CN108844581B

CN108844581B - Self-moving type grain condition multi-point detection system

Info

Publication number: CN108844581B
Application number: CN201810699263.4A
Authority: CN
Inventors: 甄彤; 祝玉华; 吴建军; 祝清川; 李智慧; 吕宗旺
Original assignee: Henan University of Technology
Current assignee: Henan University of Technology
Priority date: 2018-06-29
Filing date: 2018-06-29
Publication date: 2021-07-02
Anticipated expiration: 2038-06-29
Also published as: CN108844581A

Abstract

The invention discloses a self-moving type grain condition multipoint detection system, which comprises a passing device, a detection device and a control system, wherein the passing device is used for moving in a grain pile by self, the detection device is used for detecting the grain condition, the control system is used for controlling the passing device and the detection device, and the detection device and the control system are arranged in the passing device; the walking device comprises a casing for accommodating the detection device and the control system, an auger stem rotationally connected with the casing in a single degree of freedom, and a driving element for driving the auger stem to rotate; the control system comprises a control unit, a wireless communication unit and a navigation system for determining the specific position of the detection point in the granary; the detection device is connected to the input end of the control unit, and the wireless communication unit is connected to the output end of the control unit and used for transmitting detected data to the upper computer; the driving element is connected to the input end of the control unit and used for controlling the starting and stopping of the walking device. The invention greatly reduces wiring and greatly increases the detection point positions of the granary.

Description

Self-moving type grain condition multi-point detection system

Technical Field

The invention relates to a detection device, in particular to a detection device for detecting grain conditions.

Background

At present, in the process of grain storage, due to the bioactivity of grains, once storage conditions and grain quality differences occur, the grains often generate phenomena of heating, mildew, insect pest breeding and the like, so that a plurality of problems of serious quality reduction and the like of the stored grains are caused. In order to keep the stability of the grain quality in the storage process, reduce the loss of stored grains and ensure the long-term safe storage of the grains, a special grain condition detection device is needed to detect various parameters such as the temperature, the humidity, the insect pest condition, the gas type and the gas content of a grain depot. But the existing grain condition detection device has the following defects: firstly, because the granary capacity is huge, the storehouses are numerous, in order to ensure the grain quality and avoid local mildew and insect damage, multi-point detection in one granary is needed. Dozens or even hundreds of detection points require a large number of detection sensors of the same type, and the detection system has high cost, complicated signal lines and difficult maintenance. Secondly, its detection sampling device, for example grain condition check rod, is detained in the grain heap mostly, because grain condition check rod places in the grain heap when grain is taken out of the warehouse or overhauls and makes, need the manual work to dig it out from the grain heap, not only intensity of labour is big and very big reduction the efficiency of grain operation of leaving the warehouse, simultaneously easy damage signal line and take out worm pipe. Meanwhile, the current grain depot mostly adopts the mode of circulating fumigation disinsection under the film or nitrogen gas controlled disinsection and gas generated by grains, so that the air environment in the grain depot is extremely poor, the body of workers in the grain depot is uncomfortable, and the maintenance or the digging of a detection rod has to be stopped. Therefore, there is a need for improvement of the prior art to solve the above technical problems.

Disclosure of Invention

In view of the above, the present invention provides a self-moving multipoint grain condition detection system, which can use one detection device to detect any point in a grain depot, greatly increase the number of measurement and control points in a limited space of the grain depot, and greatly reduce the number of grain condition detection rods, and then can freely enter and exit in a grain pile, thereby avoiding the influence on the grain delivery operation, and specifically, the system is implemented by the following technical scheme:

a self-moving type multipoint grain condition detection system comprises a passing device, a detection device and a control system, wherein the passing device is used for moving in a grain pile, the detection device is used for detecting the grain condition, the control system is used for controlling the passing device and the detection device, and the detection device and the control system are arranged in the passing device; the walking device comprises a machine shell for accommodating the detection device and the control system, an auger stem rotationally connected with the machine shell in a single degree of freedom, and a driving element for driving the auger stem to rotate; the control system comprises a control unit, a wireless communication unit and a navigation system for determining the specific position of the detection point in the granary; the detection device is connected to the input end of the control unit, and the wireless communication unit is connected to the output end of the control unit and used for transmitting detected data to the upper computer; the driving element is connected to the input end of the control unit and used for controlling the starting and stopping of the walking device; the casing is streamline, and a steering device for changing the moving direction of the traversing device is arranged at the rear end of the casing; the steering device comprises a gliding board arranged on the casing and a driving device used for driving the gliding board to extend out of the casing or retract into the casing;

