CN112013909A - Grain heap grain comprehensive state detection and analysis system and method - Google Patents
Grain heap grain comprehensive state detection and analysis system and method Download PDFInfo
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Abstract
The invention discloses a grain pile grain comprehensive state detection and analysis system and a method, which belong to the technical field of grain monitoring and solve the problem that a monitoring system can only measure a measuring point and a measuring blind area exists; the field data acquisition module also comprises a continuous distance measurement sensing module for continuously acquiring the height and horizontal distance of the grain pile; a background information analysis and control module; and the network module is used for receiving the information acquired by the field data acquisition module and transmitting the operation instruction information by the background information analysis and control module. The invention realizes the data monitoring of the whole grain pile surface, completes the comprehensive monitoring of the grain pile surface data, has good monitoring effect and more timely feedback, and prevents a great deal of economic loss to enterprises.
Description
Technical Field
The invention belongs to the technical field of grain storage, and particularly relates to a grain pile grain comprehensive state detection and analysis system and method.
Background
China is a big agricultural country and the world first food producing country worthy of the name, and from the viewpoint of food stock, both rice and wheat can meet the consumption requirement of more than 1 year. According to introduction, the average grain occupancy of China is continuously higher than the average level of the world since 2010, and more than 470 kilograms in 2019, which is far higher than the standard line of international grain safety of 400 kilograms per capita.
On the background that the reserve level is enough to meet the consumption demand of population, the storage safety problem of a large amount of stored grains becomes a very important problem for the nation and even all enterprises, the grain safety is also a big issue related to the livelihood, and the related technical research on grain storage monitoring is greatly improved in recent years. The safety indexes of the grains comprise physical property indexes and biological property indexes. In the face of large-scale grain stacks in the storage and transportation process, how to quickly master physical and biological characteristic indexes of grains, such as stacking volume, weight, stacking shape, temperature, moisture content, impurity content, activity states of pests and microorganisms and the like, is a problem to be solved in the working process.
In the existing grain storage monitoring technologies, a plurality of measuring points are measured on a grain pile by adopting the rotation of a cradle head, so that the grain state is detected and analyzed by collecting data, and the real-time monitoring of the grain pile is realized.
Disclosure of Invention
The invention aims to:
in order to solve the problem that the existing grain monitoring technology can only measure a measuring point, so that a measuring blind area exists, a grain pile grain comprehensive state detecting and analyzing system and method are provided.
The technical scheme adopted by the invention is as follows:
a grain heap grain comprehensive state detection and analysis system comprises:
the system comprises a field data acquisition module, a data acquisition module and a data acquisition module, wherein the field data acquisition module is used for acquiring grain bulk surface distance information, angle information, temperature information, image information, gas composition information and granary protection facility information, the field data acquisition module comprises a surface temperature measurement module used for measuring the surface temperature of grains and the surface temperatures of walls, doors and windows of the granary, and the surface temperature measurement module is an infrared thermal imaging device; the field data acquisition module also comprises a continuous distance measurement sensing module for continuously acquiring the height and horizontal distance of the grain pile;
the background information analysis and control module is used for controlling, receiving, storing, calculating, analyzing and displaying the information acquired by the field data acquisition module; the background information analysis and control module controls and receives the information acquired by the field data acquisition module, and is used for calculating and analyzing the stack height, volume, weight, temperature distribution state and gas distribution state of the detected grain stack, and displaying the calculation and analysis results and the information acquired by the field data acquisition module;
and the network module is used for receiving the information acquired by the field data acquisition module and transmitting the operation instruction information by the background information analysis and control module.
Further, the field data acquisition module further comprises a gas component detection module and an image information acquisition module, the surface temperature measurement module, the continuous distance measurement sensing module and the image information acquisition module are all connected with a rotatable cradle head, and the cradle head and the gas component detection module are all connected with a sending module.
