A granary inspection robot

Abstract

The utility model relates to the technical field of inspection robot, the utility model discloses a kind of granary inspection robots, comprising: mobile chassis, column is installed on mobile chassis, column can be relative to mobile chassis and perform lifting action;Image acquisition unit, image acquisition unit is installed at the top of column, and image acquisition unit is used to collect pest information in the inspection range;Temperature and humidity monitoring module, temperature and humidity monitoring module is installed on mobile chassis, and temperature and humidity monitoring module is used to monitor the temperature and humidity information in granary;Pest killing device, pest killing device is installed on mobile chassis, and pest killing device is used to centralized killing attracted pest.The utility model provides a kind of granary inspection robots, replaces drug fumigation to kill insects by physical killing mode, green and environmental protection, no drug residue.

Description

Technical Field

[0001] This utility model relates to the field of inspection robot technology, specifically to a grain warehouse inspection robot. Background Technology

[0002] Grain storage is a crucial link in ensuring national food security. With the expansion of storage scale and the increasing demands for refined management, traditional manual inspection methods are no longer sufficient to meet the needs for real-time, efficient, and accurate monitoring of risk factors such as temperature and humidity changes, pest infestations, and fire hazards within grain warehouses. Therefore, intelligent inspection robots are gradually being applied to grain warehouse environments to achieve automated monitoring and risk early warning.

[0003] Chinese patent document CN216682212U discloses a multifunctional autonomous grain inspection robot, used to solve technical problems such as grain condition monitoring, grain warehouse management, pest identification, grain fumigation, and grain leveling. The inspection robot includes a robot body with a walking mechanism at its bottom. The robot body includes an inspection mechanism, a pesticide delivery mechanism, and a control system circuit. The walking mechanism, inspection mechanism, and pesticide delivery mechanism are all connected to the control system circuit. This inspection robot can identify pest targets in complex grain warehouse environments. It completes grain fumigation and pest control and leveling through a pesticide-collecting structure, a robotic arm gripping structure, a feed box delivery structure, and a height-adjustable grain leveling structure. Furthermore, it can sense the grain warehouse environment through onboard sensors, facilitating grain condition monitoring and management. The robot has a simple structure and is easy and flexible to operate.

[0004] Based on the robot's walking mechanism design and the inclusion of a "grain leveling structure," it can be inferred that its primary application is on top of or beside grain piles stored inside warehouses. Its main purpose is fumigation for pest control or preventative fumigation after pest infestations occur. However, this robot relies on chemical fumigation to kill pests, which may pose a risk of pesticide residues, contradicting the trend of green grain storage. Furthermore, it is not effective against pesticide-resistant pests and is prone to failure with long-term use. Additionally, the insect carcasses left in the grain pile after fumigation can degrade the quality of the grain.

[0005] Furthermore, based on the technical content analysis of CN216682212U, the robot has a small payload and is unable to simultaneously undertake more grain warehouse security work (such as firefighting). Utility Model Content

[0006] To address the shortcomings of existing technologies, this utility model discloses a grain warehouse inspection robot, solving the problems of pesticide residues, pesticide resistance, and lack of compliance with green grain storage trends caused by reliance on fumigation for pest control, as well as the robot's limited functionality. It includes:

[0007] A mobile chassis with columns mounted on it, the columns being able to lift and lower relative to the mobile chassis.

[0008] The image acquisition unit is installed at the top of the column and is used to collect pest information within the inspection range.

[0009] Temperature and humidity monitoring module, which is installed on a mobile chassis, is used to monitor the temperature and humidity information inside the grain warehouse.

[0010] The pest control device is mounted on a mobile chassis and is used to centrally kill attracted pests.

[0011] Furthermore, it also includes:

[0012] The fire extinguishing system consists of two sets of fire extinguishing devices symmetrically installed on the columns. The fire extinguishing devices are used to extinguish sudden fires inside the grain warehouse.

[0013] Furthermore, the mobile chassis adopts a wheeled chassis, a tracked chassis, or a multi-wheeled chassis, and anti-collision components are installed at the front end of the mobile chassis in the direction of travel.

