CN105807822A - Intelligent detection and monitoring system for grain condition of grain depot - Google Patents
Intelligent detection and monitoring system for grain condition of grain depot Download PDFInfo
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Abstract
The invention provides an intelligent detection and monitoring system for the grain condition of a grain depot. The system comprises a grain depot intelligent inspection robot control device, a wireless communication module, an ultra-wideband positioning device, an environment adjusting device, a computer and an alarm device. The grain depot intelligent inspection robot control device comprises a battery management system module, a power module, a sensing detection module, a data acquisition module, a central processing unit, an ultra-wideband tag, a synchronizer, an ultra-wideband reader, a positioning server, a robot drive module and an ultra-wideband positioning module. The central processing unit uploads different monitoring point positions, acquired by the data acquisition module, on the surface of a grain pile and environment information, acquired by the data acquisition module, in the grain pile to the computer in real time through the wireless communication module. The system can autonomously move and conduct precise positioning in the grain pile, the temperature and humidity of the grain pile are detected in real time and automatically controlled and adjusted, and real-time dynamic omni-bearing grain condition monitoring and grain storage environment full-automatic adjustment can be achieved.
Description
Technical field
The invention belongs to grain depot automated management technical field, be specifically related to a kind of grain conditions in grain depot Intelligent Measurement and monitoring system.
Background technology
Grain is special commodity, and China is a grain big country having numerous population, and grain security is related to the Vital Strategic Problems of the national economic development and social stability.Grain reserves are also the effective measures for dealing with unexpected incidents, the disaster relief is prepared against natural disasters and regulated grain market and take, and therefore, the safe storage of grain is to ensure that the important step of grain security.
Ensure that the safe storage of grain is mainly ensuring that it is under normal temperature and humidity environment, grasp the humiture situation of change of grain heap in grain depot comprehensively in real time, make the correct key processing and being to ensure that grain storage quality in time to the humiture occurred is abnormal.The method of traditional manual measurement temperature and humidity, also exists workload problem big, inefficient, and especially the detection of large granary can not obtain completing in time and thoroughly, thus the generation that grain goes mouldy can be caused.
Grain conditions in grain depot detection equipment is presently mainly sampler, also makes sample, layered sampler be mainly used in bulk grain heap, the sampling of bulk grain car, once inserts multilayer sampling.Carrying out skewer in the processes such as electronic sampling sharp-pointed tube is applicable to horizontal warehouse, underground bin, the sampling of deep layer grain and dispensing and in accumulating, quality inspection and take sample, it is also possible in laying monitoring cable, local sets up an office input insecticide etc..Full-automatic grain sampler is specifically designed to vehicle-mounted packaging grain, bulk grain, vehicle mounted grain inspection.But, the grain depot management of China's major part still based on extensive management manually, adopts sample to take grain and relies primarily on manpower, and labor intensity is big, then samples difficulty particularly with large granary.Although electronic sampling sharp-pointed tube may be used for large granary, need to expending a large amount of manpower equally, and be analyzed obtaining information to the grain of repeatedly sample point, the efficiency of management of grain depot is low.
Grain depot detection technique is to gather the temperature of silo, humidity value by sensor, undertaken processing and export suitable control signal by microprocessor to control relay, drive relevant device to realize warehouse automatic ventilation, to some extent solve the problem that tradition manpower effectiveness is low, but automatic control automatic Monitoring System of Grain Depot needs to arrange a large amount of sensing node in silo, and the reliability of system depends on the quantity of sensing node and the performance of sensing node.Silo scale is more big, and required sensing node is also more many, and due to the special environment of silo, sensing node is laid exists monitoring dead angle, and sensing node maintenance difficulties is high, thus have impact on the reliability of automatic control automatic Monitoring System of Grain Depot.
The grain information monitoring system function singleness that China's present stage uses, can only measure temperature and space humidity, lack multinomial monitorings affecting stored grain safety factor such as grain moisture content, insect, mycete, gas componants.Each system is incompatible, resistance to stifling corrosion and anti-lightning poor performance, the function also imperfection that grain feelings are controlled by system.
Summary of the invention
The present invention is to solve weak point of the prior art, it is provided that a kind of intellectuality, be accurately positioned, a kind of grain conditions in grain depot Intelligent Measurement of precise real-time detection and automatic control and adjustment grain depot silo environment and monitoring system.