The continuous ranging sensing module: continuously and accurately measuring distance information between a plurality of points on the surface of the measured grain pile and the continuous distance measurement sensing module, grain pile height and horizontal position information in a non-contact mode, and analyzing and calculating the continuously measured information of the plurality of points to form a virtual measuring surface, thereby avoiding a measuring blind area;
a surface temperature measurement module: measuring real-time temperature information of the surface of a measured grain pile, the wall of a granary and the surface of a door and a window in real time in a thermal imaging mode by adopting an infrared thermal imaging device;
image information acquisition module: the system is used for collecting the image information of the measured grain pile;
a gas component detection module: the device is used for detecting gas composition information of the surface of the measured grain pile, namely H2O, O2, CO and CO2 in the gas of the surface of the measured grain pile;
the holder: the device is used for installing the continuous distance measurement sensing module, the surface temperature measurement module and the image information acquisition module and acquiring corresponding rotation angle information when data acquisition is carried out on a detected point;
a sending module: the system is used for sending data information collected by the continuous ranging sensing module, the surface temperature measurement module, the image information collection module, the gas composition detection module and the holder.
Furthermore, the holder comprises a transverse shaft rotating part and a longitudinal shaft rotating part, the distance measuring sensing module, the surface temperature measuring module and the image information acquisition module are arranged on the transverse shaft rotating part, and the transverse shaft rotating part rotates by 0-180 degrees by taking the transverse shaft as a rotating shaft; the longitudinal axis rotating part rotates by 0-360 degrees by taking the longitudinal axis as a rotating axis.
Further, the background information analysis and control module comprises a central control module, and the central control module is respectively connected with a receiving module, a storage module, a calculation module, an analysis module, a display module and an alarm module.
A receiving module: the system comprises a sending module, a continuous distance measurement sensing module, a surface temperature measurement module, an image information acquisition module, a gas composition detection module and a holder, wherein the sending module is used for sending data information acquired by the continuous distance measurement sensing module, the surface temperature measurement module, the image information acquisition module, the gas composition detection module and the holder;
a calculation module: the device is used for calculating the stack height, the volume and the weight of a measured grain stack, and the horizontal and height coordinates of any measured point position on the surface of the measured grain stack, calculating the height of the middle position of two points according to the actual stacking state of the grain stack, forming a virtual measuring surface by the information obtained by continuous measurement and calculation, and realizing surface coverage type measurement on the grain stack;
an analysis module: the device is used for judging whether the volume, the stack height and the weight of the measured grain stack exceed the limits or not, judging whether the surface temperature of the measured grain stack, the surface temperature of the wall body and the door and the window of the granary and the gas components have overall or local abnormal conditions or not, and whether the safe storage requirements of grains are met or not;
a storage module: the device is used for storing the data information received by the receiving module, the boundary data information of the grain pile to be measured and the result information obtained by the calculating module and the analyzing module;
a display module: the display module is used for displaying the data information stored by the storage module, and the result displayed by the display module comprises:
stacking:
(1) highest point, height, coordinate; judging coordinate points, and outputting in a screenshot form;
(2) points exceeding the limit height, coordinates; alarming when the height is over;
volume: estimating the volume of the grain pile, wherein the unit is m3, and one bit is selected after the decimal point;
weight: estimating the weight of the grain pile in unit t, and taking one bit after the decimal point.
Furthermore, the central control module is used for controlling the operation of the field data acquisition module and controlling the information transmission among the modules. According to the alarm information sent by the alarm module, the system can fix the position (informing the bin number and the coordinates of the problem position in the bin) of the problem (such as abnormal temperature, abnormal humidity, abnormal gas composition and abnormal stacking shape), inform the grain depot custody personnel and timely process the abnormal position.
Further, the network module comprises a wired network module and a wireless network module; the continuous distance measurement sensing module is a laser distance measurement sensing module.
