Robotic high-altitude meteorological detection device and system based on cloud computing

Abstract

This invention belongs to the field of upper-air meteorological observation, specifically relating to a cloud-based robotic upper-air meteorological detection device and system. The device includes a working chamber containing a control room and a balloon deployment chamber, with a loading port between them. The control room houses a control module, a loading rack, a loading robot, and a baseline measurement box. The balloon deployment chamber contains a release mechanism and a gas guiding device. The loading rack stores the radiosonde tray assembly. The loading robot retrieves the radiosonde tray assembly from the rack, places it in the baseline measurement box for baseline value determination, and then places it onto the release mechanism through the loading port. The release mechanism inflates the radiosonde balloon in the radiosonde tray assembly, and the gas guiding device guides the gas flow to release the inflated balloon. This invention can replace manual operation at radiosonde stations, enabling unmanned radiosonde detection.

Description

Technical Field

[0001] The present invention belongs to the field of high-altitude meteorological observation, and in particular relates to a cloud computing-based robot high-altitude meteorological detection device and system. Background Art

[0002] High-altitude meteorological observations are mainly focused on measuring the temperature, humidity, air pressure, wind direction, and wind speed at various altitudes in the atmosphere. There are also some other special items, such as atmospheric composition, ozone, radiation, atmospheric electric field and other elements, which provide timely and accurate high-altitude meteorological data for weather forecasting, climate analysis, and scientific research.

[0003] Sounding balloons in the prior art are usually released manually, and some high-altitude observation stations use semi-automatic automatic ball releasing devices. Although these devices can reduce manual operation, they have the disadvantages of low intelligence and small device capacity during actual operation. Therefore, it is necessary to improve the sounding equipment in the prior art to realize the intelligence of high-altitude meteorological detection and improve the work efficiency of sounding balloon release in high-altitude detection. Summary of the invention

[0004] The present invention overcomes the deficiencies of the prior art and aims to solve the following technical problems: to provide a cloud computing-based robotic high-altitude meteorological detection device and system to replace the manual operation of sounding stations and achieve the purpose of networked, intelligent and automated unmanned detection.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: a robot high-altitude meteorological detection device based on cloud computing, including a working cabin, wherein a control room and a ball release room are arranged in the working cabin, and a loading port is arranged between the control room and the ball release room; the control room is provided with a control module, a loading rack, a loading robot and a base measurement box; the ball release room is provided with a release mechanism and a gas diversion device; the loading rack is used to store the sounding tray assembly, the loading robot is used to take out the sounding tray assembly from the loading rack, and place it in the base measurement box for base value measurement, and then place it on the release mechanism through the loading port, the release mechanism is used to inflate the sounding balloon in the sounding tray assembly, and the gas diversion device is used to divert the sounding balloon after the filling is completed to release it; the loading robot is also used to take the released sounding tray assembly off the release mechanism and place it in the loading rack; the control module is used to receive control instructions from the cloud, and control the loading robot, the release mechanism and the gas diversion device to work according to the control instructions.

[0006] The loading rack includes a main frame body, in which a plurality of inclined loading chutes and a plurality of inclined pallet recovery chutes are arranged. The loading chute is lower at one end close to the loading robot and is used for placing the sounding tray assembly. The pallet recovery chute is higher at one end close to the loading robot and is used for placing the released sounding tray assembly. A photoelectric induction sensor is arranged at the bottom of the loading chute for measuring whether there is a sounding tray assembly on the corresponding loading chute.

[0007] The sounding tray assembly includes a tray, which is used to set a sounding balloon sonde, a spool and an inflation plug for inflation. The inlet of the sounding balloon is set on the inflation plug, the sonde is connected to the sounding balloon through the spool, and the air outlet of the inflation plug is provided with a rubber ring; the release mechanism includes a bracket, a release solenoid valve, a release baffle and an inflation tube, the bottom of the bracket is provided with a base and a force sensor, the inflation tube is fixedly arranged on the bracket, and a spherical inflation port for cooperating with the air outlet of the inflation plug is provided at the outlet of the inflation tube; the release baffle is used to cooperate with the buckle on the inflation plug to fix the balloon, and the release solenoid valve is connected to the release baffle, and is used to pull the release baffle to the suction position after inflation is completed to release the sounding balloon.

