CN109732619A - A kind of grain depot based on robot is taken precautions against natural calamities cruising inspection system and method - Google Patents
A kind of grain depot based on robot is taken precautions against natural calamities cruising inspection system and method Download PDFInfo
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- CN109732619A CN109732619A CN201910132457.0A CN201910132457A CN109732619A CN 109732619 A CN109732619 A CN 109732619A CN 201910132457 A CN201910132457 A CN 201910132457A CN 109732619 A CN109732619 A CN 109732619A
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Abstract
The invention belongs to robotic technology fields, and in particular to a kind of grain depot based on robot is taken precautions against natural calamities cruising inspection system and method, and robot application to stifling operation, by assignment statistics number of swiping the card, proper calculation fumigates the activity duration.Vehicle detection function, robot inspection to designated position are captured picture and are identified using algorithm identification technology to picture, if recognizing vehicle, then trigger vehicle and disobey and stop alerting.Using lora communication module mobile collection grain depot information, covering is wide, connection is more, rate is low, at low cost, power consumption is few.
Description
Technical field
The invention belongs to artificial intelligence technologys, robotic technology field, and in particular to a kind of grain depot based on robot is anti-
Calamity cruising inspection system and method.
Background technique
In current techniques, for inspection, the daily routine patrols of grain depot administrator check each grain depot, action packet
Include ventilation equipment operating condition, refrigeration equipment operating condition, the temperature and humidity situation of grain feelings, Switch for door and window state, etc. information carry out
Record.For stifling, artificial application uses medicine box or nonflammable vessel, and stifling dispensing point is uniformly distributed.Timekeeper outside storehouse
The to master time (ordinary circumstance is once 30 minutes), time-out will remind.To the end of being administered, personnel are all withdrawn from, and check dispensing
Number.Since insecticide is volatile poisonous substance.After stifling application, safety measure is carried out in reservoir area, personnel is forbidden to enter
Stifling region, hangs warning line and sign board as required, it is ensured that this time fumigant insect killing work is in place；Thoroughly kill pest.
Patent document CN201510275077.4 discloses a kind of Intelligent robot inspection system for cable tunnel, main
It include airmanship, automatic detecting, long-range monitoring and gas collecting；But the program does not meet the application of grain depot, does not have
Realize the supervision of stifling business, the monitoring etc. of rule-breaking vehicle parking.
Summary of the invention
In order to solve technological deficiency existing in the prior art, the invention proposes a kind of grain depots based on robot to take precautions against natural calamities
Cruising inspection system and method.
The invention is realized by the following technical scheme:
A kind of grain depot based on robot is taken precautions against natural calamities cruising inspection system, and the robot is made of main body, elevating lever and holder, institute
It states and camera is installed on holder, gas detection equipment, card reader, stifling button and the first LoRa are installed on the ontology and communicate mould
Block；The stifling button, for controlling the beginning and end of stifling operation；Grain feelings box, the grain feelings box are equipped in grain depot
2nd LoRa communication module is installed；Robot is obtained by the first LoRa communication module and the 2nd LoRa communication module
The case where grain depot information.
Preferably, the card reader, for counting the demographic of stifling operation disengaging grain depot.
Preferably, the case where grain depot information include grain depot temperature, humidity and/or pressure value information.
Preferably, robot realizes autonomous cruise, can carry out daily repeatability according to inspection route planned in advance
Inspection；Automatic charging threshold value is arranged in robot, and when then triggering automatic charging task lower than the threshold value, robot self-navigation is to filling
Electricity point charges.
Preferably, the gas detection equipment whether there is hydrogen phosphide for detecting grain depot periphery in robot inspection
Leakage, and leakage is alerted.
A kind of grain depot based on robot is taken precautions against natural calamities method for inspecting, comprising steps of
(1) robot reaches the navigation spots of stifling grain depot；
(2) judge whether to press stifling button, then start stifling task in this way；
(3) whether the personnel that judgement has been swiped the card are consistent with the input work staff list in stifling task, such as consistent, then
Start the stifling calculating time；
(4) judge whether stifling operation is overtime, if so, carrying out overtime alarm, otherwise, stifling operation terminates；
(5) outbound total number of persons is counted, judges whether to match with storage number；Personnel's title if it is not, casting is not swiped the card；It is no
Then, judge whether to press stifling button, if so, then terminating stifling operation.