A method for detecting and analyzing the comprehensive state of grain in grain piles comprises the following steps:
(1) acquiring boundary data information of a measured grain pile;
(2) acquiring the distance of the continuous distribution points on the surface of the measured grain pile, the temperature of the continuous distribution points on the surface of the grain pile, the surface temperature of the wall body and the door and window of the granary, gas composition information, the image of the grain pile and the corresponding cradle head rotation angle information when the data acquisition is carried out on the detected points, which are acquired by a field data acquisition module;
(3) the data measurement is carried out once when the cradle head rotates once, and the distance measurement data D acquired at the same time pointnAngle data of holder alphan、βnEstablishing a basic database for standby, wherein: alpha is alphanIs a reaction of with DnThe included angle between the corresponding detection ray and the mounting wall surface of the holder; beta is anIs a reaction of with DnThe corresponding cradle head is parallel to the corner of the direction shaft of the installation wall surface;
(4) calculating virtual intermediate points between every two points according to coordinate measurement data of every two adjacent points in continuous distribution points on the surface of the grain pile measured by a pan-tilt, and converging all the calculated virtual intermediate points to form a virtual measurement surface according to the height and horizontal coordinate changes of the virtual intermediate points;
(5) establishing a measured grain pile height database and a grain pile measured point coordinate database according to the basic database in the step (3), and calculating the pile height of the measured grain pile by combining the virtual measuring surface and the grain type obtained in the step (4);
according to the measured grain pile height database, setting the pile heights of the grain-free points and the boundary points to be 0, judging the grain-free points of the grain-free positions and the effective points of the grain-containing positions of the grain piles, accumulating all the effective points, and calculating the volume and the weight of the measured grain piles;
calculating the temperature distribution state information of the surface of the measured grain pile, the surface temperature information of the wall body and the door and window of the granary and the gas distribution information in the granary according to the temperature distribution data and the gas distribution data measured in the steps (2) to (3);
(6) analyzing and judging whether the stack height, the volume and the weight of the measured grain pile exceed the limits or not according to the calculation result obtained in the step (5); judging whether the temperature, gas component distribution and change state of the measured grain pile meet the safe storage requirement, judging whether the temperatures of the wall body and the surface of a door and a window of the granary exceed the temperature limit of the local wall body or the door and the window, if the analysis result does not meet the safe requirement, giving an alarm prompt and giving a coordinate position of a problem area;
(7) and displaying the obtained results of the height, volume and weight of the measured grain pile.
Further, the calculation method of the virtual intermediate point comprises the following steps: judging the stacking state of the grain, namely one or more of flat stacking, conical stacking or slope stacking, wherein the grain is in a combined form of a plurality of conical stacking or a combined form of conical stacking and flat stacking when entering the warehouse, and is in a combined form of flat stacking and slope stacking when leaving the warehouse, and calculating the height of the middle position according to the self-flowing angle parameter of the grain after obtaining the result of the stacking state.
Further, the calculation method of the measured grain pile height database in the step (5) is according to a formula Hn＝H-Dn·cos∠αn·cos∠βnCalculating the height, wherein HnThe grain pile height of a detected point, H is the installation height of a sensor from the bottom of the bin, and DnDetecting a distance value for the pan/tilt head; the calculation method of the coordinate database of the measured points of the grain heap in the step (5) is according to a formula An＝Dn·sin∠αn，Bn＝Dn·cos∠αn·sin∠βnCalculating coordinate values, wherein AnAnd BnThe coordinates are expressed as (A) as coordinate values of the measured pointn，Bn)。
Further, the method for judging no grain point of the grain pile in the step (5) comprises the following steps:
judging whether there is no grain point or notBreaking into no grain point, taking the grain pile height HnNo food point included:
(1) measured and calculated to obtain HnA point of 0;
(2) measured and calculated to obtain AnA, where a is the distance from the detector to the opposite bulkhead, AnIs the vertical distance from the detected point to the wall surface where the detector is located, An＝Dn·sin∠αn；
(3) Measured and calculated to obtain Bn≧ B1 or BnPoint ≧ b2, wherein b1And b2For measuring the distance from the instrument to the two side walls, BnIs the horizontal parallel distance from the detected point to the point of the detector, Bn＝Dn·cos∠αn·sin∠βn。
Further, the method for calculating the volume and the weight of the measured grain pile in the step (5) comprises the following steps: h for correlating all effective points in time and adjacent positionsnThe value column is a database, and the pile height data of each point on the virtual measuring surface and the pile height data of the side wall depression increasing point and the middle area depression increasing point are substituted into a volume formula
Wherein: Δ d is the spot diameter at the sampling point, HiIs the measured point stack height HMiddle depressionSum of stack heights at points of increased depression for the middle region, HEdge recessAnd (3) calculating the sum of the stack heights of the depression increasing points of the side wall, wherein V is the volume of the grain stack, and the weight of the measured grain stack can be calculated according to a weight formula G which is V.g, wherein G is the grain bulk weight value.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. compared with the grain pile grain monitoring system in the prior art, the grain pile grain monitoring system adopts the method of calculating the virtual middle point in the measurement to obtain the virtual measurement surface, realizes the measurement of the data result covering the whole grain pile surface, and completes the comprehensive monitoring of the grain pile surface data, thereby avoiding the problem that the tripod head has a monitoring blind area in the area which is not measured between two points during the measurement, the possible problems and the generated problems in the area can be comprehensively monitored and timely found, the monitoring effect is good, the feedback is more timely, and the great economic loss of enterprises is prevented.