For solving above-mentioned technical problem, the present invention adopts the following technical scheme that a kind of grain conditions in grain depot Intelligent Measurement and monitoring system, controls device, wireless communication module, ultra broadband positioner, environment adjusting device, computer and alarm device including grain depot intelligent inspection robot；
Grain depot intelligent inspection robot controls device and includes battery management system module, power module, sensing detection module, data acquisition module, central processing unit, ultra broadband label, lock unit, ultra broadband reader, location-server, robotically-driven module and ultra broadband locating module；
Central processing unit by data collecting module collected to grain different position, monitoring point, heap surface and grain heap in environmental information upload to computer in real time by wireless communication module；Grain depot intelligent inspection robot controls device and includes ultra broadband locating module, ultra broadband locating module real time emission ultra-broadband signal, ultra broadband positioner measures the real time position of grain depot intelligent inspection robot by location-server after receiving the pulse signal of ultra broadband locating module and uploads to computer in real time；
Real time dynamic measurement that sensing detection module is responsible in silo in MW temperature, relative humidity, silo gas concentration lwevel and monitoring, and its data are issued computer by central processing unit, and perform grain depot intelligent inspection robot and instruction that computer sends；
Environment adjusting device includes dehumidification equipment, temperature equipment and ventilation installation, corresponding dehumidification equipment, temperature equipment, ventilation installation are controlled by computer, and carry out alarm by alarm device, alert consitions is: MW temperature is more than 30 DEG C, relative humidity is more than 80%, and gas concentration lwevel is more than 5%.
Battery management system module is for the duty of dynamic monitoring electrical source of power module；
Power module is that sensing detection module, data acquisition module, central processing unit, ultra broadband reader, robotically-driven module and ultra broadband locating module are powered；
Sensing detection module is internal and the temperature of silo external environment condition, humidity, gas concentration lwevel and image information for real-time detection grain heap, and the data monitored are transferred to computer；
Data acquisition module converts the analogue signal that sensing detection module collects to digital signal, and is sent to computer by wireless communication module；
Central processing unit is for processing the instruction of the instruction and data acquisition module accepting the instruction of battery management system transmission, the instruction of power module, sensing detection module, central processing unit exchanges with wireless communication module data, and central processing unit is used for controlling robotically-driven module；
Ultra broadband label launches UWB pulse sequences with 7.5Ghz frequency, ultra broadband reader receives UWB pulse sequences and resolves thus the time of advent obtaining pulse train stabs and label data, the synchronized device of data that ultra broadband reader obtains sends location-server to after processing, location-server sends a signal to central processing unit, and command adapted thereto made by central processing unit；
Robotically-driven module is used for driving the walking of grain depot intelligent inspection robot and turning to；
Ultra broadband locating module real time emission ultra-broadband signal ultra broadband positioner passes through location-server after receiving ultra-wideband impulse signal and measures the real time position of grain depot intelligent inspection robot and upload to computer in real time.
Ultra broadband positioner is used for receiving ultra-wideband impulse signal, and measures the real time position of grain depot intelligent inspection robot by location-server and upload to computer in real time.
Wireless communication module includes sensor assembly, ADC and transceiver.
Computer includes system initialization module, data processing module, robot control module, Grain Storage Control EM equipment module, data memory module and system database；
System database includes system backup module and system journal module.
nullAdopt technique scheme，The method have the advantages that the present invention can be used for big-and-middle-sized grain depot for solving manual measurement grain stack temperature in foodstuff preservation process、Humidity、Caking、Go mouldy、It is big that the grain feelings parameters such as heating and insect pest also exist workload、Inefficient problem，And overcome existing automatization silo Inspection and monitoring system need to grain pile in sensing node many、The monitoring problem such as dead angle and Maintenance Difficulty，Utilize the measuring robots with autonomous and precise locating function and the sensing detection carried and communication system that navigate within grain heap，Optional position grain feelings parameter can be radioed to the intelligent monitor system of Control Room，Grain reserves loss will be greatly reduced、Increase substantially efficiency and reduce storage cost，Can be widely applied to big-and-middle-sized grain depot realize in real time、Dynamic and omnibearing monitoring the state of foodstuff，Reduce the loss in foodstuff preservation process.