[0014] Furthermore, the temperature and humidity monitoring module is a sensor module with dual parameter detection functions for temperature and humidity.

[0015] Furthermore, the image acquisition unit includes:

[0016] The gimbal is mounted on the top of the column;

[0017] The camera is mounted on a pan-tilt unit.

[0018] Furthermore, the fire extinguishing device includes:

[0019] The spray nozzle is mounted on the column via a pitch and rotation bracket;

[0020] The storage tank is connected to the injection cylinder via a high-pressure hose with a valve. A storage tank placement box is installed at the rear end of the mobile chassis in the direction of travel, and the storage tank is placed inside the storage tank placement box.

[0021] Furthermore, the pest control device includes:

[0022] The lower collection box is installed on top of the mobile chassis;

[0023] The upper collection hopper is located at the top of the lower collection box;

[0024] Two vertical rods are installed at the top of the lower collection box, and the upper collection hopper is located between the two vertical rods. A rotating shaft is installed between the two vertical rods, and multiple insect-attracting lamps are evenly distributed on the rotating shaft in a ring.

[0025] An external fixing bracket, which is cylindrical and covers the outer surface of the insect-attracting lamp assembly, is equipped with an electric grid.

[0026] Furthermore, the top of the lower collection box has a strip-shaped opening that communicates with the upper collection hopper. The bottom of the upper collection hopper is slidably connected to the strip-shaped opening. A linear module is symmetrically installed on the top of the lower collection box with the strip-shaped opening as the center. The output end of the linear module is connected to the upper collection hopper.

[0027] Furthermore, a pull-out box is installed inside the lower collection box.

[0028] Furthermore, a rotating motor is installed on one of the mounting rods, and the output end of the rotating motor is connected to the rotating shaft through a pulley assembly. Brush strips are installed facing each other on the inner wall of the upper collection hopper near the top.

[0029] Compared with the prior art, the present invention has the following advantages:

[0030] This utility model provides a grain warehouse inspection robot that uses a physical method of "insect-attracting lamps + electric grids" to kill insects instead of traditional chemical fumigation. This completely avoids the risk of pesticide residue and prevents insect carcasses from remaining in the grain pile after pest control. It is particularly suitable for high-standard grain warehouses and organic grain storage scenarios. This inspection robot can also identify and control early-stage fires, buying time for firefighters to reach the scene and reducing fire damage. Attached Figure Description

[0031] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0032] Figure 1 This is a front-view perspective perspective view of the present invention (the pest control device is not shown);

[0033] Figure 2 This is a side view of the present invention;

[0034] Figure 3 This is a rear-view perspective view of the present invention (the pest control device is not shown);

[0035] Figure 4 This is a cross-sectional view of the pest control device of this utility model (upper collection hopper in the initial position);

[0036] Figure 5 This is a schematic diagram of the pest control device of this utility model;

[0037] Figure 6 This is a cross-sectional view of the pest control device of this utility model (with the upper collection hopper moved to the right).

[0038] In the diagram: 10. Mobile chassis; 11. Column; 12. Image acquisition unit; 13. Fire extinguishing device; 14. Temperature and humidity monitoring module; 15. Pest control device; 16. Anti-collision component; 17. Pan-tilt unit; 18. Camera; 19. Spray nozzle; 20. Pitch and rotation bracket; 21. Storage tank placement box; 22. Lower collection box; 23. Upper collection hopper; 24. Mounting pole; 25. Rotating shaft; 26. Insect-attracting lamp assembly; 27. External fixing bracket; 28. Electric grid; 29. ​​Strip opening; 30. Linear module; 31. Pull-out box; 32. Rotating motor; 33. Pulley assembly; 34. Brush strip. Detailed Implementation

[0039] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0040] Example

[0041] The present invention will now be further described with reference to the accompanying drawings.

[0042] like Figures 1 to 3 As shown in the figure, this embodiment provides a grain warehouse inspection robot, including:

[0043] A mobile chassis 10 is provided, on which a column 11 is mounted. The column 11 is capable of lifting and lowering relative to the mobile chassis 10. The lifting and lowering action of the column 11 is prior art and will not be described in detail in this application.

[0044] Image acquisition unit 12 is installed on the top of column 11 and is used to collect pest information within the inspection range.