Further, the stifling task includes input work staff list, stifling beginning duration.
Further, further include that vehicle is separated to stop detecting, the vehicle, which is disobeyed to stop detecting, includes:
Robot inspection captures picture to specified point；
It is sent to algorithm identification service；
Judge whether there is vehicle around grain depot based on algorithm identification technology, if so, triggering the rule-breaking vehicle of the specified point
Driving alarm, otherwise terminate vehicle disobey stop testing process.
Further, automatic charging threshold value is arranged in robot, then triggers automatic charging task, robot when being lower than the threshold value
Self-navigation is charged to charge point.
The present invention also provides a kind of non-volatile memory mediums comprising one or more computer instruction, described one
Item or a plurality of computer instruction realize above-mentioned method for inspecting when being executed.
Compared with prior art, the present invention at least has the following beneficial effects or advantage:
1, the grain feelings box of grain depot installs LoRa module, can adopt automatically when warehouse each by robot inspection
Collect grain feelings information, robot inspection system is at corresponding alarm.LoRa technology is wide with covering, connection is more, rate is low, cost
The features such as low, power consumption is lacked, the information such as temperature, humidity, pressure value of this programme application remote collection grain depot.
2, robot carries card reader, and real-time statistics fumigate operating personnel's information, ensures the safety for the warehouse personnel that enters.Machine
Device people installs stifling switch button, presses start button and starts timing, the high-pitched speaker that time-out can be carried by robot is sent out
It alerts out.
3, hydrogen phosphide detecting instrument is installed by robot, automatically around library inspection two weeks after the completion of stifling dispensing, real-time detection
Whether there is or not leakage situation, in conjunction with human bioequivalence function, close human hair is gone out to advise and swarms into alarm from casting and backstage.
4, robot identifies target device picture by capturing according to the inspection route of setting, utilizes image recognition, identification
The operating status of equipment out, and patrol record is saved as, facilitate access.
5, grain depot has one-shot job, and robot can realize supervising in overall process for provisional task, while save operation
Whole process record, convenient for thumbing for later period.
Detailed description of the invention
The present invention is described in further details below with reference to attached drawing；
Fig. 1 is that robot architecture of the invention schemes；
Fig. 2 is stifling job control method flow chart of the invention；
Fig. 3, which is that vehicle of the invention is separated, stops detection method flow chart.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are some of the embodiments of the present invention, instead of all the embodiments.Based on this hair
Embodiment in bright, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
The present invention provides a kind of grain depot based on robot and takes precautions against natural calamities cruising inspection system, as shown in Figure 1, including on machine user tripod head
Camera, robot body installation phosphine gas detection device, card reader and stifling button are installed.The robot property held is stifling to appoint
Business, the duration timing of operation and personnel swipe the card statistics.Whether robot leaks around silo inspection, detection hydrogen phosphide.Robot
Daily Round Check toxic gas leakage situation, vehicle, which are disobeyed, stops situation.Robot supervision disengaging grain management, engineering construction supervision etc. are interim
Task.
Robot realizes independent navigation, and holder turns to and camera captures control.Stifling task, typing are specified before stifling operation
Worker information fumigates duration, robot patrol route.Start stifling and terminate the stifling statistical number of person that will swipe the card, ensures
The personnel safety of stifling operation, robot carries out automatic leakage patrol task after operation, encounters close issue of personnel and forbids
Close to alarm.Equipment routing inspection, lighting apparatus switch, close window, vehicle, which are disobeyed, to stop detecting, and camera is captured against target, is used
Image recognition algorithm identifies the state in picture.Temporary duty supervision, comprising: robot supervision disengaging grain management, engineering construction
The temporary duties such as supervision.
Grain depot based on robot is taken precautions against natural calamities method for inspecting, comprising steps of
1, card reader is installed by robot, for counting the demographic of stifling operation disengaging silo.