the detection device comprises a grain insect detection system, the grain insect detection system comprises an insect trapping hole arranged on the casing, a funnel arranged in the casing and positioned at the lower end of the insect trapping hole and used for collecting grain insects, and an insect collecting chamber used for storing the grain insects, and the insect collecting chamber is positioned at the lower end of the funnel; the detection device further comprises a gas detection system; the gas detection system comprises an air passage arranged in the shell and a vacuum chamber used for extracting gas in the grain pile and storing the gas, and the funnel, the insect collecting chamber and the vacuum chamber are all connected with the air passage; the gas sensor is connected with the control unit and used for transmitting the detected gas parameters to the upper computer; the insect collecting chamber is arranged at the front end of the vacuum chamber, which is positioned at the rear end of the insect collecting chamber, on the air passage is provided with a one-way valve, and the inlet of the one-way valve is provided with a filter screen.

Furthermore, a weighing sensor used for weighing the grain insects is arranged at the bottom of the insect collecting chamber on the shell, and the weighing sensor is connected with the control unit and used for transmitting the weighed data to the upper computer.

Further, the grain condition detection system further comprises a temperature sensor and a humidity sensor which are used for detecting the temperature and the humidity in the grain stack, and the humidity sensor and the temperature transmitter are arranged at the rear end of the glide plate and are connected with the input end of the control unit.

Further, an insect pumping pipe for pumping the grain insects out of the machine shell is arranged on the side wall of the insect collecting chamber, and an air connector is arranged at an air outlet of the insect pumping pipe.

Further, the insect attracting holes are obliquely and obliquely arranged along the axial direction of the spiral drill rod in a backward inclining mode.

The invention has the beneficial effects that: the shell can freely shuttle and stay in the grain pile, has wider detection range and more accurate detection result, can effectively warn local heating, mildew and insect damage of the grain pile, and is convenient to monitor the grain condition of the grain depot from the whole part regardless of the local part. The invention can adopt a mode of detecting wireless transmission data in real time to measure and control the grain condition, uses less detection equipment, avoids complex wiring, and has good economical efficiency and high detection efficiency. When the grains need to be taken out of the warehouse, the grains do not need to be dug manually, and the grain digging machine is convenient to use, time-saving and labor-saving. Other advantageous effects of the present invention will be further described in conjunction with the following specific examples.

Drawings

The invention is further described below with reference to the following figures and examples:

FIG. 1 is a front view of the present invention;

FIG. 2 is a top plan view of the front view of the present invention;

FIG. 3 is an enlarged view at A;

in the figure: 1. a housing; 2. a auger stem; 3. a glide plate; 4. a trapping region; 5. a funnel; 6. a rack and pinion assembly; 7. a drive device; 8. a battery; 9. an insect collecting chamber; 10. a weighing sensor; 11. a gas joint; 12. an air tube; 13. a vacuum chamber; 14. a drive element; 15. a vacuum generating device; 16. an airway; 17. a one-way valve; 18. a filter screen; 19. a temperature and humidity sensor; 20. a control unit.

Detailed Description

As shown in fig. 1-3: the self-moving type grain condition multipoint detection system in the embodiment comprises a passing device, a detection device and a control system, wherein the passing device is used for moving in a grain stack by self, the detection device is used for detecting the grain condition, the control system is used for controlling the passing device and the detection device, and the detection device and the control system are arranged in the passing device; the traversing device comprises a machine shell 1 for accommodating the detection device and the control system, an auger stem 2 rotationally connected with the machine shell 1 in a single degree of freedom, and a driving element 14 for driving the auger stem 2 to rotate; the drive element 14 can be a drive motor or a stepper motor or a servo motor, or even a pneumatic motor.

The control system comprises a control unit, a wireless communication unit and a navigation system for determining the specific position of the detection point in the granary; the detection device is connected to the input end of the control unit, and the wireless communication unit is connected to the output end of the control unit and used for transmitting detected data to the upper computer; the driving element 14 is connected to an input end of the control unit and is used for controlling the start and stop of the traversing device. Of course, the vacuum generator and the battery 8 for supplying power to the present invention are also included, and the battery 8 may be similar to a mobile phone battery or a dry battery, which is the prior art and will not be described herein again. The vacuum generating device 15 may be a vacuum pump of model 590VEB12 from langasi instruments (shanghai) ltd or a vacuum pump similar to that of a household breast pump, etc., the motor of which is connected to the output of the control unit. The control unit can be a mobile phone chip, a single chip microcomputer or a PLC controller, and preferably a small-size single chip microcomputer. Further, the wireless communication unit and the electronic components of the navigation system are packaged together with the control unit.