2. Compared with the prior art, the invention can detect the protective facilities for stacking the grains, adopts the infrared thermal imaging device, not only can detect the surface temperature of the grains, but also can detect the surface temperature of the wall body and the door and window, can obtain the defects of the heat-preservation protective facilities at the position if the local wall body or the door and window has overhigh temperature, can guide grain depot custody personnel to carry out heat-preservation repair treatment on the positions in time, and avoids the grain safety problem caused by the problems of the protective facilities.
3. The invention adopts non-contact temperature measurement, non-contact distance measurement, gas component detection, visual images and the like, realizes automatic non-manual acquisition of key information indexes on the surface of the grain pile in the storage and transportation process in a limited space range, performs background professional analysis, realizes on-site real-time and omnibearing continuous tracking observation and collection of key index information, and gives independent or combined visual analysis results of data, graphs, images and the like to know the state of the grain pile at any time so as to guide and adjust the operation mode and process in time and more effectively ensure the safety of grains in the whole storage, transportation and circulation process.
4. The invention adopts the characteristics of high response frequency, small influence of external factors and high detection precision when the laser sensor is used for detecting a remote object, and ensures that the detection and analysis results are suitable for the requirement on reliability in practical application.
5. The invention adopts the rotary and directional cradle head, can set a corresponding field data acquisition module for the measured grain pile in a limited space, only one measurement sensor for each index is set, and can carry out large-scale information acquisition, thereby greatly reducing the cost and avoiding the detection error caused by a plurality of sensors.
Drawings
FIG. 1 is a system block diagram of the present invention;
FIG. 2 is a schematic view of the analysis of the coordinates and height of the grain heap in accordance with the present invention;
FIG. 3 is a diagram of a model of analysis of the depression in the middle of a grain pile;
FIG. 4 is a diagram of a model of the pit analysis of the side wall of the grain heap.
The labels in the figure are:
the angle alpha is an included angle between the detection ray and the mounting wall surface of the holder;
the angle beta is the rotation angle of the holder parallel to the direction axis of the mounting wall surface;
Hnthe grain pile height of the detected point;
h is the installation height of the sensor from the bin bottom;
Dndetecting a distance value for the pan/tilt head;
p, M, O, P' are all auxiliary marker points.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1
A grain heap grain comprehensive state detection and analysis system comprises:
the system comprises a field data acquisition module, a data acquisition module and a data acquisition module, wherein the field data acquisition module is used for acquiring grain bulk surface distance information, angle information, temperature information, image information, gas composition information and granary protection facility information, the field data acquisition module comprises a surface temperature measurement module used for measuring the surface temperature of grains and the surface temperatures of walls, doors and windows of the granary, and the surface temperature measurement module is an infrared thermal imaging device; the field data acquisition module also comprises a continuous distance measurement sensing module for continuously acquiring the height and horizontal distance of the grain pile;
the background information analysis and control module is used for controlling, receiving, storing, calculating, analyzing and displaying the information acquired by the field data acquisition module;
and the network module is used for receiving the information acquired by the field data acquisition module and transmitting the operation instruction information by the background information analysis and control module.
Preferably, the field data acquisition module further comprises a gas component detection module and an image information acquisition module, the surface temperature measurement module, the continuous distance measurement sensing module and the image information acquisition module are all connected with a rotatable cradle head, and the cradle head and the gas component detection module are all connected with a sending module.
Preferably, the holder comprises a transverse shaft rotating part and a longitudinal shaft rotating part, the distance measuring sensing module, the surface temperature measuring module and the image information acquisition module are arranged on the transverse shaft rotating part, and the transverse shaft rotating part rotates by 0-180 degrees by taking a transverse shaft as a rotating shaft; the longitudinal axis rotating part rotates by 0-360 degrees by taking the longitudinal axis as a rotating axis.
Preferably, the background information analysis and control module comprises a central control module, and the central control module is respectively connected with a receiving module, a storage module, a calculation module, an analysis module, a display module and an alarm module.
Preferably, the network module comprises a wired network module and a wireless network module; the distance measurement sensing module is a laser distance measurement sensing module.
