CN-121973241-A - Granary ground cage ventilation channel gate opening and closing robot and using method thereof

CN121973241ACN 121973241 ACN121973241 ACN 121973241ACN-121973241-A

Abstract

The application discloses a granary ground cage ventilating duct gate switch robot and a use method thereof, the robot adopts a movable chassis integrating a Mecanum wheel and a driving arm, the precise lifting mechanical arm with the lower pressure cover plate and the scraping plate is matched, so that the problem that the free opening and closing operation of the gate in the narrow air duct of the granary is difficult is solved. The method comprises the steps of initializing self-checking, starting illumination, utilizing infrared tracking and video monitoring to achieve autonomous obstacle avoidance movement, after a target gate position is reached, vertically pressing a bolt through a mechanical arm to unlock, combining machine body rotation and scraper stirring to complete gate opening and closing and magnetic attraction limiting locking, synchronously returning and storing operation real-time image data, and exiting in an original way. The application realizes full-flow semiautomatic operation by simulating artificial logic, effectively solves the problem of air duct gate opening and closing operation in a complex environment in a ventilation cage under a grain pile, effectively avoids the risks of electric air duct gate wiring and electricity utilization safety in the grain pile, and reduces the intelligent matching reconstruction investment cost in a warehouse area.

Inventors

LIU RENLI
WU BING
ZHANG DONGDONG
HE BAOSHAN
LU SHAOHUA
DU CHUNYING
MA XINYU

Assignees

中央储备粮郑州直属库有限公司
河南德鲁粮油科技有限公司

Dates

Publication Date: 20260505
Application Date: 20260401

Claims (10)