A plurality of insect trapping holes are arranged on the casing 1 to form a trapping area 4; a funnel 5 for collecting the grain insects, an insect collecting chamber 9 for storing the grain insects and a vacuum chamber 13 for extracting and storing gas are arranged in the shell 1; an air channel 16 is further arranged inside the machine shell 1, and the funnel 5, the vacuum chamber 13 and the insect collecting chamber 9 are connected with the air channel 16.

The gas detection system includes a gas sensor (not shown); the wireless communication unit and the gas sensor are connected to the control unit and used for sending the detected gas type and gas parameters to the upper computer.

When the device is used, the device is started, the machine shell 1 is driven by the spiral drill rod 2 to pass through the grain pile and stay in the grain pile at the right time, and grain insects enter the funnel 5 from the insect attracting hole during the stay. Before the next movement of the casing 1, the control unit outputs an instruction to the vacuum pump motor, the vacuum pump works to suck the grain insects in the hopper 5 into the insect collecting chamber 9, and the weight of the grain insects is weighed by a weighing sensor 10. The weighing sensor 10 transmits data to the control unit, and the wireless communication unit transmits the data to the upper computer to calculate or estimate the number of the grain insects.

Meanwhile, the gas sensor of the gas detection system can be arranged in the gas channel 16, the vacuum chamber 13 or outside the casing 1, and is preferably arranged in the vacuum chamber. The vacuum pump can pump the gas in the grain pile around the casing into the vacuum chamber 13, so that the gas is retained in the vacuum chamber 13 to facilitate the detection of the gas. The data detected by the gas detection system form data to be transmitted to the upper computer through the wireless communication unit under the control of the control unit. Of course, the gas detection system can also be replaced by a gas detector in the prior art, which is not described in detail herein for the prior art.

In this embodiment, the insect collecting chamber 9 is arranged at the front end of the vacuum chamber 13, the air duct 16 is provided with a check valve 17 at the front end of the vacuum chamber 13 at the rear end of the insect collecting chamber 9, and a filter screen 18 is arranged at the inlet of the check valve 17. The one-way valve 17 and the filter screen 18 are arranged at the inlet of the one-way valve 17, so that on one hand, few grain insects can be prevented from entering the vacuum chamber 13, and the grain insects are prevented from entering the vacuum system to damage a vacuum element. When the invention is used for a long time, even if the grain insects are blocked in the air passage at the front end of the filter screen 18. Because the one-way valve 17 and the filter screen 18 are positioned at the front end of the rear end vacuum chamber 13 of the insect collecting chamber 9 and are arranged close to the insect collecting chamber 9, when the pressure of the blocked grain insects in the vacuum chamber in a non-pumping state of the vacuum pump is not enough to open the one-way valve 17, the blocked grain insects can naturally fall into the insect collecting chamber 9 without negative pressure adsorption; on the other hand, because the vacuum pumps all extract the gas around the current machine case 1 before the machine case 1 moves downwards, and the vacuum pumps stop working after a period of time, the gas outlet of the vacuum chamber 13 is closed, the check valve 17 is in a cut-off state, the gas around the current machine case 1 is stored in the vacuum chamber 13, and the last gas in the vacuum chamber 13 is exhausted during the operation of the vacuum pumps, therefore, the check valve 17 has the functions of gas retention and ventilation for the vacuum chamber 13, so that the gas detection system detects the gas at a new position. Sufficient time is needed for gas detection, and the gas maintenance of the vacuum chamber 13 can create sufficient conditions for gas detection, so that the detection of the gas in the gas channel 16 in the non-position flow is more accurate, and the specific position of the gas can be more favorably judged so as to more easily determine the abnormal local position of the grain pile.

In this embodiment, the trapping region 4 is arranged at the upper part of the casing, and the insect attracting holes are obliquely inclined backwards along the axial direction of the auger stem. The insect trap hole arranged in this way can not make the magazines in the grain pile enter the insect collecting chamber 9. Funnel 5 is located the below of traping district 4, insect collecting chamber 9 is located funnel 5 under, can increase the air current supply of traping district 4 above funnel 5 and reduce insect collecting chamber 9 negative pressure in air flue 16, has effectively avoided the interior grain insect of insect collecting chamber 9 to get into in the air flue 16 of insect collecting chamber 9 rear end.

In this embodiment, the navigation system may be a GPS navigation system or a beidou navigation system, and the steering device includes a glide plate 3 which is arranged perpendicular to the axis of the auger stem 2 and is connected to the casing 1 in a single-free sliding manner, and a driving device for driving the casing to move. The driving device can be a stepping motor or a servo motor. The machine shell 1 makes regular and irregular plane motion in the grain pile under the action of the gliding board 3 and the navigation system. When the machine case 1 needs to turn, the glide board 3 on the side where the machine case 1 will turn is opened, the tail of the side glide board 3 will be reacted by the grain, and the glide board 3 on the other side of the machine case 1 is not opened. Therefore, after the auger stem drives the casing 1 for a certain distance, the direction of movement is necessarily changed because the casing 1 is simultaneously subjected to a force perpendicular to the axis of the auger stem during the movement. The navigation system and the steering device can be arranged to detect any position in the same plane in the grain pile, so that the detection points are greatly increased. Similarly, the invention can be placed on any plane under the manual assistance, and then any position of the whole grain pile is detected.