The working principle of the system of the invention is as follows:
the remote real-time condition monitoring and the acquisition of the index information data of the detection site are realized by controlling the base movement and the cradle head rotation of the site data acquisition module. For a gas composition detection process, the structural system of the fixed base will be able to detect the gas state data at the fixed detection point. Through the rotation of the programmed control holder, the comprehensive acquisition of the surface data information of the grain pile with the uncertain shape in the limited space range can be realized. The operation of the field data acquisition module is controlled in a programmed mode, the distance measurement sensing module can realize real-time point-by-point comprehensive acquisition of continuous point data information on the surface of the grain pile, so that the height of the grain pile at each detection point from the ground is calculated, and the volume and weight of the field grain pile can be calculated through integral operation and used for analyzing the real-time performance and guiding the operation processes of grain entering and exiting a bin and the like; and calculating and recording the azimuth coordinates of each detection point of the grain pile corresponding to each time period in the granary, and calculating to form a virtual measurement surface through the continuous measurement points and the virtual middle point, wherein the virtual measurement surface is used for basic data of state analysis of the measured grain pile. The operation of the field data acquisition module is controlled in a programmed mode, so that the non-contact temperature measurement sensor can comprehensively acquire temperature data information of a plurality of points on the surface of the grain pile and the surface of the protective facility in real time point by point; and the condition of the surface temperature distribution state of the grain pile can be obtained by combining the coordinate positioning acquired by the distance measurement sensing module, and further the condition is used for guiding the analysis of the storage biological stability state and guiding the adjustment and implementation of field operation measures.
Example 2
A method for detecting and analyzing the comprehensive state of grain in grain piles comprises the following steps:
(1) acquiring boundary data information of a measured grain pile;
(2) acquiring the distance of the continuous distribution points on the surface of the measured grain pile, the temperature of the continuous distribution points on the surface of the grain pile, the surface temperature of the wall body and the door and window of the granary, gas composition information, the image of the grain pile and the corresponding cradle head rotation angle information when the data acquisition is carried out on the detected points, which are acquired by a field data acquisition module;
(3) the data measurement is carried out once when the cradle head rotates once, and the distance measurement data D acquired at the same time pointnAngle data of holder alphan、βnEstablishing a basic database for standby, wherein: alpha is alphanIs a reaction of with DnThe included angle between the corresponding detection ray and the mounting wall surface of the holder; beta is anIs a reaction of with DnThe corresponding cradle head is parallel to the corner of the direction shaft of the installation wall surface;
(4) calculating virtual intermediate points between every two points according to coordinate measurement data of every two adjacent points in continuous distribution points on the surface of the grain pile measured by a pan-tilt, and converging all the calculated virtual intermediate points to form a virtual measurement surface according to the height and horizontal coordinate changes of the virtual intermediate points;
(5) establishing a measured grain pile height database and a grain pile measured point coordinate database according to the basic database in the step (3), and calculating the pile height of the measured grain pile by combining the virtual measuring surface and the grain type obtained in the step (4);
according to the measured grain pile height database, setting the pile heights of the grain-free points and the boundary points to be 0, judging the grain-free points of the grain-free positions and the effective points of the grain-containing positions of the grain piles, accumulating all the effective points, and calculating the volume and the weight of the measured grain piles;
calculating the temperature distribution state information of the surface of the measured grain pile, the surface temperature information of the wall body and the door and window of the granary and the gas distribution information in the granary according to the temperature distribution data and the gas distribution data measured in the steps (2) to (3);
(6) analyzing and judging whether the stack height, the volume and the weight of the measured grain pile exceed the limits or not according to the calculation result obtained in the step (5); judging whether the temperature, gas component distribution and change state of the measured grain pile meet the safe storage requirement, judging whether the temperatures of the wall body and the surface of a door and a window of the granary exceed the temperature limit of the local wall body or the door and the window, if the analysis result does not meet the safe requirement, giving an alarm prompt and giving a coordinate position of a problem area;
(7) and displaying the obtained results of the height, volume and weight of the measured grain pile.
Further, the calculation method of the virtual intermediate point comprises the following steps: judging the stacking state of the grain, namely one or more of flat stacking, conical stacking or slope stacking, wherein the grain is in a combined form of a plurality of conical stacking or a combined form of conical stacking and flat stacking when entering the warehouse, and is in a combined form of flat stacking and slope stacking when leaving the warehouse, and calculating the height of the middle position according to the self-flowing angle parameter of the grain after obtaining the result of the stacking state.