[0008] The loading robot includes a six-axis industrial robot, a visual system, and an end effector. The six-axis industrial robot and the end effector are used to complete the placement and picking of the sounding tray assembly and the base measurement of the sounding instrument, and the visual system is used to identify and locate the material.

[0009] The top of the working cabin is provided with a sounding receiver receiving antenna, a camera and a balloon launching cover located above the ball launching room. The balloon launching cover is used to open or close the top opening of the ball launching room. The working cabin is provided with an air conditioning system located in the control room.

[0010] The balloon launching top cover includes a cover plate, a servo motor, a guide rail and a ball screw. The servo motor is used to drive the ball screw to move the cover plate on the guide rail to open and close the cover plate. The contact positions between the cover plate and the top of the working cabin are provided with sealing members.

[0011] The gas flow guiding device comprises a flow guiding cover and a plurality of axial flow fans. The axial flow fans are arranged at the bottom of the ball placing room, and the flow guiding cover is arranged above the axial flow fans.

[0012] The cloud computing-based robot high-altitude meteorological detection device also includes a hydrogen cabin, and a gas pipeline is connected between the working cabin and the hydrogen cabin; the control module includes a main control module and a communication receiver module, and the communication receiver module is at least one of a Beidou receiver module and a GPS receiver module. The main control module receives the meteorological data sent by the sounding instrument and the control command sent by the cloud server through the communication receiver module, and controls the feeding robot, the release mechanism and the gas diversion device to work according to the control module.

[0013] Furthermore, the present invention also provides a control method for a robot high-altitude meteorological detection device based on cloud computing, comprising the following steps:

[0014] S1. After receiving the ball release command sent by the cloud server, the robot is controlled to take out the sounding tray assembly from the loading rack;

[0015] S2, control the robot to put the sounding tray assembly into the base test box for testing. If the sounding instrument is qualified, it will proceed to the next step. If the sounding instrument is unqualified, the tray assembly will be placed in the unqualified area of ​​the loading rack, and return to step S1 to re-take the material;

[0016] S3, control the robot to put the sonde into the release mechanism, control the release mechanism to inflate the sounding balloon, and judge whether the lift of the balloon reaches the set value and there is no leakage. If so, proceed to the next step. If not, close the inflation valve, put the tray assembly into the unqualified area of ​​the loading rack, and return to step S1 to re-take the material;

[0017] S4. Open the top cover and release the sounding balloon.

[0018] Furthermore, the present invention also provides a cloud computing-based robotic high-altitude meteorological detection system, including a control center, a network cloud service system and a plurality of the robotic high-altitude meteorological detection devices.

[0019] The present invention provides a cloud computing-based robot high-altitude meteorological detection device and system, which has the following beneficial effects compared with the prior art:

[0020] 1. The present invention uses industrial robots to simulate humans to complete operations such as material collection and recycling. The general trouble-free working time of industrial robots can reach 80,000 hours. Therefore, the present invention can improve the reliability of system operation;

[0021] 2. In the present invention, by arranging a gas guide device in the deflation chamber, the device can adjust the rotation speed of each fan according to the environmental wind force to enhance the lift of the sounding balloon, so as to achieve the purpose of launching the sounding balloon normally in severe weather such as strong winds.

[0022] 3. In the present invention, the loading rack can store multiple materials (sondes, balloons, etc.) at one time, and the loading rack uses gravity to complete material supply, reducing the moving mechanism, improving the reliability and maintenance frequency of the system, and reducing the cost.

