CN107883115A - A kind of temperature measurement system of grain storage and device based on pipe robot - Google Patents
A kind of temperature measurement system of grain storage and device based on pipe robot Download PDFInfo
- Publication number
- CN107883115A CN107883115A CN201711478968.5A CN201711478968A CN107883115A CN 107883115 A CN107883115 A CN 107883115A CN 201711478968 A CN201711478968 A CN 201711478968A CN 107883115 A CN107883115 A CN 107883115A
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- Prior art keywords
- pipe robot
- temperature
- module
- pipe
- thermometric
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Abstract
The invention discloses a kind of temperature measurement system of grain storage and device based on pipe robot, the temp measuring system includes pipe robot system, rail system and terminal control system, the rail system is arranged in silo, for providing tracks for the pipe robot system, the pipe robot system is in same LAN with the terminal control system, and both can be carried out data transmission by network connection or bluetooth connection；The pipe robot system includes transmission module, control module, mixed-media network modules mixed-media, obstacle avoidance module, temperature measurement module, measurement module and counting module, the invention also discloses a kind of temperature measuring equipment being adapted with above-mentioned temp measuring system, including pipe robot, thermometric pipeline and mobile terminal device, thermometric pipeline is arranged in silo, for providing tracks for pipe robot, communicated to connect between pipe robot and mobile terminal device；The present invention has the characteristics of temperature measurement accuracy is high, and cost is low.
Description
Technical field
The present invention relates to grain storage management field, more particularly to a kind of temperature measurement system of grain storage based on pipe robot and
Device.
Background technology
Grain is essential article in life, in order to protect grain well, typically can all build silo progress
Protection, during protection, temperature has a very big impact to the protective capability of silo, holds if temperature is too high or too low
The quickening of grain deteriorating time is easily caused, at this moment just needs to measure grain temperature by necessary means and is tied according to measurement
Fruit is adjusted, and existing barn temperature measuring method has：
A kind of grain temperature detection structure of application number CN201621396091.6 utility application, this patent refer to
Temperature survey is carried out using cable for measuring temperature, places a plurality of cable for measuring temperature in silo, every cable for measuring temperature is close to silo wall and every
Cable for measuring temperature carries multiple DS18B20 temperature sensors.On the one hand, this patent applies a plurality of cable for measuring temperature and multiple DS18B20
Temperature sensor, cost is high, safeguards the shortcomings of inconvenient；On the other hand, a plurality of cable for measuring temperature of this patent is placed against wall,
This patent can not effectively monitor the temperature of silo center, it is known that it is higher closer to silo center temperature, so
The testing result of patent will have a greatly reduced quality；And one kind of application number CN201620516531.0 utility application
Barn temperature measuring device, the major function of this patent are to understand all temperature in all thermometric regions, this patent in the same time
In measurement, sectional installation effectiveness is low, and needs to insert cable for measuring temperature in grain heap during thermometric, is inserting thermometric electricity
Cable for measuring temperature is likely to result in during cable to be damaged because of friction, causes temp measuring system failure fire may also can be triggered to cause not
Necessary loss.
Though both the above patent can play thermometric effect, cost height be present, engineering practicability is poor, cable arrangements are cumbersome
The deficiencies of leakage fire danger part even be present.
The content of the invention
It is an object of the invention to for technical problem present in prior art, there is provided a kind of based on pipe robot
Temperature measurement system of grain storage and device, concrete technical scheme are as follows：
On the one hand, there is provided a kind of temperature measurement system of grain storage based on pipe robot, including pipe robot system, rail system with
And terminal control system, the rail system are arranged in silo, for providing tracks for the pipe robot system,
The pipe robot system and the terminal control system are in same LAN, both can by network connection or
Bluetooth connection carries out data transmission；The pipe robot system includes transmission module, control module, mixed-media network modules mixed-media, avoidance mould
Block, temperature measurement module, measurement module and counting module, wherein：
The transmission module is used as the motion control mechanism of the pipe robot system；
The control module is used as the control hinge of the whole pipe robot system；
The mixed-media network modules mixed-media is used to create the communication environment between the pipe robot system and terminal control system；
The obstacle avoidance module is used for detecting whether have barrier on the rail system, while protects the pipe robot system
System；
The temperature measurement module is used for measurement temperature data；
The measurement module is used for the total movement travel for measuring the pipe robot system；
The counting module is used for the group number for measuring the pipe robot systematic survey temperature data.