Further, the calculation method of the measured grain pile height database in the step (5) is according to a formula Hn＝H-Dn·cos∠αn·cos∠βnCalculating the height, wherein HnThe grain pile height of a detected point, H is the installation height of a sensor from the bottom of the bin, and DnDetecting a distance value for the pan/tilt head; the calculation method of the coordinate database of the measured points of the grain heap in the step (5) is according to a formula An＝Dn·sin∠αn，Bn＝Dn·cos∠αn·sin∠βnCalculating coordinate values, wherein AnAnd BnThe coordinates are expressed as (A) as coordinate values of the measured pointn，Bn)。
Further, the method for judging no grain point of the grain pile in the step (5) comprises the following steps:
judging the grain-free point and the boundary point as the grain-free point, and taking the grain pile height H of the grain-free pointnNo food point included:
(1) measured and calculated to obtain HnA point of 0;
(2) measured and calculated to obtain AnA, where a is the distance from the detector to the opposite bulkhead, AnIs the vertical distance from the detected point to the wall surface where the detector is located, An＝Dn·sin∠αn；
(3) Measured and calculated to obtain Bn≧ B1 or BnPoint ≧ b2, wherein b1And b2For measuring the distance from the instrument to the two side walls, BnIs the horizontal parallel distance from the detected point to the point of the detector, Bn＝Dn·cos∠αn·sin∠βn。
Further, the method for calculating the volume and the weight of the measured grain pile in the step (5) comprises the following steps: h for correlating all effective points in time and adjacent positionsnThe value column is a database, and the pile height data of each point on the virtual measuring surface and the pile height data of the side wall depression increasing point and the middle area depression increasing point are substituted into a volume formula
Wherein: Δ d is the spot diameter at the sampling point, HiIs the measured point stack height HMiddle depressionSum of stack heights at points of increased depression for the middle region, HEdge recessAnd (3) calculating the sum of the stack heights of the depression increasing points of the side wall, wherein V is the volume of the grain stack, and the weight of the measured grain stack can be calculated according to a weight formula G which is V.g, wherein G is the grain bulk weight value.
Judging the depressed increased points of the middle area:
the middle area of the granary is provided with a depression, and when the linear ray detection is missed, effective detection points are added, recorded and input when accumulated. FIG. 3 shows a schematic judgment:
according to the position coordinates of two adjacent detection points in the above-mentioned data base,
when A isn-An+1≥3Δd
Or Bn-Bn+1When the value is more than or equal to 3 delta d,
then take the sum of values during which no pile-up of points is detected:
wherein:
delta d is the diameter of the detection point;
h1the grain pile height value of the front point;
h2the grain pile height value of the rear point;
wherein:
m2＝L0-m1；
wherein:
L0＝m1+m2＝An-An+1(or ═ Bn-Bn+1)；
hIn 1Summing the height values of the recording points which need to be supplemented for the first found side wall sunken position, and taking one digit after the decimal point, hIn 2The second, and so on;
record hIn 1、hIn 2……hIn nAnd is ready for use;
get
Judging the sunken increasing points of the side wall:
unfilled granary side walls and partial sunken points blocked by the middle raised portion, as shown in fig. 4:
recording the coordinates of the side wall points of the granary and counting the measurement time mark HnWhen the coordinate position value (a) is 0, the coordinate position value is recordedn，bn)。
Judging conditions:
when A isn+1When a is not equal to a, and An-An+1When the value is more than or equal to 3 delta d,
or Bn-Bn+1When not less than 3 Δ d, and BnWhen +1 ═ b1 (or b2),
then take the sum of values during which no pile-up of points is detected:
wherein:
delta d is the diameter of the detection point;
h1the height of the grain pile is effectively detected by the first effective detection point,
hEdge 1The sum of the heights of all points to be supplemented for the first found side wall sunken position is in cm, one decimal point is taken, and hEdge 2The second, and so on;
record hEdge 1、hEdge 2……hSide nAnd then standby.