[0023] 4. The release mechanism of the present invention can be automatically inflated and released. The balloon release cover on the top of the working cabin is automatically opened and closed by the servo system. The gas guide device at the bottom of the ball release room can also be intelligently controlled by the control module. Therefore, the present invention improves the degree of automation of the device.

[0024] 5. The overall structure of the present invention is optimized, and the system cost is reduced by 50% compared with the existing ones. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A schematic diagram of the appearance and structure of a cloud computing-based robotic high-altitude meteorological detection device provided in an embodiment of the present invention;

[0026] Figure 2 for Figure 1 Schematic diagram of the internal structure;

[0027] Figure 3 It is a structural schematic diagram of a loading rack in an embodiment of the present invention;

[0028] Figure 4 This is a schematic diagram of the internal structure of the loading rack in an embodiment of the present invention;

[0029] Figure 5 This is a schematic diagram of the structure of a loading robot in an embodiment of the present invention;

[0030] Figure 6 It is a structural schematic diagram of a sounding tray assembly in an embodiment of the present invention;

[0031] Figure 7 It is a schematic diagram of the structure of the inflatable plug in an embodiment of the present invention;

[0032] Figure 8 A schematic diagram of the cooperation between the sounding tray assembly and the release mechanism in an embodiment of the present invention;

[0033] Fig. 9 A schematic diagram of the cooperation between the release mechanism and the sounding balloon in an embodiment of the present invention;

[0034] Fig.10 Schematic diagram of the structure of the gas guide device in an embodiment of the present invention;

[0035] Fig.11 It is a structural schematic diagram of a balloon release cover in an embodiment of the present invention;

[0036] Fig.12Schematic diagram of the working process of a cloud computing-based robotic high-altitude meteorological detection device in an embodiment of the present invention;

[0037] Fig.13 A schematic diagram of the structure of a cloud computing-based robotic high-altitude meteorological detection system provided in an embodiment of the present invention;

[0038] In the figure: 1 is a working cabin, 2 is an omnidirectional receiving antenna of a sounding receiver, 3 is a camera, 4 is an air conditioning system, 6 is an air inlet, 7 is a cabin door, 8 is a control module, 9 is a loading rack, 10 is a loading robot, 11 is a release mechanism, 12 is a sounding tray assembly, 13 is a gas guide device, 14 is a balloon release cover, 15 is a balloon release room, 16 is a control room, 17 is a base measurement box, 18 is an end effector, 19 is a visual system, 20 is a main frame, 21 is a loading chute, 22 is a tray recovery chute, 23 is a photoelectric sensor responsive sensor, 24 is a sounding instrument, 25 is a tray, 26 is an inflation plug, 27 is a spool, 28 is a sounding balloon, 29 is a cover, 30 is a servo motor, 31 is a guide rail, 32 is a ball screw, 33 is a seal, 34 is an axial flow fan, 35 is a guide cover, 36 is a bracket, 37 is a release solenoid valve, 38 is a release baffle, 39 is an inflation tube, 40 is, 41 is a rubber ring, 42 is a spherical inflation port, 43 is a base, 44 is a force sensor, 45 is an electric regulating valve, 46 is a buckle, and 47 is a valve core. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0040] Embodiment 1

[0041] like Figure 1~2As shown, an embodiment of the present invention provides a cloud computing-based robot high-altitude meteorological detection device, including a working cabin 1, in which a control room 16 and a ball release room 15 are arranged, and a loading port is arranged between the control room 16 and the ball release room 15. The control room 16 is provided with a control module 8, a loading rack 9, a loading robot 10 and a base measurement box 17; the ball release room 15 is provided with a release mechanism 11 and a gas guide device 13. An air inlet 6 is arranged on the wall of the ball release room 15, and a cabin door 7 is arranged on the control room 16. The top of the working cabin 1 is provided with an omnidirectional receiving antenna 2 of a sounding receiver, a camera 3 and a balloon release cover 14 located above the ball release room 15. The balloon release cover 14 is used to open or close the top opening of the ball release room 15, and the working cabin 1 is provided with an air conditioning system 4 located in the control room 16.