Further improvement of the present invention, display module is additionally provided with the terminal control system.
On the other hand, there is provided a kind of barn temperature measuring device based on pipe robot, described device include pipe robot,
Thermometric pipeline and mobile terminal device, the thermometric pipeline are arranged in silo, for providing motion for the pipe robot
Track, communicated to connect between the pipe robot and the mobile terminal device；The pipe robot includes vehicle frame, stepping
Motor, wheel, crawler belt, counter, avoidance device, thermal detector, battery, controller, measuring appliance and networked transmitter, the stepping electricity
Machine, wheel, crawler belt and battery combination form transmission device, are provided with four wheels, two wheels are connected by bearing
The front end for being arranged on vehicle frame is connect, two wheels are arranged on the rear end of vehicle frame, vehicle frame both sides wheel by bearing connection
Connect by the crawler belt, the stepper motor is arranged on the wheel connection bearing, and the car is driven by stepper motor
Wheel rotates；The counter, avoidance device, thermal detector, controller, measuring appliance and networked transmitter are installed on the vehicle frame,
Wherein：
The transmission device is used to drive the pipe robot to move；
The controller is the control centre of the whole pipe robot, and the pipe is controlled in response to the mobile terminal device
The running of pipeline robot；
The networked transmitter is used to create the communication environment between the pipe robot and mobile terminal device；
Whether the front that the avoidance device is used to detect the pipe robot motion has barrier, while protects the pipe machine
Device people；
The thermal detector is used to detect the temperature value in the thermometric track；
The measuring appliance is used for the total movement travel for measuring the pipe robot；
The counter is used for the group number for measuring the pipe robot measurement temperature data.
Further improvement of the present invention, the lower surface of the thermometric pipeline is smooth plate face, and top is arcuate structure,
And it is further opened with aperture on the arcuate structure.
Further improvement of the present invention, is provided with a window on the thermometric pipeline, and the window size is more than described
The volume of pipe robot.
Further improvement of the present invention, a magnet is additionally provided with described the window's position, the magnet is used as pipeline machine
The starting point of people's temperature survey, the magnet and the counter are used cooperatively.
Further improvement of the present invention, the thermometric step of described device include：
The temperature measuring point of limit is internally provided with the thermometric pipeline；
The pipe robot is controlled in the enterprising trip temperature detection of default temperature measuring point；Simultaneously
Judge the electricity of the pipe robot, and the motion of the pipe robot is controlled according to judged result, and
Judge whether the pipe robot completes the temperature survey of a cycle, and according to judged result to the mobile terminal
Equipment emission temperature measurement data；And
Aforementioned four step is repeated, carries out the measurement and collection of multigroup temperature data.
In the embodiment of the present invention, the measurement completed to grain temperature is combined by thermometric pipeline and pipe robot, according to
Measurement result can take corresponding cooling means so that grain temperature is maintained at one and is suitable in the environment of grain storage, specifically
For：By setting thermometric pipeline inside silo, thermometric pipeline is the good thin metal material of thermal conductivity, and by thermometric pipeline
Bottom is arranged to burnishing surface, and is subject to blasting treatment, can so be supplied to one good running environment of pipe robot, protects
The stable progress of thermometric process is demonstrate,proved, meanwhile, thermometric conduit upper is arranged to arcuate structure, is further opened with arcuate structure small
Hole, to ensure that thermometric pipeline internal temperature is consistent with silo external temperature, improve the accuracy of thermometric, during thermometric, first surveying
Warm pipeline is internally provided with limit temperature measuring point, is then put into pipe robot by the window being arranged on pipeline, pipe machine
Device people runs to specified temperature measuring point measurement, is transferred data to after being measured on the terminal devices such as computer, the threshold with setting
Value compares, and judges whether temperature is suitable, then takes corresponding counter-measure；Compared with prior art, it is of the invention beneficial
Effect is：
The present invention has the characteristic that engineering usability is strong, expense is low, safe using thermometric pipeline as sense channel；
Profit of the invention enters trip temperature by the temperature sensor that the thermometric speed being installed on pipe robot is fast, measurement accuracy is high
Detection, the accuracy of temperature detection is on the one hand improved, on the other hand convenient implementation, cost are relatively low；
Single unit system of the present invention is simple, and low manufacture cost, manufacture craft are uncomplicated, can be widely applied.