[0045] The image acquisition unit 12 can move up and down with the column 11, which facilitates the acquisition of pest information at different heights, especially for corners and edges where pests tend to gather. The pest information generally includes at least the type, quantity, and growth stage of the pests.

[0046] Temperature and humidity monitoring module 14 is installed on mobile chassis 10 and is used to monitor temperature and humidity information in grain warehouse.

[0047] The pest control device 15 is installed on the mobile chassis 10 and is used to kill the attracted pests in a concentrated manner.

[0048] The working principle and beneficial effects of the above technical solution are as follows:

[0049] This utility model discloses a grain warehouse inspection robot. A mobile chassis 10 moves autonomously along a predetermined path within the grain warehouse. A support column 11 carries an image acquisition unit 12, which captures images of pests within the grain warehouse for identification of species and quantity. A temperature and humidity monitoring module 14 collects real-time environmental data (including humidity and temperature) within the grain warehouse. A pest control device 15 centrally kills the attracted pests. This utility model provides a grain warehouse inspection robot that uses physical methods to replace chemical fumigation for pest control, making it environmentally friendly and leaving no pesticide residue.

[0050] In one embodiment, it also includes:

[0051] Fire extinguishing device 13, two sets of fire extinguishing devices 13 are symmetrically installed on the column 11, and the fire extinguishing device 13 is used to extinguish sudden fires in the grain warehouse.

[0052] The beneficial effects of the above technical solution are as follows:

[0053] The installation of fire extinguishing device 13 enhances the emergency response capability for sudden fires inside the grain warehouse. Simultaneously, in conjunction with the raising and lowering action of the support column 11, the fire extinguishing range of device 13 can be increased, enabling timely and effective extinguishing of fires at different heights.

[0054] In one embodiment, the mobile chassis 10 is a wheeled chassis, a tracked chassis, or a multi-wheeled chassis, and a collision protection element 16 is installed at the front end of the mobile chassis 10 in the direction of travel.

[0055] The beneficial effects of the above technical solution are as follows:

[0056] The mobile chassis 10 adopts a wheeled chassis, tracked chassis, or multi-wheeled chassis, which improves mobility and ensures stable operation in grain piles or narrow passages. The anti-collision components 16 improve impact resistance and protect the mobile chassis 10.

[0057] In one embodiment, the temperature and humidity monitoring module 14 is a sensor module with dual parameter detection functions of temperature and humidity.

[0058] The working principle and beneficial effects of the above technical solution are as follows:

[0059] The temperature and humidity monitoring module 14 simultaneously detects temperature and humidity parameters, providing accurate environmental data and improving the accuracy and real-time performance of grain condition monitoring.

[0060] The temperature and humidity monitoring module 14 uses an industrial-grade digital temperature and humidity sensor, such as Sensirion SHT35-DIS-B2.5KS or TE Connectivity HTU31, which has high precision, anti-condensation and dust resistance characteristics, and is suitable for the complex environment of grain warehouses.

[0061] In one embodiment, the image acquisition unit 12 includes:

[0062] Gimbal 17 is mounted on the top of column 11;

[0063] Camera 18 is mounted on gimbal 17.

[0064] The working principle and beneficial effects of the above technical solution are as follows:

[0065] The gimbal 17 controls the rotation and tilt of the camera 18, enabling multi-angle image acquisition and improving the flexibility and coverage of pest image acquisition.

[0066] The images captured by camera 18 are transmitted to the recognition module. The recognition module can use a commercially available embedded AI vision processing module (such as Huawei Atlas 200 or Rockchip RV1126), which has a pre-built image database of storage pests and supports localized species matching and quantity statistics. This type of image recognition technology has been widely used in agricultural IoT, warehouse monitoring and other fields, and is a well-known technology in this field.

[0067] In one embodiment, the fire extinguishing device 13 includes:

[0068] The spray nozzle 19 is mounted on the column 11 via the pitch and rotation bracket 20.