1. The granary ground cage ventilation channel gate switch robot comprises a robot body (1) and is characterized in that a light-emitting diode (LED) lighting assembly (2) is arranged at the front end of the robot body (1), a monitoring camera unit (3) is arranged at the rear end of the robot body (1), and an infrared tracking module (8) is arranged at the bottom surface of the robot body (1); The robot comprises a robot body (1), wherein a mechanical arm support (4) is arranged on the robot body (1), a first steering engine (5) and a second steering engine (6) are respectively arranged at two ends of the mechanical arm support (4), a cover plate (9) is arranged on the upper part of the second steering engine (6), the front end of the cover plate (9) is an inclined tip, and a through hole (10) is formed in the front end of the cover plate (9); The robot body (1) is provided with a third steering engine (7), and the monitoring camera unit (3) is arranged on the third steering engine (7).
2.A method of using a granary ground cage airway gate opening and closing robot as defined in claim 1, comprising: s1, performing environment monitoring and equipment self-checking, activating a power management module through a chassis control unit, carrying out power-on detection on each sensor, a driving motor and a communication module in a machine body, simultaneously starting a light-emitting diode (LED) lighting assembly (2) installed at the front end, providing environment lighting with preset brightness for the interior of an overground cage ventilating duct in a grain pile closed state, and collecting an initial environment picture through a monitoring camera unit (3) at the rear end; S2, path planning and autonomous tracking movement are executed, an infrared tracking module (8) is utilized to capture preset identification information in an air duct, an image signal is transmitted to a central processing unit for logic operation, a deviation value between an actual path and a set path is calculated, a roller driving motor is controlled to output differential rotation speed, parallel Mecanum wheels on the left side and the right side are driven to generate composite vector power, the robot body is enabled to move straight, move transversely or steer in a differential mode in the narrow air duct, and when a lacing wire obstacle with a specific height threshold value or a preset inclined gradient is met, the angle of a driving arm is adjusted to achieve obstacle crossing passing; S3, performing gate positioning and manipulator butt joint, when the robot body (1) moves to a gate position at the joint of the main air duct and the branch air duct, confirming that the gate is in a closed state or an open state through a real-time video monitoring picture, and remotely controlling the first steering engine (5) and the second steering engine (6) to drive the mechanical arm support (4) to move up and down, so that a through hole (10) at the front end of the cover plate (9) is accurately sleeved above the air duct gate locking mechanism, and providing physical contact conditions for subsequent unlocking actions; S4, executing a gate opening operation flow, starting a first steering engine (5) and a second steering engine (6) to drive a mechanical arm support (4) to move downwards, applying downward pressure by using a cover plate (9) to enable a gate locking bolt to overcome preset spring force and separate from a top plate bolt hole, then remotely controlling a robot body (1) to generate backward displacement, driving the gate to rotate away from a locking position by using the cover plate (9) to link the gate bolt, and finally driving the gate to rotate to a magnetic type limit baffle plate of a bottom plate center line around a rotating shaft by using forward thrust of the robot body (1) to realize accurate opening of a branch air duct; S5, executing a gate closing operation flow, moving the remote control robot body (1) to the front side of the gate opening direction, driving the mechanical arm support (4) to push the gate to break away from the magnetic attraction limit through rightward rotation, enabling the gate to rotate anticlockwise to the left limit baffle position, enabling the lock bolt to pop up and insert into the top plate bolt hole under the action of elasticity, and completing mechanical locking of the gate; S6, confirming operation completion and returning data, visually confirming the final position of the gate and the locking state of the bolt through a high-precision monitoring camera module on the monitoring camera unit (3), transmitting an execution result to the mobile terminal application program in real time through the communication module, then executing a next air duct gate opening and closing operation instruction until the air duct gate opening and closing operation of the air duct is completed, and then executing the original return instruction to exit the air duct.
3. The method for using the granary ground cage ventilating duct gate switch robot is characterized in that in S1, the power management module is composed of a rechargeable lithium battery, a solid-state power switch control unit, a multi-path power supply voltage reduction unit and a motor driving unit, continuous power supply is provided by the rechargeable lithium battery, the capacity specification of the multi-path power supply voltage reduction unit needs to meet the requirement that the single operation duration reaches a preset working duration threshold value, the multi-path power supply voltage reduction unit converts the voltage output by the lithium battery into a plurality of preset voltage levels by adopting a pulse width modulation technology, the voltage levels are respectively supplied to the central processing unit, the monitoring camera unit and the communication module, and a current feedback sampling circuit is integrated in the motor driving unit and used for monitoring the current state of each driving motor in real time and executing the output cutting operation when the current exceeds a preset safety limit value.
4. The method for using the granary ground cage ventilating duct gate switch robot is characterized in that in S2, michaom wheels are configured in a parallel mode, the Michaom wheels specifically comprise a left front driving wheel set, a right front driving wheel set, a left rear driving wheel set and a right rear driving wheel set, each wheel set is formed by two independent Michaom wheels through a coaxial connection mode, each wheel set is correspondingly configured with an independent driving arm structure, a transmission gear set is arranged inside each driving arm, each transmission gear set comprises a driving gear, an intermediate transition gear and a driven gear, and speed reduction and torque increase are achieved through the gear ratio of the transmission gear set, so that the ground grabbing capacity and the carrying capacity of the robot on an air duct bottom plate containing grain dust or a wet environment are improved.