Brief description of the drawings
Fig. 1 is that present system forms structured flowchart；
Fig. 2 is inventive pipeline robot architecture's composition schematic diagram；
Fig. 3 is thermometric pipeline structure setting schematic diagram of the present invention.
Accompanying drawing indicates：100- pipe robots, 101- vehicle frames, 102- stepper motors, 103- wheels, 104- crawler belts, 105-
Counter, 106- avoidances device, 107- thermal detectors, 108- batteries, 109- controllers, 110- measuring appliances, 111- networked transmitters,
200- thermometrics pipeline, 201- windows, 202- magnet, 300- silos.
Embodiment
In order that those skilled in the art more fully understand the present invention program, below in conjunction with the embodiment of the present invention
Accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described.Obviously, described embodiment is only
Part of the embodiment of the present invention, rather than whole embodiments, presently preferred embodiments of the present invention is given in accompanying drawing.The present invention can
To realize in many different forms, however it is not limited to embodiment described herein, on the contrary, provide the mesh of these embodiments
Be to make the understanding more thorough and comprehensive to the disclosure.Based on the embodiment in the present invention, the common skill in this area
The every other embodiment that art personnel are obtained under the premise of creative work is not made, belong to the model that the present invention protects
Enclose.
A kind of temperature measurement system of grain storage and device based on pipe robot are provided in the present invention, refering to Fig. 1, wherein, it is described
System includes pipe robot system, rail system and terminal control system, and a silo, rail system are arranged at silo
In 300, for providing tracks for pipe robot system, pipe robot system is in same office with terminal control system
In the net of domain, both can be carried out data transmission by network connection or bluetooth connection；Further, pipe robot system bag
Transmission module, control module, mixed-media network modules mixed-media, obstacle avoidance module, temperature measurement module, measurement module and counting module are included, in embodiment,
Transmission module is used as the motion control mechanism of pipe robot system；Control module is used as the control of whole pipe robot system
Hinge；Mixed-media network modules mixed-media is used to create the communication environment between pipe robot system and terminal control system；Obstacle avoidance module is used for
Whether there are barrier, while protective conduit robot system on detection rail system；Temperature measurement module is used for measurement temperature data；Survey
Measure total movement travel that module is used for metering conduit robot system；Counting module is used for metering conduit robot system measurement temperature
The group number of degrees of data.
In embodiments of the present invention, be provided with display module in terminal control system, display module be used for by temperature measurement module,
The data that measurement module and counting module measure are shown in terminal control system, and personnel easy to operation enter according to data situation
The corresponding counter-measure of row.