In sum, the present invention autonomous, precise positioning, grain heap humiture can detect in real time and automatic control and adjustment in grain is piled, it is possible to achieve the comprehensive monitoring the state of foodstuff of Real-time and Dynamic and grain storage environment full-automatic regulation.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the present invention；
Fig. 2 is the control principle drawing of grain depot intelligent inspection robot combined with radio communication module in Fig. 1；
Fig. 3 be in Fig. 1 wireless communication module in conjunction with the structural representation of grain depot Study of Intelligent Robot Control device；
Fig. 4 is the structural representation of Fig. 1 Computer.
Detailed description of the invention
As Figure 1-4, a kind of grain conditions in grain depot Intelligent Measurement of the present invention and monitoring system, control device, wireless communication module, ultra broadband positioner, environment adjusting device, computer and alarm device including grain depot intelligent inspection robot；
Grain depot intelligent inspection robot controls device and includes battery management system module, power module, sensing detection module, data acquisition module, central processing unit, ultra broadband label, ultra broadband reader, location-server, lock unit, robotically-driven module and ultra broadband locating module；
Central processing unit by data collecting module collected to grain different position, monitoring point, heap surface and the internal environmental information of grain heap pass through wireless communication module and upload to computer in real time；The concrete detection means of data acquisition module is prior art, it is possible to for infra-red detection, it is also possible to for probe detection.
Grain depot intelligent inspection robot controls device and includes ultra broadband locating module, ultra broadband locating module real time emission ultra-broadband signal, ultra broadband positioner measures the real time position of grain depot intelligent inspection robot by location-server after receiving the pulse signal of ultra broadband locating module and uploads to computer in real time；
Real time dynamic measurement that sensing detection module is responsible in silo in MW temperature, relative humidity, silo gas concentration lwevel and monitoring, and its data are issued computer by central processing unit, and perform robot and instruction that computer sends；
Environment adjusting device includes dehumidification equipment, temperature equipment and ventilation installation, corresponding dehumidification equipment, temperature equipment, ventilation installation are controlled by computer, and carry out alarm by alarm device, alert consitions is: MW temperature is more than 30 DEG C, relative humidity is more than 80%, gas concentration lwevel is more than 5%, and dehumidification equipment, temperature equipment and ventilation installation are prior art.
Battery management system module is for the duty of dynamic monitoring electrical source of power module, and the present invention selects the battery management system module that product type is EV01 of energy company limited of Huizhou City hundred million；
Power module is that sensing detection module, data acquisition module, central processing unit, ultra broadband reader, robotically-driven module and ultra broadband locating module are powered, and power module of the present invention selects Beijing firm that Electronics Co., Ltd.'s product type is the power module of WDA20-30；
Sensing detection module is internal and the temperature of silo external environment condition, humidity, gas concentration lwevel and image information for real-time detection grain heap, and the data monitored are transferred to computer；
Data acquisition module converts the analogue signal that sensing detection module collects to digital signal, and is sent to computer by wireless communication module；Data acquisition module of the present invention selects Chengdu Bo Rui Electronic Science and Technology Co., Ltd. product type to be the data acquisition module of MODBUSRS485；
Central processing unit is for processing the instruction of the instruction and data acquisition module accepting the instruction of battery management system transmission, the instruction of power module, sensing detection module, central processing unit exchanges with wireless communication module data, and central processing unit is used for controlling robotically-driven module；
Ultra broadband label launches UWB pulse sequences with 7.5Ghz frequency, ultra broadband reader receives UWB pulse sequences and resolves thus the time of advent obtaining pulse train stabs and label data, location-server is sent to after the synchronized device synchronization process of data that ultra broadband reader obtains, location-server sends a signal to central processing unit, and command adapted thereto made by central processing unit；
Robotically-driven module is used for driving the walking of grain depot intelligent inspection robot and turning to；
Ultra broadband locating module real time emission ultra-broadband signal, being erected at after the ultra broadband positioner of silo receives ultra-wideband impulse signal and measure the real time position of grain depot intelligent inspection robot by location-server and upload to computer in real time, ultra broadband locating module and ultra broadband label are Jiangsu DONN Technology Co., Ltd. and produce.
Ultra broadband positioner is used for receiving ultra-wideband impulse signal, and measures the real time position of grain depot intelligent inspection robot by location-server and upload to computer in real time.