2, the robot property held fumigates task, robot arrive the specified silo doorway property held realize formulation stifling task (including
Put in storage the staff list of operation, fumigates and starts duration), operating personnel presses stifling button and starts to fumigate, input work personnel point
It does not swipe the card entrance, robot inspection system provides personnel and swipes the card statistical number of person function.After stifling operation, stifling button is pressed
Terminate currently stifling task, outbound personnel, which swipe the card, to fulfil assignment, and method flow is as shown in Figure 2.
3, robot realizes autonomous cruise, and daily repeated inspection can be carried out according to inspection route planned in advance.
The threshold value and patrol plan of robot management system setting automatic charging.
4, image recognition is carried out using algorithm, progress vehicle, which is disobeyed, to stop detecting.As shown in figure 3, comprising steps of
The inspection of 4.1 robots is to specified point capture pictures；
4.2 are sent to algorithm identification service；
4.3 judge whether surrounding has vehicle based on algorithm identification, if so, the rule-breaking vehicle driving alarm of the position is triggered,
Otherwise terminate vehicle disobey stop testing process；
5, robot body installs phosphine gas concentration detecting instrument, and silo periphery is detected when robot inspection
With the presence or absence of leakage situation.
6, grain depot often has provisional job task, such as disengaging grain, engineering construction job task, and someone is needed to carry out
Real time monitoring, can be carried out at the scene on duty by robot, can periodically carry out voice reminder, machine user tripod head during on duty
It rotates, periodically take pictures, the operation that whole video recording, monitoring center are propagandaed directed to communicate, realizing supervising in overall process for provisional task, while saving work
The whole record of industry, convenient for thumbing for later period.
7, short message occurs for cruising inspection system to relevant person in charge in the case where finding hydrogen phosphide leakage alarm.
Preferably, robot using laser navigation realize autonomous cruise, can according to inspection route planned in advance into
The daily repeated inspection of row goes out to advise from casting in conjunction with human body recognition technology to the human hair close to danger zone, and triggers on backstage
Swarm into alarm.
Preferably, robot inspection system provides personnel and swipes the card statistical number of person function, stifling operation button is provided, for marking
Remember the beginning and end of stifling operation.
Preferably, robot inspection captures picture to designated position, carries out image using algorithm, identification rule-breaking vehicle stops
Vehicle.
Preferably, robot body installs phosphine gas concentration detecting instrument, and after stifling operation dispensing, robot is pressed
According to the route of setting, detecting silo periphery whether there is leakage situation, and cruising inspection system is the case where finding hydrogen phosphide leakage alarm
Lower generation short message is to relevant person in charge.
Preferably, grain depot often has provisional job task, such as passes in and out grain, engineering construction, the inspection of No Parking
Survey etc. job tasks, need someone to monitor in real time, can be carried out at the scene by robot it is on duty, it is on duty during can determine
Shi Jinhang voice reminder robot cloud platform rotation, is periodically taken pictures, the operation that whole video recording, monitoring center are propagandaed directed to communicate, and is realized provisional
Task is supervised in overall process, while saving the whole record of operation, convenient for thumbing for later period.
Preferably, automatic charging threshold value is set in robot management system, robot then triggers automatically lower than this electricity
Charging tasks, robot self-navigation to charge point are leaned against and are charged on charging pile.It is charged to the threshold values that can be come out of setting,
Then robot, which comes out, continues inspection.
The present invention also provides a kind of non-volatile memory mediums comprising one or more computer instruction, described one
Item or a plurality of computer instruction realize above-mentioned method for inspecting when being executed.
Particular embodiments described above has carried out further in detail the purpose of the present invention, technical scheme and beneficial effects
Describe in detail it is bright, it should be understood that the above is only a specific embodiment of the present invention, the guarantor being not intended to limit the present invention
Protect range.Without departing from the spirit and scope of the invention, any modification, equivalent substitution, improvement and etc. done also belong to this
Within the protection scope of invention.