Refering to Fig. 2 and Fig. 3, in combination with Fig. 1, in embodiments of the present invention, system provided by the invention and device are one by one
It is corresponding, wherein, pipe robot 100, rail system correspond to thermometric pipeline in pipe robot system corresponding intrument in system
200, terminal control system corresponds to mobile terminal device, and thermometric pipeline 200 is arranged in silo 300, is carried for pipe robot 100
For tracks, communicated to connect between pipe robot 100 and mobile terminal device, mobile terminal device can be to pipe robot
100 send operation signal, and pipe robot 100 can send data-signal to mobile terminal device；The pipe robot includes
Vehicle frame 101, stepper motor 102, wheel 103, crawler belt 104, counter 105, avoidance device 106, thermal detector 107, battery 108, control
Device 109, measuring appliance 110 and networked transmitter 111 processed, further, stepper motor 102, wheel 103, crawler belt 104 and battery
108 combinations form transmission device, specifically, battery 108 is power source, battery 108 is by driving stepper motor 102 to rotate driving
Pipe robot 100 moves；In embodiment, four wheels 103 are provided with, two wheels are arranged on vehicle frame by bearing connection
101 front end, two wheels are arranged on the rear end of vehicle frame 101 by bearing connection, and the both sides wheel of vehicle frame 101 passes through crawler belt 104
To connect, stepper motor 102 is arranged on wheel 103 and connected on bearing, drives the wheel 103 to rotate by stepper motor 102, from
And drive whole pipe robot 100；Counter 105, avoidance device 106, thermal detector 107, controller 109, measuring appliance 110 and net
Network transmitter 111 is installed on vehicle frame 101；In embodiment, transmission device is used to drive pipe robot 100 to move,
It is more sane when setting crawler belt 104 also whole pipe robot 100 to be run in thermometric pipeline 200 on wheel, ensure thermometric
The progress of process；Controller 109 is the control centre of whole pipe robot, in response to mobile terminal device control pipeline machine
The running of people 100；Networked transmitter 111 is used to create the communication environment between pipe robot and mobile terminal device so that
Signal transmission and data transmission can be carried out between the two；The front that avoidance device 106 is used to detect the motion of pipe robot 100 is
No to have barrier, when detecting that there is barrier in front, avoidance device 106 sends a signal to controller 109, the basis of controller 109
Front obstacle is hidden out by the signal control pipeline robot 100 received, avoids pipe robot 100 and is damaged because of collision,
Play certain protective effect；The thermal detector 107 is used to detect the temperature value in the thermometric track；The measuring appliance 110
For measuring total movement travel of the pipe robot；The counter 105 is used to measure the pipe robot measurement temperature
The group number of degrees of data.
Preferably, in embodiments of the present invention, battery 108 is the lithium battery of Large Copacity, when the capacity of battery 108 is less than 15%
When, the control pipeline robot 100 of controller 109 returns to section start, is on the one hand detained thermometric pipeline to prevent pipe robot 100
Unnecessary trouble is caused in 200, on the other hand facilitates staff to robot charging or changes robot.
Preferably, in embodiments of the present invention, counter 105 is specially a tongue tube sensor, with reference to Fig. 3, in thermometric
A window 201 is offered on pipeline 200, a magnet 202 is provided with window 201, tongue tube sensor and magnet 202 coordinate
Using judging robot original position and the number of turns, the present invention using the magnet 202 being arranged on window 201 as starting point, when
Pipe robot 100 will be reached at magnet 202 after the circle operation of thermometric pipeline 200 1, and tongue tube sensor is because leading in magnetic field
It is logical, after controller 109 receives this signal, after pipe robot 100 is run into a circle automatically, set on thermometric pipeline 200
The temperature data that collects of temperature measuring point as one group of data, and pass data on mobile terminal device, by showing mould
Block is particularly shown, pipe robot 100 after one group of data is sent into mobile terminal device, can by this group of zeros data, then
Carry out the measurement of next group of data；Data before pipe robot 100 reaches magnet next time are arranged to second group, with such
Push away, measurable multi-group data；Tongue tube sensor can effectively avoid the temperature measurement data caused by robot stroke reason from being forbidden and drawn
The cumulative errors of hair, silo staff is so facilitated to check the temperature of each period；Optionally, other count can be set
Means come record pipe robot 100 measurement data group number, the present invention simultaneously be not limited and fix.
Preferably, in embodiments of the present invention, infrared transmission module is provided with avoidance device 106, by launching infrared ray
To detect barrier, when there is barrier in front, avoidance device receives the infrared signal that barrier radiation is returned, and avoidance device will be believed
Number incoming controller, controller is made according to signal effectively to be judged to be damaged because of collision to prevent robot；Optionally, avoidance device
106, which may also set up in addition to infrared transmission module other, has the device of barrier avoiding function.