[0042] like Figure 3 and Figure 4 As shown, in this embodiment, the loading rack 9 is used to store the sounding tray assembly 12. The loading rack 9 includes a main frame 20, in which a plurality of inclined loading chutes 21 and a plurality of inclined tray recovery chutes 22 are arranged. The loading chute 21 is low at one end close to the loading robot and is used to place the sounding tray assembly. The tray recovery chute 22 is high at one end close to the loading robot 10 and is used to place the released sounding tray assembly or the unqualified sounding tray assembly. The bottom of the loading chute 21 is provided with a photoelectric induction sensor 23 for measuring whether there is a sounding tray assembly on the corresponding loading chute 21. In this embodiment, the loading system adopts a non-powered mode design, and the system operation is completed by the gravity of the material itself. In this embodiment, the loading chute 21 and the tray recovery chute 22 are both set to 3 rows and 8 columns for a total of 24, and each chute can accommodate 4 sounding tray assemblies. The loading rack 9 can accommodate 96 sounding tray assemblies, which can meet the meteorological station's demand for high-altitude observation equipment for one month. After the sounding tray assembly in the feeding system is placed in the feeding chute 21, it can slide to the outlet of the feeding chute by gravity, and the photoelectric induction sensor 23 can determine which outlets of the feeding chute 21 have sounding tray assemblies. When high-altitude observation is required, the robot can obtain the sounding tray assembly from the feeding system. At the same time, the robot can also put the tray after the instrument is placed or the sounding tray assembly of the unqualified instrument into the tray recovery chute 22 of the grid feeding rack for recovery. The recovered unqualified instrument tray assembly and empty tray assembly are used to replace and load new instruments for later use.

[0043] like Figure 5As shown, the loading robot includes a six-axis industrial robot 17, a visual system 19, and an end effector 18. The six-axis industrial robot 17 and the end effector 18 are used to complete the placement and pick-up of the sounding tray assembly 12 and the base measurement of the sounding instrument, and the visual system 18 is used to identify and locate the material. The six-axis industrial robot has the advantages of flexible movement and high reliability, which can greatly improve the reliability of the system and reduce the failure rate of balloon release. Specifically, the loading robot 10 is used to take out the sounding tray assembly 12 from the loading rack 9, and place it in the base measurement box 17 for base value measurement, and then place it on the release mechanism 11 through the loading port. The loading robot is also used to remove the released sounding tray assembly from the release mechanism 11 and place it in the loading rack 9.

[0044] like Figure 6 As shown, in this embodiment, the sounding tray assembly 12 includes a tray 25, which is used to place a sounding balloon 28, a sonde 24, a spool 27 and an inflating plug 26 for inflating. The inlet of the sounding balloon 28 is arranged on the inflating plug 26, and the sonde 24 is connected to the sounding balloon 28 through the spool 27. Figure 7 As shown, the air outlet of the inflation plug 26 is provided with a rubber ring 41, a valve core 47 is provided inside, and a buckle 46 is provided outside. In this embodiment, the tray in the sounding tray assembly 12 is used as a carrier for the sonde 24 and the sounding balloon 28 and is reusable. The spare sounding balloon 28 is bundled to the inflation plug 26 in advance, and then the sonde 24 is connected to the sounding balloon 28 through the spool and placed in the tray 25 together, and the assembled sounding tray assembly 12 is placed in the loading rack for use. In this embodiment, the tray group is set to better meet the storage of the grid-type loading rack and the use of the loading robot.

[0045] like Figure 8 , which is a schematic diagram of the cooperation between the release mechanism 11 and the sounding tray assembly 12. When working, the loading robot 10 places the sounding tray assembly 12 on the release mechanism 11, and the sounding balloon 28 is inflated through the release mechanism 11.

