinate offset of the scanning points corresponding to the concave recognition points according to the first emission angle and the first interval distance by using a trigonometric function, and calculating the coordinates of the concave recognition points by combining the coordinates of the scanning points corresponding to the concave recognition points.
Referring to fig. 5, the upward-convex data coordinate modeling module performs coordinate modeling according to upward-convex data, including the steps of:
Acquiring coordinates of scanning points corresponding to the upward convex identification points;
Acquiring a second emission angle and a second separation distance of a scanning point corresponding to the upward convex identification point;
Calculating to obtain coordinates of the upward convex identification points;
And calculating the horizontal coordinate offset and the vertical coordinate offset of the scanning points corresponding to the upward convex identification points according to the second emission angles and the second separation distances by using a trigonometric function, and calculating the coordinates of the upward convex identification points by combining the coordinates of the scanning points corresponding to the upward convex identification points.
The function fitting module fits according to the concave data to obtain a concave fitting function, which comprises the following steps:
coordinate fitting of at least one concave recognition point is used for obtaining a concave fitting function;
the function of the concave fitting function is to approximate the curve of the lower surface of the grain injection belt intersecting the scanning section.
The function fitting module fits the upward fitting function according to the upward data, and comprises the following steps:
Coordinate fitting of at least one upward-convex identification point is used for obtaining an upward-convex fitting function;
the function of the upward convex fitting function is to approximate the curve of the upper surface of the grain on the grain injection belt intersecting with the scanning section.
Referring to fig. 6, the scan interval acquisition module acquires a scan interval time for scanning by transmitting ultrasound from at least one scan point, including the steps of:
Acquiring the preparation interval time of ultrasonic scanning at each scanning point;
Superposing at least one preparation interval time and averaging to obtain a scanning interval time;
the method of using the mean value is to reduce errors in acquiring data.
Referring to fig. 7, the area calculating module calculates the area of the grain cross section including the steps of:
calculating to obtain two intersection points of the concave fitting function and the convex fitting function as boundary intersection points;
the part of the curve corresponding to the concave fitting function, which is positioned between the intersection points of the two boundaries, is used as a concave curve;
the part of the curve corresponding to the upward convex fitting function, which is positioned between the intersection points of the two boundaries, is used as an upward convex curve;
acquiring a region surrounded by a concave curve and an upward curve as a grain section;
integrating the grain section according to the functional relation of the concave curve and the convex curve to obtain the area of the grain section;
The grain section is a region surrounded by the concave curve and the convex curve, so that boundary intersection points need to be calculated, the concave curve and the convex curve are obtained on the concave fitting function and the convex fitting function by using the boundary intersection points, and the region surrounded by the concave curve and the convex curve is used as an integral region, so that the grain section can be integrated according to higher mathematical knowledge, and the area of the grain section can be obtained.
Referring to fig. 8, the grain injection amount calculation module calculates an increment of grain injection in a grain bin comprising the steps of:
Acquiring at least one scanning interval time in the grain filling process of the granary, calculating the area of the grain section in each scanning interval time, and enabling the area of the grain section to correspond to the scanning interval time one by one;
multiplying the area of the grain section by the corresponding scanning interval time and the real-time transmission speed to obtain the grain injection increment in the scanning interval time;
superposing at least one grain injection increment within the scanning interval time to obtain grain injection increment of the granary;
When the scanning interval time is very small, the area of the grain section in the scanning interval time can be regarded as unchanged, so that the grain injection increment in the scanning interval time is the length of the grain section passing through the scanning point in the scanning interval time, and the length is equal to the multiplication result of the scanning interval time and the real-time transmission speed. Thus, the grain injection increment in the scan interval time can be obtained by multiplying the real-time transmission speed by the product of the area of the grain section and the corresponding scan interval time, wherein each scan interval time is equal.
Still further, the present embodiment also proposes a storage medium having a computer readable program stored thereon, the computer readable program when called running the automatic monitoring system for grain filling in a grain bin described above. The storage medium may be a magnetic medium, e.g., floppy disk, hard disk, tape; optical media such as DVD; or a semiconductor medium such as a solid state disk SolidStateDisk, SSD, etc.
Claims (10)
1. An automatic monitoring system for grain filling in a granary, comprising:
The grain injection belt scanning module is used for setting at least one scanning point at a fixed position of the grain injection belt, wherein the at least one scanning point is positioned in the same plane, a plane formed by the at least one scanning point is perpendicular to the grain injection belt, the plane formed by the at least one scanning point is recorded as a scanning section, the at least one scanning point uses ultrasound to scan to obtain concave data of the lower surface of the grain injection belt intersecting the scanning section, and the at least one scanning point uses ultrasound to scan to obtain convex data of the upper surface of the grain on the grain injection belt intersecting the scanning section;
The grain injection belt speed acquisition module acquires the real-time transmission speed of the grain injection belt;
the coordinate system establishment module establishes an xy coordinate system in the scanning section;
The scanning point coordinate modeling module acquires coordinates of at least one scanning point in an xy coordinate system;
the concave data coordinate modeling module performs coordinate modeling according to the concave data;
the upward convex data coordinate modeling module performs coordinate modeling according to upward convex data;
The function fitting module is used for fitting according to the concave data to obtain a concave fitting function and fitting according to the convex data to obtain a convex fitting function;
The scanning interval acquisition module acquires scanning interval time for scanning by transmitting ultrasound from at least one scanning point;
the area calculating module is used for obtaining grain cross sections of grains on the grain injection belt and intersecting the scanning cross sections and calculating the areas of the grain cross sections;
The grain injection amount calculating module calculates grain injection increment of the granary;
The grain injection total amount acquisition module acquires the original grain storage amount of the granary, and adds the grain injection increment of the granary to obtain the grain storage amount after the granary is changed.