Preferably, in embodiments of the present invention, thermal detector 107 is a temperature sensor DS18B20, for detecting temperature tube
The temperature of preset in road 200, i.e. temperature in silo 300；The temperature sensor DS18B20 has detection speed soon, by mistake
The small advantage of difference, after thermal detector 107 tests temperature value, is converted into data signal by temperature value and is sent to controller 109, controller
109 pass the signal along on mobile terminal device again, are provided with temperature bound threshold value, mobile terminal on the mobile terminal device
Equipment receive controller 109 transmission temperature value after compared with the threshold value of setting, if set temperature threshold scope
Interior, temperature value will be displayed as red, so facilitate staff to find that the temperature of those positions of silo is improper, and take corresponding
Solution；Optionally, thermal detector 107 can have the temperature sensor of good thermometric effect for other.
In embodiments of the present invention, controller 109 is the CPU of pipe robot 100, controller 109 and meter
Telecommunications connection, is used between number device 105, avoidance device 106, thermal detector 107, battery 108, measuring appliance 110, networked transmitter 111
In control machine people speed, distance travelled, data transmission, temperature survey, barrier evade, the function such as battery detecting, implementing
Example in, when battery 108 capacity be less than 15% when, the control pipeline robot 100 of controller 109 return section start, on the one hand to prevent
Pipe robot 100, which is trapped in thermometric pipeline 200, causes unnecessary trouble, on the other hand facilitates staff to pipeline machine
People 100 charges or changed robot；Further, controller 109 also as pipe robot 100 and mobile terminal device it
Between signal centre.
In embodiments of the present invention, the Hall element module of measuring appliance 110 1, specially an A44E Integrated Halls switch,
For robot measurement distance travelled, the principle that A44E Integrated Halls switch carrys out robot measurement enforcement mileage is：Pipeline machine
One permanent magnet is housed, each rotation of wheel 103 will receive one by Hall element module on the wheel 103 of people 100
Pulse, Hall element module, which often collects a pulse, to provide a counting interrupt to controller 109, often interrupt a table
Show that wheel turns around, number is interrupted and be multiplied by the girth of the wheel 103 of pipe robot 100 just drawing the distance of robot ride, in reality
During border uses, measuring appliance 110 is not limited to Hall element module, can be selected according to actual conditions, as long as can complete
The function of measuring appliance 110.
In embodiments of the present invention, networked transmitter 111 is a 4G mixed-media network modules mixed-medias, and the 4G mixed-media network modules mixed-medias can create one
The network environment to be communicated between pipe robot 100 and mobile terminal device, pipe robot 100 is facilitated to survey thermal detector 107
The temperature data measured is delivered on mobile terminal device, and real-time exhibition is on the display of mobile terminal device, with convenient
Staff understands the temperature in silo 300 in real time；Further, also may be used between pipe robot 100 and mobile terminal device
To be communicated by connecting bluetooth, as long as data transfer between the two can be completed, the present invention is not carried out to this
Limit and fixed.
In embodiments of the present invention, the thermometric pipeline 200 is made up of the good thin metal of thermal conductivity, thermometric pipeline 200
Bottom is smooth plate face, and coordinates and set on pipe robot 100 on wheel 103 to increase frictional force by blasting treatment
The crawler belt put, it is ensured that the stability of the operation in thermometric pipeline 200 of pipe robot 100, provided to pipe robot 100
One good thermometric environment；The top of thermometric pipeline 200 is that curved metal is formed, and curved metal has numerous apertures, one
The grain that aspect ensures to be stored in silo 300 will not be entered in thermometric pipeline 200, on the other hand may insure thermometric pipeline
Temperature is identical with the tested place's temperature of silo 300 in 200, to improve the accuracy of temperature survey；The window 201 is located in thermometric
Conduit upper, robot or the pipe robot low with changing electricity can be placed by the way that window 201 is convenient.