Get
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The utility model provides a grain heap grain comprehensive state detects and analytic system which characterized in that includes:
the system comprises a field data acquisition module, a data acquisition module and a data acquisition module, wherein the field data acquisition module is used for acquiring grain bulk surface distance information, angle information, temperature information, image information, gas composition information and granary protection facility information, the field data acquisition module comprises a surface temperature measurement module used for measuring the surface temperature of grains and the surface temperatures of walls, doors and windows of the granary, and the surface temperature measurement module is an infrared thermal imaging device; the field data acquisition module also comprises a continuous distance measurement sensing module for continuously acquiring the height and horizontal distance of the grain pile;
the background information analysis and control module is used for controlling, receiving, storing, calculating, analyzing and displaying the information acquired by the field data acquisition module;
and the network module is used for receiving the information acquired by the field data acquisition module and transmitting the operation instruction information by the background information analysis and control module.
2. The system for detecting and analyzing the comprehensive state of the grain heap according to claim 1, wherein the field data acquisition module further comprises a gas component detection module and an image information acquisition module, the surface temperature measurement module, the continuous distance measurement sensing module and the image information acquisition module are all connected with a rotatable cradle head, and the cradle head and the gas component detection module are all connected with a sending module.
3. The system for detecting and analyzing the comprehensive state of the grains in the grain heap according to claim 2, wherein the cradle head comprises a transverse shaft rotating part and a longitudinal shaft rotating part, the distance measuring sensing module, the surface temperature measuring module and the image information acquisition module are mounted on the transverse shaft rotating part, and the transverse shaft rotating part rotates by 0-180 degrees by taking a transverse shaft as a rotating shaft; the longitudinal axis rotating part rotates by 0-360 degrees by taking the longitudinal axis as a rotating axis.
4. The system for detecting and analyzing the comprehensive state of the grains in the grain heap according to claim 1, wherein the background information analyzing and controlling module comprises a central control module, and the central control module is respectively connected with a receiving module, a storage module, a calculating module, an analyzing module, a display module and an alarm module.
5. The system for detecting and analyzing the comprehensive state of the grains in the grain heap according to claim 1, wherein the network module comprises a wired network module and a wireless network module; the distance measurement sensing module is a laser distance measurement sensing module.
6. A method for detecting and analyzing the comprehensive state of grain in grain piles is characterized by comprising the following steps:
(1) acquiring boundary data information of a measured grain pile;
(2) acquiring the distance of the continuous distribution points on the surface of the measured grain pile, the temperature of the continuous distribution points on the surface of the grain pile, the surface temperature of the wall body and the door and window of the granary, gas composition information, the image of the grain pile and the corresponding cradle head rotation angle information when the data acquisition is carried out on the detected points, which are acquired by a field data acquisition module;
(3) the data measurement is carried out once when the cradle head rotates once, and the distance measurement data D acquired at the same time pointnAngle data of holder alphan、βnEstablishing a basic database for standby, wherein: alpha is alphanIs a reaction of with DnThe included angle between the corresponding detection ray and the mounting wall surface of the holder; beta is anIs a reaction of with DnThe corresponding cradle head is parallel to the corner of the direction shaft of the installation wall surface;
(4) calculating virtual intermediate points between every two points according to coordinate measurement data of every two adjacent points in continuous distribution points on the surface of the grain pile measured by a pan-tilt, and converging all the calculated virtual intermediate points to form a virtual measurement surface according to the height and horizontal coordinate changes of the virtual intermediate points;
(5) establishing a measured grain pile height database and a grain pile measured point coordinate database according to the basic database in the step (3), and calculating the pile height of the measured grain pile by combining the virtual measuring surface and the grain type obtained in the step (4);
according to the measured grain pile height database, setting the pile heights of the grain-free points and the boundary points to be 0, judging the grain-free points of the grain-free positions and the effective points of the grain-containing positions of the grain piles, accumulating all the effective points, and calculating the volume and the weight of the measured grain piles;
calculating the temperature distribution state information of the surface of the measured grain pile, the surface temperature information of the wall body and the door and window of the granary and the gas distribution information in the granary according to the temperature distribution data and the gas distribution data measured in the steps (2) to (3);
(6) analyzing and judging whether the stack height, the volume and the weight of the measured grain pile exceed the limits or not according to the calculation result obtained in the step (5); judging whether the temperature, gas component distribution and change state of the measured grain pile meet the safe storage requirement, judging whether the temperatures of the wall body and the surface of a door and a window of the granary exceed the temperature limit of the local wall body or the door and the window, if the analysis result does not meet the safe requirement, giving an alarm prompt and giving a coordinate position of a problem area;
(7) and displaying the obtained results of the height, volume and weight of the measured grain pile.