2. The automatic grain filling monitoring system for a grain bin of claim 1, wherein: the at least one scanning point uses ultrasound to scan to obtain concave data of the lower surface of the grain injection belt intersecting with the scanning section, and the method comprises the following steps:
At least one scanning point located below the lower surface of the grain injection belt emits ultrasonic waves, the ultrasonic waves intersect with the lower surface of the grain injection belt to respectively obtain at least one concave identification point, and the scanning points are matched with the concave identification points formed by ultrasonic waves of the scanning points;
acquiring a first emission angle of a scanning point in a scanning section, and acquiring a first distance between the scanning point and a corresponding concave identification point;
And summarizing the first emission angle and the first interval distance of at least one scanning point to obtain concave data.
3. The automatic grain filling monitoring system for a grain bin of claim 2, wherein: the at least one scanning point uses ultrasound to scan to obtain the upward protruding data of the upper surface of the grain on the grain injection belt intersecting with the scanning section, and the method comprises the following steps:
At least one scanning point positioned above the upper surface of the grain injection belt emits ultrasonic waves, the ultrasonic waves intersect with the upper surface of the grain on the grain injection belt to respectively obtain at least one upward convex identification point, and the scanning points are matched with the upward convex identification points formed by the ultrasonic waves of the scanning points;
acquiring a second emission angle of the scanning point in the scanning section, and acquiring a second separation distance between the scanning point and the corresponding concave identification point;
And summarizing the second emission angle and the second separation distance of at least one scanning point to obtain upward convex data.
4. A grain filling automatic monitoring system according to claim 3, characterized in that: the coordinate modeling module for the concave data carries out coordinate modeling according to the concave data and comprises the following steps:
acquiring coordinates of scanning points corresponding to the concave identification points;
Acquiring a first emission angle and a first interval distance of a scanning point corresponding to the concave identification point;
And calculating the coordinates of the concave recognition points.
5. The automatic monitoring system for grain filling in a grain bin of claim 4, wherein: the upward convex data coordinate modeling module performs coordinate modeling according to upward convex data, and comprises the following steps:
Acquiring coordinates of scanning points corresponding to the upward convex identification points;
Acquiring a second emission angle and a second separation distance of a scanning point corresponding to the upward convex identification point;
And calculating the coordinates of the upward convex identification points.
6. The automatic monitoring system for grain filling in a grain bin of claim 5, wherein: the function fitting module fits the concave fitting function according to the concave data, and comprises the following steps:
Coordinate fitting of at least one concave recognition point is used to obtain a concave fitting function.
7. The automatic monitoring system for grain filling in a grain bin of claim 6, wherein: the function fitting module fits the upward fitting function according to the upward data, and comprises the following steps:
and (5) coordinate fitting of at least one upward convex identification point is used to obtain an upward convex fitting function.
8. The automatic monitoring system for grain filling in a grain bin of claim 7, wherein: the scanning interval acquisition module acquires scanning interval time of at least one scanning point transmitting ultrasound for scanning, and comprises the following steps:
Acquiring the preparation interval time of ultrasonic scanning at each scanning point;
And superposing at least one preparation interval time and averaging to obtain the scanning interval time.
9. The automatic grain filling monitoring system for a grain bin of claim 8, wherein: the area calculation module calculates the area of the grain section and comprises the following steps:
calculating to obtain two intersection points of the concave fitting function and the convex fitting function as boundary intersection points;
the part of the curve corresponding to the concave fitting function, which is positioned between the intersection points of the two boundaries, is used as a concave curve;
the part of the curve corresponding to the upward convex fitting function, which is positioned between the intersection points of the two boundaries, is used as an upward convex curve;
acquiring a region surrounded by a concave curve and an upward curve as a grain section;
integrating the grain section according to the functional relation of the concave curve and the convex curve to obtain the area of the grain section.
10. The automatic grain filling monitoring system for a grain bin of claim 9, wherein: the grain injection amount calculation module calculates the increment of grain injection of the granary, and comprises the following steps:
Acquiring at least one scanning interval time in the grain filling process of the granary, calculating the area of the grain section in each scanning interval time, and enabling the area of the grain section to correspond to the scanning interval time one by one;
multiplying the area of the grain section by the corresponding scanning interval time and the real-time transmission speed to obtain the grain injection increment in the scanning interval time;
And superposing at least one grain injection increment in the scanning interval time to obtain the grain injection increment of the granary.
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| CN202410412053.8A CN118010124A (en) | 2024-04-08 | 2024-04-08 | Automatic monitoring system for grain injection of granary |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103307976A (en) * | 2013-04-16 | 2013-09-18 | 杭州先临三维科技股份有限公司 | Monitoring method for grain stock in barn |
| CN113706601A (en) * | 2021-08-20 | 2021-11-26 | 中铁工程装备集团有限公司 | Belt conveyor material volume measuring method and device, computer equipment and storage medium |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103307976A (en) * | 2013-04-16 | 2013-09-18 | 杭州先临三维科技股份有限公司 | Monitoring method for grain stock in barn |
| CN113706601A (en) * | 2021-08-20 | 2021-11-26 | 中铁工程装备集团有限公司 | Belt conveyor material volume measuring method and device, computer equipment and storage medium |
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