In embodiments of the present invention, the thermometric process of described device includes：
The temperature measuring point of limit is internally provided with the thermometric pipeline；
The pipe robot is controlled in the enterprising trip temperature detection of default temperature measuring point；Simultaneously
Judge the electricity of the pipe robot, and the motion of the pipe robot is controlled according to judged result, and
Judge whether the pipe robot completes the temperature survey of a cycle, and according to judged result to the mobile terminal
Equipment emission temperature measurement data, and
Repeat the above steps, carry out the measurement and collection of multigroup temperature data.
Limited individual temperature measuring point is specially set in thermometric pipeline 200, and control pipeline robot 100 runs to each thermometric
Trip temperature data acquisition is clicked through, after the completion of, original position is returned to, passes data to mobile terminal device, completes one group of data
Measurement, the measurements of each group of data can be in different temperature measuring point progress, i.e., it is each to carry out temperature using pipe robot 100
Before degrees of data collection, it is required for carrying out the setting of temperature measuring point, measures Temperature numerical in thermometric pipeline 200 maximum magnitude,
Temperature value i.e. in silo 300.
In the embodiment of the present invention, the measurement completed to grain temperature is combined by thermometric pipeline and pipe robot, according to
Measurement result can take corresponding cooling means so that grain temperature is maintained at one and is suitable in the environment of grain storage, specifically
For：By setting thermometric pipeline inside silo, thermometric pipeline is the good thin metal material of thermal conductivity, and by thermometric pipeline
Bottom is arranged to burnishing surface, and is subject to blasting treatment, can so be supplied to one good running environment of pipe robot, protects
The stable progress of thermometric process is demonstrate,proved, meanwhile, thermometric conduit upper is arranged to arcuate structure, is further opened with arcuate structure small
Hole, to ensure that thermometric pipeline internal temperature is consistent with silo external temperature, improve the accuracy of thermometric, during thermometric, first surveying
Warm pipeline is internally provided with limit temperature measuring point, is then put into pipe robot by the window being arranged on pipeline, pipe machine
Device people runs to specified temperature measuring point measurement, is transferred data to after being measured on the terminal devices such as computer, the threshold with setting
Value compares, and judges whether temperature is suitable, then takes corresponding counter-measure；Compared with prior art, it is of the invention beneficial
Effect is：
1st, the present invention has the characteristic that engineering usability is strong, expense is low, safe using thermometric pipeline as sense channel；
2nd, present invention profit carries out temperature by the temperature sensor that the thermometric speed being installed on pipe robot is fast, measurement accuracy is high
Degree detection, the accuracy of temperature detection is on the one hand improved, on the other hand convenient implementation, cost are relatively low；
3rd, single unit system of the present invention is simple, and low manufacture cost, manufacture craft are uncomplicated, can be widely applied.
Presently preferred embodiments of the present invention is these are only, the scope of the claims of the present invention is not intended to limit, although with reference to foregoing reality
Apply example the present invention is described in detail, for those skilled in the art comes, it still can be to foregoing each tool
Technical scheme described in body embodiment is modified, or carries out equivalence replacement to which part technical characteristic.Every profit
The equivalent structure made of description of the invention and accompanying drawing content, other related technical areas are directly or indirectly used in,
Similarly within scope of patent protection of the present invention.
Claims (7)
1. a kind of temperature measurement system of grain storage based on pipe robot, it is characterised in that including pipe robot system, rail system
And terminal control system, the rail system are arranged in silo, for providing motion rail for the pipe robot system
Road, the pipe robot system are in same LAN with the terminal control system, and both can pass through network connection
Or bluetooth connection carries out data transmission；The pipe robot system includes transmission module, control module, mixed-media network modules mixed-media, kept away
Barrier module, temperature measurement module, measurement module and counting module, wherein：
The transmission module is used as the motion control mechanism of the pipe robot system；
The control module is used as the control hinge of the whole pipe robot system；
The mixed-media network modules mixed-media is used to create the communication environment between the pipe robot system and terminal control system；
The obstacle avoidance module is used for detecting whether have barrier on the rail system, while protects the pipe robot system
System；
The temperature measurement module is used for measurement temperature data；
The measurement module is used for the total movement travel for measuring the pipe robot system；
The counting module is used for the group number for measuring the pipe robot systematic survey temperature data.