Computer includes system initialization module, data processing module, robot control module, Grain Storage Control EM equipment module, data memory module and system database；
System database includes system backup module and system journal module.
The creeper undercarriage of grain depot intelligent inspection robot can ensure that it is walked on grain is piled and is not absorbed in grain heap, there is the power-driven system providing onward impulse, adjust the steering of direction of advance, surface can be piled at grain and creep into and detect the internal grain storage parameter of grain heap, and can sample in grain heap inside and carry out local drug delivery；The external sense system that grain depot intelligent inspection robot body carries can be used for detecting the sensing and detecting system of grain storage surrounding；Grain depot intelligent inspection robot controls system and has information transmission and motion control function, grain depot intelligent inspection robot movement locus wireless location system；The sensing detection module of grain depot intelligent inspection robot, ultra broadband locating module and central processing unit communication link；Robotically-driven module is made up of deflection unit and mobile unit, the deflection unit of design robot and moving movement unit and structure of being end-to-end.With rigid multi-body dynamics, two kinds of typical motor patterns of silo supervisory-controlled robot are carried out kinematic analysis, it is thus achieved that the moving displacement of robot and speed, the control strategy etc. of robot motion.
The location navigation of described grain depot intelligent inspection robot adopts ultra broadband locating module to solve the independent navigation problem of grain depot measuring robots.In grain depot environment, planning is arranged location reference point (also referred to as locating base station) and installs ultra broadband reader, ultra broadband label is built in grain depot intelligent inspection robot, ultra broadband label launches UWB pulse sequences with 7.5Ghz frequency, reader receives UWB pulse sequences and resolves thus the time of advent obtaining pulse train stabs and label data, location-server is sent to after the synchronized device synchronization process of data that reader obtains, system is according to the stamp time of advent received, label present position and movement locus can be obtained according to triangle polyester fibre algorithm, by locating platform, data are carried out combining merga pass GIS software and the real time position of tested point can be shown on electronic chart thus realizing visualization.Silo is arranged ultra broadband locating base station, built-in pulse ultra-broad band (IR-UWB) positions label (Tag) in silo measuring robots, build a UWB sensor node network (as shown in the figure), adopt the indoor precise positioning system based on IR-UWB technology, the accurate measurement of signal intensity is carried out according to the attribute propagating pulse, integrate the time difference (TDOA), based on signal intensity (RSS) algorithm, to determine silo measuring robots coordinate position, it is achieved robot precise positioning navigation.
Sensing detection module and data acquisition module gather the relevant parameter of silo grain feelings for field monitoring instrument, such as carbon dioxide etc. in cereal temperature, MW temperature, relative humidity, grain moisture content, silo, and timing or send to computer according to instruction；The sampled data received is shown and stores by computer in a tabular form, then by it compared with the alarming value set, if measured value is beyond set point, then by screen display alarm or audio alert, and print record.Meanwhile, computer can send control instruction to device controller, and computer controls dehumidification equipment, temperature equipment and ventilation installation according to instruction and carries out cool-down dehumidification, to ensure grain storage quality.Computer can also start acoustic-optic alarm by alarm command, and notice grain depot management personnel take corresponding measure to guarantee grain storage safety.Central processing unit core adopts the arm processor S3C2440, dominant frequency 400MHZ based on 920T kernel of low-power consumption, it is adaptable to real time environment.
Wireless communication module includes sensor assembly, ADC and transceiver；Wireless communication module adopts ZigBee wireless transport module, ZigBee wireless transport module selects Guangzhou Zhi Yuan electronics corporation product type to be the wireless transport module of ZM5168, grain is piled inside and outside sensor and the analogue signal humiture information obtained is transferred to data acquisition module, data acquisition module converts the analogue signal collected to digital signal, is sent to computer by ZigBee wireless transport module.Wireless communication module adopts the self-organizing network system of ZigBee, it is adaptable to automatically control and remote control field, it is possible to embed various equipment.