Claims (10)
- The cruising inspection system 1. a kind of grain depot based on robot is taken precautions against natural calamities, which is characterized in that the robot is by main body, elevating lever and cloud Platform forms, and camera is installed on the holder, and gas detection equipment, card reader, stifling button and first are installed on the ontology LoRa communication module；The stifling button, for controlling the beginning and end of stifling operation；Grain feelings box, institute are equipped in grain depot It states grain feelings box and the 2nd LoRa communication module is installed；Robot is communicated by the first LoRa communication module with the 2nd LoRa Module, obtain grain depot the case where information.
- The cruising inspection system 2. grain depot according to claim 1 based on robot is taken precautions against natural calamities, which is characterized in that the card reader, For counting the demographic of stifling operation disengaging grain depot.
- The cruising inspection system 3. grain depot according to claim 1 based on robot is taken precautions against natural calamities, which is characterized in that the case where grain depot believes Breath includes temperature, humidity or/and the pressure value information of grain depot.
- The cruising inspection system 4. grain depot according to claim 1 based on robot is taken precautions against natural calamities, which is characterized in that robot, which utilizes, to swash Light realizes autonomous cruise, and daily repeated inspection can be carried out according to inspection route planned in advance；Robot setting is automatic Charge threshold, when then triggering automatic charging task lower than the threshold value, robot self-navigation is charged to charge point.
- The cruising inspection system 5. grain depot according to claim 1 based on robot is taken precautions against natural calamities, which is characterized in that the gas detection Equipment is leaked with the presence or absence of hydrogen phosphide for detecting grain depot periphery in robot inspection, and is alerted to leakage.
- The method for inspecting 6. a kind of grain depot based on robot is taken precautions against natural calamities, which is characterized in that comprising steps of(1) robot reaches the navigation spots of stifling grain depot；(2) judge whether to press stifling button, then start stifling task in this way；(3) whether the personnel that judgement has been swiped the card are consistent with the input work staff list in stifling task, such as consistent, then start It is stifling to calculate the time；(4) judge whether stifling operation is overtime, if so, carrying out overtime alarm, otherwise, stifling operation terminates；(5) outbound total number of persons is counted, judges whether to match with storage number；Personnel's title if it is not, casting is not swiped the card；Otherwise, Judge whether to press stifling button, if so, then terminating stifling operation.
- The method for inspecting 7. grain depot according to claim 6 based on robot is taken precautions against natural calamities, which is characterized in that the stifling task Including input work staff list, stifling beginning duration.
- The method for inspecting 8. grain depot according to claim 6 based on robot is taken precautions against natural calamities, which is characterized in that further include that vehicle is disobeyed Stop detecting, the vehicle, which is disobeyed to stop detecting, includes:Robot inspection captures picture to specified point；It is sent to algorithm identification service；Judge whether there is vehicle around grain depot based on algorithm identification technology, if so, triggering the rule-breaking vehicle driving of the specified point Alarm, otherwise terminate vehicle disobey stop testing process.
- The method for inspecting 9. grain depot according to claim 6 based on robot is taken precautions against natural calamities, which is characterized in that robot setting is certainly Dynamic charge threshold, when then triggering automatic charging task lower than the threshold value, robot self-navigation is charged to charge point.
- 10. a kind of non-volatile memory medium comprising one or more computer instruction, one or more computer refer to It enables and realizes any method for inspecting of claim 6-9 when being executed.
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| CN201910132457.0A CN109732619A (en) | 2019-02-22 | 2019-02-22 | A kind of grain depot based on robot is taken precautions against natural calamities cruising inspection system and method |
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| CN201910132457.0A CN109732619A (en) | 2019-02-22 | 2019-02-22 | A kind of grain depot based on robot is taken precautions against natural calamities cruising inspection system and method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114706383A (en) * | 2022-03-10 | 2022-07-05 | 广州高新兴机器人有限公司 | Robot-based granary phosphine gas detection method and robot |
| CN116308033A (en) * | 2023-02-14 | 2023-06-23 | 杭州展俊科技有限公司 | Inventory management method based on ERP system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114706383A (en) * | 2022-03-10 | 2022-07-05 | 广州高新兴机器人有限公司 | Robot-based granary phosphine gas detection method and robot |
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