5. The method for using the granary ground cage ventilating duct gate opening and closing robot is characterized in that the granary ground cage ventilating duct gate opening and closing robot is a granary ground cage ventilating duct gate opening and closing robot. The obstacle crossing passing in the S2 is realized through the coordination operation of a driving motor, wherein a front wheel driving motor drives a left front driving arm and a right front driving arm to synchronously execute clockwise or anticlockwise rotation through a coupler, the height of the front end of a robot body relative to the ground is changed to enable the front end of the robot body to cross a steel lacing wire with a specific height threshold value in an air duct, a rear wheel driving motor controls the lifting of the rear end of the robot body according to the same logic as the front wheel driving motor, in the obstacle crossing process, the posture inclination angle of the robot body is judged through acceleration and angular velocity data output by an inertia measuring unit arranged on a chassis, and when the front part of the robot body contacts an obstacle, the front wheel driving motor drives a corresponding driving arm to downwards rotate, the front end of the robot body is lifted by utilizing a lever principle, and meanwhile, the torque output of the driving motor is increased to overcome the gravity component.
6. The method for using the granary ground cage ventilating duct gate switch robot is characterized in that in S2, the infrared tracking module (8) comprises an infrared receiving and transmitting unit, a tracking identification unit and an algorithm processing circuit, continuous visual features preset on a base plate of the air duct are captured through the infrared receiving and transmitting unit, an edge detection algorithm is executed by the algorithm processing circuit to identify a path center line, the transverse deviation distance and the angle deviation of the current center axis of a machine body and the path center line are calculated, the central processing unit outputs control instructions to a lateral driving motor based on a proportional integral derivative control algorithm, and real-time dynamic correction of the path deviation is achieved by adjusting the linear velocity vector sum of different side wheel sets.
7. The method for using the granary ground cage ventilating duct gate opening and closing robot is characterized in that in the step S3, the first steering engine (5) and the second steering engine (6) are large-torque metal steering engines, the first steering engine (5) can drive the front end of the mechanical arm support (4) to rotate 270 degrees, the second steering engine (6) can drive the rear end of the mechanical arm support (4) to rotate 270 degrees, and the first steering engine (5) and the second steering engine (6) can drive the mechanical arm support (4) to rotate fast or slowly according to requirements, so that the requirement of a precise gate opening and closing locking structure of the mechanical arm support (4) is met. The surface of the through hole (10) is coated with an elastic fluororubber material, and the geometric dimension of the elastic fluororubber material is preset and optimized to cover gate locking devices with various specifications, so that vertical pressure is ensured to uniformly act on the top end of the locking bolt; The monitoring camera unit (3) is arranged on a third steering engine (7) capable of rotating by 360 degrees, the positions of monitoring and video pictures in the air duct are adjusted by controlling the rotation of the third steering engine (7), the laser transmitter arranged on the mechanical arm support (4) transmits light beams to a preset reflecting zone bit of the gate, and the monitoring camera unit (3) captures the brightness center of a light spot to determine the relative spatial relationship between the mechanical arm support (4) and the bolt handle.
8. The method for using the granary ground cage ventilating duct gate opening and closing robot according to claim 2, wherein in the step S4, the opening operation flow further comprises a vibration unlocking mode, when the first steering engine (5) and the second steering engine (6) do not reach the designated position pulse within the preset time and the driving current rises to the preset rated current multiple, the first steering engine (5) and the second steering engine (6) execute high-frequency and small-amplitude reciprocating motion at the moment, a rust layer or a dust accumulation layer is damaged through generated mechanical impact energy until the locking bolt is separated from the roof bolt hole, and the magnetic force of the magnetic limiting baffle is set to be a specific threshold value, wherein the specific threshold value is required to be larger than the thrust generated by the air flow pressure in the ventilation process and smaller than the maximum static thrust generated by the robot body motor in the low-speed mode.
9. The method for using the granary ground cage ventilating duct gate opening and closing robot is characterized in that in the step S5, a cover plate (9) with a through hole (10) in a specific shape is integrated on the mechanical arm support (4), the cover plate (9) is made of stainless steel or hard abrasion-resistant materials and is provided with an arc-shaped through hole structure, friction force when the cover plate is contacted with a bolt is increased, contact stress is evenly distributed, in the closing process, the robot body (1) drives the mechanical arm support (4) to push the gate to overcome the magnetic attraction of the magnetic attraction type limit baffle through right rotation, and after the gate reaches a preset limit position, the bolt is sprung into a bolt hole of a top plate of the air duct by using a spring at the lower end of the locking bolt groove to realize closing and locking of the gate.
10. The method for using the granary ground cage ventilating duct gate switch robot according to claim 2, wherein in the step S6, the communication module integrates a wireless local area network communication unit and a short range wireless communication unit and has a signal intensity detection function, the wireless local area network communication unit is preferably selected to transmit video streams in an environment with wireless network coverage in a warehouse area, when the wireless network signal intensity is monitored to be lower than a preset signal threshold value, the wireless local area network communication unit is automatically switched to the short range wireless communication unit to execute data link transmission, the mobile terminal application program integrates a video monitoring interface, a virtual remote control handle, a sensor state display, a power supply electric quantity display and an automatic instruction control module, and the mobile terminal application program has a logic pre-judging function and automatically triggers an alarm and prompts execution of a forced recovery flow when the battery voltage is monitored to be lower than a preset safety threshold value or the communication signal intensity is monitored to be lower than a specific level.