Computer includes system initialization module, data processing module, robot control module, Grain Storage Control EM equipment module, data memory module and system database；Computer is based on Windows application development platform, and data base Server adopts SQLSERVER2008, the server operated under X86-based that can be stable and PC, comprehensively the MicrosoftWindows operating system of compatible Microsoft；Computer can set that the movement rate of intelligent inspection robot, motor pattern；The temperature and humidity information in silo and the additional position accurately of temperature and humidity information can be monitored in real time；Computer can set that the temperature humidity bound of silo zones of different, condition overload alarm；May browse through, inquire about and preserve the historical track of silo measuring robots, silo humiture information.
The shape of the present invention, material, structure etc. are not done any pro forma restriction by the present embodiment; every any simple modification, equivalent variations and modification above example made according to the technical spirit of the present invention, belongs to the protection domain of technical solution of the present invention.
Claims (5)
1. a grain conditions in grain depot Intelligent Measurement and monitoring system, it is characterised in that: include grain depot intelligent inspection robot and control device, wireless communication module, ultra broadband positioner, environment adjusting device, computer and alarm device；
Grain depot intelligent inspection robot controls device and includes battery management system module, power module, sensing detection module, data acquisition module, central processing unit, ultra broadband label, lock unit, ultra broadband reader, location-server, robotically-driven module and ultra broadband locating module；
Central processing unit by data collecting module collected to grain different position, monitoring point, heap surface and grain heap in environmental information upload to computer in real time by wireless communication module；Grain depot intelligent inspection robot controls device and includes ultra broadband locating module, ultra broadband locating module real time emission ultra-broadband signal, ultra broadband positioner measures the real time position of grain depot intelligent inspection robot by location-server after receiving the pulse signal of ultra broadband locating module and uploads to computer in real time；
Real time dynamic measurement that sensing detection module is responsible in silo in MW temperature, relative humidity, silo gas concentration lwevel and monitoring, and its data are issued computer by central processing unit, and perform grain depot intelligent inspection robot and instruction that computer sends；
Environment adjusting device includes dehumidification equipment, temperature equipment and ventilation installation, corresponding dehumidification equipment, temperature equipment, ventilation installation are controlled by computer, and carry out alarm by alarm device, alert consitions is: MW temperature is more than 30 DEG C, relative humidity is more than 80%, and gas concentration lwevel is more than 5%.
2. a grain conditions in grain depot Intelligent Measurement and monitoring system, it is characterised in that: battery management system module is for the duty of dynamic monitoring electrical source of power module；
Power module is that sensing detection module, data acquisition module, central processing unit, ultra broadband reader, robotically-driven module and ultra broadband locating module are powered；
Sensing detection module is internal and the temperature of silo external environment condition, humidity, gas concentration lwevel and image information for real-time detection grain heap, and the data monitored are transferred to computer；
Data acquisition module converts the analogue signal that sensing detection module collects to digital signal, and is sent to computer by wireless communication module；
Central processing unit is for processing the instruction of the instruction and data acquisition module accepting the instruction of battery management system transmission, the instruction of power module, sensing detection module, central processing unit exchanges with wireless communication module data, and central processing unit is used for controlling robotically-driven module；
Ultra broadband label launches UWB pulse sequences with 7.5Ghz frequency, ultra broadband reader receives UWB pulse sequences and resolves thus the time of advent obtaining pulse train stabs and label data, the synchronized device of data that ultra broadband reader obtains sends location-server to after processing, location-server sends a signal to central processing unit, and command adapted thereto made by central processing unit；
Robotically-driven module is used for driving the walking of grain depot intelligent inspection robot and turning to；
Ultra broadband locating module real time emission ultra-broadband signal ultra broadband positioner passes through location-server after receiving ultra-wideband impulse signal and measures the real time position of grain depot intelligent inspection robot and upload to computer in real time.
3. a kind of grain conditions in grain depot Intelligent Measurement according to claim 1 and monitoring system, it is characterized in that: ultra broadband positioner is used for receiving ultra-wideband impulse signal, and measures the real time position of grain depot intelligent inspection robot by location-server and upload to computer in real time.
4. a kind of grain conditions in grain depot Intelligent Measurement according to claim 1 and monitoring system, it is characterised in that: wireless communication module includes sensor assembly, ADC and transceiver.
5. a kind of grain conditions in grain depot Intelligent Measurement according to claim 1 and monitoring system, it is characterised in that: computer includes system initialization module, data processing module, robot control module, Grain Storage Control EM equipment module, data memory module and system database；
System database includes system backup module and system journal module.
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