In this embodiment, still include the temperature and humidity sensor 19 that is used for detecting temperature and humidity in the grain heap, wet temperature passes ware 19 and sets up in the rear end of glide plate 3 and is connected with the control unit. The temperature and humidity sensor 19 detects data and transmits the data to the upper computer. The temperature and the humidity are detected in real time, so that accurate grasping of grain conditions is facilitated, early warning is realized, and grain deterioration is avoided.

In this embodiment, a weighing sensor 19 for weighing the grain insects is arranged at the bottom of the insect collecting chamber 9 on the housing 1, and the weighing sensor 10 is connected with the control unit and used for transmitting the weighed data to the upper computer through the wireless communication unit. When the circulation fumigation disinsection or the nitrogen gas-regulating disinsection is adopted in the granary, the quantity of the grain insects is estimated according to the detection result of the weighing sensor, so that the basis is provided for the nitrogen input.

In this embodiment, an insect-extracting pipe 12 for extracting the grain insects out of the enclosure 1 is arranged on the side wall of the insect-collecting chamber 9 and above the weighing device sensor 10, an air connector 11 is arranged at an air outlet of the insect-extracting pipe 12, and after the upper end of the insect-extracting pipe 12 is connected with a negative pressure source, the insects can be conveniently extracted out of the enclosure 1 under the action of negative pressure.

Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.

Claims

1. The utility model provides a from moving formula grain condition multiple spot detecting system which characterized in that: the device comprises a passing device which is used for moving in a grain pile by self, a detection device which is used for detecting the grain condition, and a control system which is used for controlling the passing device and the detection device, wherein the detection device and the control system are arranged in the passing device; the walking device comprises a machine shell for accommodating the detection device and the control system, an auger stem rotationally connected with the machine shell in a single degree of freedom, and a driving element for driving the auger stem to rotate; the control system comprises a control unit, a wireless communication unit and a navigation system for determining the specific position of the detection point in the granary; the detection device is connected to the input end of the control unit, and the wireless communication unit is connected to the output end of the control unit and used for transmitting detected data to the upper computer; the driving element is connected to the input end of the control unit and used for controlling the starting and stopping of the walking device; the casing is streamline, a steering device for changing the moving direction of the running device is arranged at the rear end of the casing, and the steering device comprises a gliding board arranged on the casing and a driving device for driving the gliding board to extend out of the casing or retract into the casing; the detection device comprises a grain insect detection system, the grain insect detection system comprises an insect trapping hole arranged on the casing, a funnel arranged in the casing and positioned at the lower end of the insect trapping hole and used for collecting grain insects, and an insect collecting chamber used for storing the grain insects, and the insect collecting chamber is positioned at the lower end of the funnel; the detection device further comprises a gas detection system; the gas detection system comprises an air passage arranged in the shell and a vacuum chamber used for extracting gas in the grain pile and storing the gas, and the funnel, the insect collecting chamber and the vacuum chamber are all connected with the air passage; the gas sensor is connected with the control unit and used for transmitting the detected gas parameters to the upper computer; the insect collecting chamber is arranged at the front end of the vacuum chamber, which is positioned at the rear end of the insect collecting chamber, on the air passage is provided with a one-way valve, and the inlet of the one-way valve is provided with a filter screen.

2. The self-propelled grain condition multipoint detection system of claim 1, wherein: and a weighing sensor for weighing the grain insects is arranged at the bottom of the insect collecting chamber on the shell, and the weighing sensor is connected with the control unit and used for transmitting the weighed data to the upper computer.

3. The self-propelled grain condition multipoint detection system of claim 2, wherein: the grain condition multipoint detection system further comprises a temperature sensor and a humidity sensor which are used for detecting the temperature and the humidity in the grain stack, and the humidity sensor and the temperature sensor are arranged at the rear end of the glide plate and are connected with the input end of the control unit.

4. The self-propelled grain condition multipoint detection system of claim 3, wherein: an insect pumping pipe used for pumping the grain insects out of the machine shell is arranged on the side wall of the insect collecting chamber, and an air connector is arranged at an air outlet of the insect pumping pipe.

5. The self-propelled grain condition multipoint detection system of claim 4, wherein: the insect attracting holes are obliquely inclined backwards along the axial direction of the spiral drill rod.