A kind of 2. temperature measurement system of grain storage based on pipe robot according to claim 1, it is characterised in that the terminal
Display module is additionally provided with control system.
3. a kind of barn temperature measuring device based on pipe robot, it is characterised in that described device includes pipe robot, thermometric
Pipeline and mobile terminal device, the thermometric pipeline are arranged in silo, for providing tracks for the pipe robot,
Communicated to connect between the pipe robot and the mobile terminal device；The pipe robot include vehicle frame, stepper motor,
Wheel, crawler belt, counter, avoidance device, thermal detector, battery, controller, measuring appliance and networked transmitter, the stepper motor, car
Wheel, crawler belt and battery combination form transmission device, are provided with four wheels, and two wheels are connected by bearing and set
In the front end of vehicle frame, two wheels are arranged on the rear end of vehicle frame by bearing connection, and vehicle frame both sides wheel passes through institute
Crawler belt is stated to connect, the stepper motor is arranged on the wheel connection bearing, and the vehicle wheel rotation is driven by stepper motor；
The counter, avoidance device, thermal detector, controller, measuring appliance and networked transmitter are installed on the vehicle frame, wherein：
The transmission device is used to drive the pipe robot to move；
The controller is the control centre of the whole pipe robot, and the pipe is controlled in response to the mobile terminal device
The running of pipeline robot；
The networked transmitter is used to create the communication environment between the pipe robot and mobile terminal device；
Whether the front that the avoidance device is used to detect the pipe robot motion has barrier, while protects the pipe machine
Device people；
The thermal detector is used to detect the temperature value in the thermometric track；
The measuring appliance is used for the total movement travel for measuring the pipe robot；
The counter is used for the group number for measuring the pipe robot measurement temperature data.
A kind of 4. barn temperature measuring device based on pipe robot according to claim 3, it is characterised in that the thermometric
The lower surface of pipeline is smooth plate face, and top is arcuate structure, and is further opened with aperture on the arcuate structure.
5. a kind of barn temperature measuring device based on pipe robot according to claim 3, it is characterised in that in the survey
A window is provided with warm pipeline, the window size is more than the volume of the pipe robot.
A kind of 6. barn temperature measuring device based on pipe robot according to claim 5, it is characterised in that the window
Opening position is additionally provided with a magnet, and the magnet is used as the starting point of pipe robot temperature survey, the magnet and the counting
Device is used cooperatively.
A kind of 7. barn temperature measuring device based on pipe robot according to claim 3, it is characterised in that described device
Thermometric step include：
The temperature measuring point of limit is internally provided with the thermometric pipeline；
The pipe robot is controlled in the enterprising trip temperature detection of default temperature measuring point；Simultaneously
Judge the electricity of the pipe robot, and the motion of the pipe robot is controlled according to judged result, and
Judge whether the pipe robot completes the temperature survey of a cycle, and according to judged result to the mobile terminal
Equipment emission temperature measurement data；And
Aforementioned four step is repeated, carries out the measurement and collection of multigroup temperature data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201711478968.5A CN107883115A (en) | 2017-12-29 | 2017-12-29 | A kind of temperature measurement system of grain storage and device based on pipe robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711478968.5A CN107883115A (en) | 2017-12-29 | 2017-12-29 | A kind of temperature measurement system of grain storage and device based on pipe robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113547531A (en) * | 2021-09-18 | 2021-10-26 | 华特数字科技有限公司 | Positioning method and system of intelligent flow measurement robot |
| CN114135740A (en) * | 2021-12-01 | 2022-03-04 | 国网江苏省电力有限公司连云港供电分公司 | Pipeline inspection robot |
| CN114704709A (en) * | 2022-03-30 | 2022-07-05 | 长江地球物理探测（武汉）有限公司 | Pipeline endoscope detection and tracing device |
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| CN114704709B (en) * | 2022-03-30 | 2024-03-19 | 长江地球物理探测（武汉）有限公司 | Pipeline endoscopic detection and tracing device |
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