[0069] The storage tank is connected to the spray nozzle 19 via a high-pressure hose with a valve. A storage tank placement box 21 is installed at the rear end of the mobile chassis 10 in the direction of travel, and the storage tank is placed inside the storage tank placement box 21. The extinguishing agent stored in the storage tank is not limited in this application and can be a carbon dioxide extinguishing agent, sodium bicarbonate powder, or other extinguishing agents that cause less damage to grain.

[0070] The working principle and beneficial effects of the above technical solution are as follows:

[0071] The pitch and rotation bracket 20 adjusts the angle of the spray nozzle 19, achieving precise and controllable fire extinguishing. The high-pressure hose connects to the storage tank, and after the valve is opened, directional spray fire extinguishing is achieved. The storage tank placement box 21 is used to store the storage tank. The fire extinguishing agent in the storage tank is stored safely and is easy to replenish, improving the fire extinguishing response speed and effectiveness, and reducing secondary disasters.

[0072] In another embodiment of this application, the storage tank stores insecticide. When the grain warehouse inspection robot provided by this utility model identifies and confirms the accumulation of harmful insects at a location far from the grain pile or outside the warehouse, it can automatically spray insecticide at the location where the pests have accumulated. This achieves multiple uses for the robot. The insecticide can be termite powder spray or pyrethroid spray; this application does not limit the application to this.

[0073] like Figures 4 to 6 As shown, in one embodiment, the pest control device 15 includes:

[0074] The lower collection box 22 is installed on the top of the mobile chassis 10;

[0075] Upper collection hopper 23 is located at the top of lower collection box 22;

[0076] The two mounting rods 24 are installed at the top of the lower collection box 22, the upper collection hopper 23 is located between the two mounting rods 24, and the rotating shaft 25 is installed between the two mounting rods 24. Multiple insect-attracting lamp groups 26 are evenly distributed on the rotating shaft 25 in a ring shape.

[0077] An external fixing bracket 27 is cylindrically mounted on the outer surface of the insect-attracting lamp assembly 26, and an electric grid 28 is installed on the external fixing bracket 27.

[0078] The working principle and beneficial effects of the above technical solution are as follows:

[0079] The insect-attracting lamp group 26 located on the rotating shaft 25 works, emitting ultraviolet light to attract pests. The insect-attracting lamp group 26, arranged in a ring, is evenly distributed on the rotating shaft 25 to achieve uniform attraction. The electric grid 28 is arranged on the cylindrical outer fixed support 27, thereby concentrating the killing area and improving efficiency. The electric grid 28 on the outer fixed support 27 electrocutes the pests, achieving physical killing, green and residue-free. The corpses of the pests fall into the upper collection hopper 23 and enter the lower collection box 22, thus completing the centralized collection of the corpses.

[0080] In one embodiment, the top of the lower collection box 22 is provided with a strip-shaped opening 29 that communicates with the upper collection hopper 23. The bottom end of the upper collection hopper 23 is slidably connected to the strip-shaped opening 29. A linear module 30 is symmetrically installed on the top of the lower collection box 22 with the strip-shaped opening 29 as the center. The output end of the linear module 30 is connected to the upper collection hopper 23.

[0081] The working principle and beneficial effects of the above technical solution are as follows:

[0082] When the linear module 30 is working, it drives the upper collecting bucket 23 to move back and forth along the strip opening 29 on the lower collecting box 22. The upper collecting bucket 23 can quickly shake the dead insects inside into the lower collecting box 22.

[0083] In one embodiment, a pull-out box 31 is installed inside the lower collection box 22.

[0084] The beneficial effects of the above technical solution are as follows:

[0085] The pull-out box 31 allows for easy manual and periodic emptying of the collected insect carcasses.

[0086] In one embodiment, a rotating motor 32 is mounted on one of the mounting rods 24, and the output end of the rotating motor 32 is connected to the rotating shaft 25 through a pulley assembly 33. Brush strips 34 are mounted opposite each other on the inner wall of the upper collection hopper 23 near the top.