Description

Granary ground cage ventilation channel gate opening and closing robot and using method thereof Technical Field The invention relates to the technical field of automatic grain storage machinery, in particular to a gate opening and closing robot for a ventilation channel of a ground cage of a granary and a use method thereof. Background Along with the continuous progress of modern grain storage technology, the realization of quality guarantee and loss reduction and green storage of grains through accurate ventilation has become a core trend of industry development. The ground cage ventilation system is used as a key channel for air circulation in the granary, and the accurate opening and closing of the air channel gate directly influences the regulation and control effects of temperature and humidity in the granary. Under a complex grain storage environment, how to realize high-efficiency and accurate switch control on gates distributed at the joint of the main air duct and each branch air duct is an important subject for guaranteeing grain storage safety, reducing loss and improving intelligent level of storage management. The movable robot is used for replacing manual gate opening and closing operation to the characteristics of narrow space, closed environment and complex structure in the ground cage ventilating duct, and the movable robot becomes an important direction of current technical evolution. Such work equipment is often required to have the ability to move flexibly in air ducts that are covered with lacing wire obstacles and a slope, and to be able to perform precise operation of the gate locking latch switch and physical displacement of the gate position by means of a special actuator. The high mobility movement of the robot, the accurate positioning under the dim environment and the stable interaction with the gate structure are realized, and the method is a core target in the technical direction. However, in the prior art, the management of the air duct gate is mostly dependent on using an electric gate and laying a power line and a communication line at each gate position, so that the labor intensity of laying and installing the lines is extremely high, and related lines and motor equipment are easily damaged by the discharging machinery during the grain discharging period, and the use cost is high. In addition, phosphine is easy to corrode a gate motor and an electronic limiter during fumigation of a warehouse to cause damage faults, so that grain storage safety is affected. Accordingly, a granary ground cage airway gate opening and closing robot and method of use thereof are desired. Disclosure of Invention The invention aims to provide a granary ground cage ventilation channel gate opening and closing robot and a using method thereof, which can effectively solve the problems in the background technology. The invention aims at realizing the technical scheme that the robot for opening and closing the gate of the ventilation duct of the ground cage of the granary comprises a robot body (1), wherein the front end of the robot body (1) is provided with a light-emitting diode lighting assembly (2), the rear end of the robot body (1) is provided with a monitoring camera unit (3), and the bottom surface of the robot body (1) is provided with an infrared tracking module (8); The robot comprises a robot body (1), wherein a mechanical arm support (4) is arranged on the robot body (1), a first steering engine (5) and a second steering engine (6) are respectively arranged at two ends of the mechanical arm support (4), a cover plate (9) is arranged on the upper part of the second steering engine (6), the front end of the cover plate (9) is an inclined tip, and a through hole (10) is formed in the front end of the cover plate (9); The robot body (1) is provided with a third steering engine (7), and the monitoring camera unit (3) is arranged on the third steering engine (7). A using method of a granary ground cage ventilation channel gate opening and closing robot comprises the following steps: s1, performing environment monitoring and equipment self-checking, activating a power management module through a chassis control unit, carrying out power-on detection on each sensor, a driving motor and a communication module in a machine body, simultaneously starting a light-emitting diode (LED) lighting assembly (2) installed at the front end, providing environment lighting with preset brightness for the interior of an overground cage ventilating duct in a grain pile closed state, and collecting an initial environment picture through a monitoring camera unit (3) at the rear end; S2, path planning and autonomous tracking movement are executed, an infrared tracking module (8) is utilized to capture preset identification information in an air duct, an image signal is transmitted to a central processing unit for logic operation, a deviation value between an actual path and a set path is calculated, a roller driving