7. The method for detecting and analyzing the comprehensive state of the grains in the grain heap according to claim 6, wherein the calculation method of the virtual intermediate point comprises the following steps: judging the stacking state of the grain, namely one or more of flat stacking, conical stacking or slope stacking, wherein the grain is in a combined form of a plurality of conical stacking or a combined form of conical stacking and flat stacking when entering the warehouse, and is in a combined form of flat stacking and slope stacking when leaving the warehouse, and calculating the height of the middle position according to the self-flowing angle parameter of the grain after obtaining the result of the stacking state.
8. The method for detecting and analyzing the comprehensive status of grain piles and grain piles according to claim 6, wherein the calculation method of the measured grain pile height database in the step (5) is according to a formula Hn＝H-Dn·cos∠αn·cos∠βnCalculating the height, wherein HnThe height of grain pile to be detected, H being the distance from sensor to bottom of storehouseMounting height, DnDetecting a distance value for the pan/tilt head; the calculation method of the coordinate database of the measured points of the grain heap in the step (5) is according to a formula An＝Dn·sin∠αn，Bn＝Dn·cos∠αn·sin∠βnCalculating coordinate values, wherein AnAnd BnThe coordinates are expressed as (A) as coordinate values of the measured pointn，Bn)。
9. The method for detecting and analyzing the comprehensive state of the grains in the grain heap according to claim 6, wherein the method for judging the grain heap without grain points in the step (5) comprises the following steps:
judging the grain-free point and the boundary point as the grain-free point, and taking the grain pile height H of the grain-free pointnNo food point included:
(1) measured and calculated to obtain HnA point of 0;
(2) measured and calculated to obtain AnA, where a is the distance from the detector to the opposite bulkhead, AnIs the vertical distance from the detected point to the wall surface where the detector is located, An＝Dn·sin∠αn；
(3) Measured and calculated to obtain Bn≧ B1 or BnPoint ≧ b2, wherein b1And b2Distance of the pan/tilt head to the two side walls, BnIs the horizontal parallel distance from the detected point to the point of the pan-tilt head, Bn＝Dn·cos∠αn·sin∠βn。
10. The method for detecting and analyzing the comprehensive state of the grain piles according to claim 6, wherein the method for calculating the volume and the weight of the measured grain piles in the step (5) comprises the following steps: h for correlating all effective points in time and adjacent positionsnThe value column is a database, and the pile height data of each point on the virtual measuring surface and the pile height data of the side wall depression increasing point and the middle area depression increasing point are substituted into a volume formula
Wherein: deltad is the spot diameter of the sample point, HiIs the measured point stack height HMiddle depressionSum of stack heights at points of increased depression for the middle region, HEdge recessAnd (3) calculating the sum of the stack heights of the depression increasing points of the side wall, wherein V is the volume of the grain stack, and the weight of the measured grain stack can be calculated according to a weight formula G which is V.g, wherein G is the grain bulk weight value.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114088142A (en) * | 2021-12-31 | 2022-02-25 | 江苏闪码光机电科技有限公司 | Real-time online detection method and device for multiple factors in continuous conveying process of bulk grain belt |
| 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 |
| CN115031773A (en) * | 2021-09-30 | 2022-09-09 | 东方数科(北京)信息技术有限公司 | Grain pile monitoring system and grain pile monitoring method |
| CN115136799A (en) * | 2022-08-15 | 2022-10-04 | 安徽荣夏智能科技有限责任公司 | Grain storage intelligent management system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115031773A (en) * | 2021-09-30 | 2022-09-09 | 东方数科(北京)信息技术有限公司 | Grain pile monitoring system and grain pile monitoring method |
| CN114088142A (en) * | 2021-12-31 | 2022-02-25 | 江苏闪码光机电科技有限公司 | Real-time online detection method and device for multiple factors in continuous conveying process of bulk grain belt |
| 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 |
| CN115136799A (en) * | 2022-08-15 | 2022-10-04 | 安徽荣夏智能科技有限责任公司 | Grain storage intelligent management system |
| CN115136799B (en) * | 2022-08-15 | 2024-08-30 | 安徽荣夏智能科技有限责任公司 | Intelligent management system for grain storage |
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