[0087] The working principle and beneficial effects of the above technical solution are as follows:

[0088] The rotating motor 32 drives the rotating shaft 25 to rotate via the pulley assembly 33. The insect-attracting lamp assembly 26 and the external fixing bracket 27 mounted on the rotating shaft 25 rotate, and the electric grid 28 installed on the external fixing bracket 27 also rotates accordingly. Figure 6 As shown, when the external fixed bracket 27 drives the electric grid 28 to rotate clockwise, the linear module 30 drives the upper collection bucket 23 to move to the rightmost end. At this time, the brush strip 34 located on the right inner wall of the upper collection bucket 23 brushes off the corpses attached to the electric grid 28 during the rotation. Conversely, when the external fixed bracket 27 drives the electric grid 28 to rotate counterclockwise, the linear module 30 drives the upper collection bucket 23 to move to the leftmost end. At this time, the brush strip 34 located on the left inner wall of the upper collection bucket 23 brushes off the corpses attached to the electric grid 28 during the rotation.

[0089] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A grain warehouse inspection robot, characterized in that, include: A mobile chassis (10) is provided, and a column (11) is installed on the mobile chassis (10). The column (11) can perform lifting and lowering actions relative to the mobile chassis (10). Image acquisition unit (12) is installed on the top of column (11) and is used to collect pest information within the inspection range; Temperature and humidity monitoring module (14) is installed on the mobile chassis (10) and is used to monitor the temperature and humidity information in the grain warehouse. Pest control device (15) is installed on a mobile chassis (10) and is used to kill the attracted pests in a concentrated manner.

2. The grain warehouse inspection robot according to claim 1, characterized in that, Also includes: Fire extinguishing device (13): Two sets of fire extinguishing devices (13) are symmetrically installed on the column (11). The fire extinguishing device (13) is used to extinguish sudden fires in the grain warehouse.

3. A grain warehouse inspection robot according to claim 1, characterized in that, The mobile chassis (10) adopts a wheeled chassis, a tracked chassis, or a multi-wheeled chassis, and the front end of the mobile chassis (10) in the direction of travel is equipped with anti-collision parts (16).

4. A grain warehouse inspection robot according to claim 1, characterized in that, The temperature and humidity monitoring module (14) is a sensor module with dual parameter detection functions of temperature and humidity.

5. A grain warehouse inspection robot according to claim 1, characterized in that, The image acquisition unit (12) includes: The gimbal (17) is mounted on the top of the column (11); Camera (18) is mounted on gimbal (17).

6. A grain warehouse inspection robot according to claim 2, characterized in that, Fire extinguishing device (13) includes: The spray tube (19) is mounted on the column (11) via a pitch rotation bracket (20); The storage tank is connected to the spray nozzle (19) via a high-pressure hose with a valve. A storage tank placement box (21) is installed at the rear end of the mobile chassis (10) in the direction of travel, and the storage tank is placed in the storage tank placement box (21).

7. A grain warehouse inspection robot according to claim 6, characterized in that, The pest control device (15) includes: The lower collection box (22) is installed on the top of the mobile chassis (10); The upper collection hopper (23) is located at the top of the lower collection box (22); The two mounting rods (24) are installed at the top of the lower collection box (22), the upper collection hopper (23) is located between the two mounting rods (24), the rotating shaft (25) is installed between the two mounting rods (24), and multiple insect-attracting lamp groups (26) are evenly distributed on the rotating shaft (25) in a ring shape. An external fixing bracket (27) is cylindrically mounted on the outer surface of the insect-attracting lamp assembly (26), and an electric grid (28) is installed on the external fixing bracket (27).

8. A grain warehouse inspection robot according to claim 7, characterized in that, The top of the lower collection box (22) is provided with a strip-shaped opening (29) that communicates with the upper collection hopper (23). The bottom end of the upper collection hopper (23) is slidably connected to the strip-shaped opening (29). A linear module (30) is symmetrically installed on the top of the lower collection box (22) with the strip-shaped opening (29) as the center. The output end of the linear module (30) is connected to the upper collection hopper (23).

9. A grain warehouse inspection robot according to claim 7, characterized in that, A pull-out box (31) is installed inside the lower collection box (22).

10. A grain warehouse inspection robot according to claim 7, characterized in that, One of the mounting rods (24) is equipped with a rotating motor (32), the output end of which is connected to the rotating shaft (25) via a pulley assembly (33), and brush strips (34) are installed facing each other on the inner wall of the upper collection hopper (23) near the top.

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