[0046] like Figures 8 and 9As shown, in this embodiment, the release mechanism 11 includes a bracket 36, a release solenoid valve 37, a release baffle 38 and an inflation tube 39. The bottom of the bracket 36 is provided with a base 43 and a force sensor 44. The inflation tube 39 is fixedly arranged on the bracket 36, and a spherical inflation port 42 for cooperating with the outlet of the inflation plug 26 is provided at the outlet of the inflation tube 39. An electric regulating valve 45 is provided on the inflation tube for adjusting the inflation flow and switching the air flow. The release baffle 38 is used to cooperate with the buckle 46 on the inflation plug 26 to fix the sounding balloon. The release solenoid valve 37 is connected to the release baffle 38 to pull the release baffle 38 to the suction position after the inflation is completed, so as to release the sounding balloon 28. The release mechanism 11 is used to inflate the sounding balloon in the sounding tray assembly 12.

[0047] When the loading robot places the sounding tray assembly on the release mechanism 11, the bottom of the inflation plug 26 of the sounding tray assembly is tightly fitted onto the spherical inflation port 42, and the rubber ring 41 at the bottom of the inflation plug 26 acts as a seal. When the electric regulating valve 45 is opened, the sounding balloon begins to be inflated. When the force sensor 44 measures the data (inflation volume = original weight of the inflation mechanism - weight of the mechanism after inflation) to the specified value, the control module controls the electric regulating valve 45 to close. Since there is a valve core in the inflation plug 26, it is ensured that the hydrogen in the sounding balloon will not leak. When the conditions for releasing the ball are met, the control module controls the release solenoid valve 37 to pull the balloon release baffle 38 out of the bayonet on the inflation plug, so that the sonde is separated from the tray and floats into the air together with the sounding balloon. Specifically, the release baffle can be a U-shaped baffle. When the loading robot places the sounding tray assembly on the release mechanism 11, the release solenoid valve 37 pulls the release baffle 38 to the suction position. The loading robot puts the tray assembly into the release station, and the inflation plug 26 fits with the spherical inflation port 42. Then the release solenoid valve 37 is controlled to loosen the release baffle 38, so that the release baffle 38 cooperates with the buckle 46 on the inflation plug 26 to fix the sounding balloon. Then the control system controls the electric regulating valve 45 to open and inflate the sounding balloon. At the same time, the force sensor 44 monitors the lift generated by the balloon. When the lift reaches the set value, the electric regulating valve 45 is closed; when the system issues a release command, the balloon release solenoid valve pulls the baffle to the suction position again so that the sounding balloon can be released.

[0048] In this embodiment, the gas guiding device 13 is used to guide the sounding balloon after it is filled with gas to release it; Fig.10As shown, the gas flow guide device 13 includes a guide cover 35 and a plurality of axial flow fans 34, the axial flow fans 34 are arranged at the bottom of the ball release room 15, and the guide cover 35 is arranged above the axial flow fans 34. In the present invention, the control system can adjust the rotation speed of each axial flow fan 34 according to the size of the environmental wind force to increase the lift of the sounding balloon, so as to achieve the purpose of normally launching the sounding balloon in severe weather such as strong winds. An air inlet 6 is arranged on the wall of the ball release room 15 to play the role of air supply.

[0049] like Fig.11 In the present embodiment, the balloon launching top cover 14 includes a cover plate 29, a servo motor 30, a guide rail 31 and a ball screw 32. The servo motor 30 is used to drive the ball screw 32 to move the cover plate 14 on the guide rail 31 to realize the opening and closing of the cover plate 29. The contact position between the cover plate 14 and the top of the working cabin 1 is provided with a seal 33.

[0050] Specifically, the cloud computing-based robotic high-altitude meteorological detection device provided in this embodiment also includes a hydrogen cabin, and a gas pipeline is connected between the working cabin and the hydrogen cabin.

[0051] Specifically, in this embodiment, the control module includes a main control module and a communication receiver module. The communication receiver module is a radio receiver hardware with Beidou / GPS dual-mode receiving function and its supporting software, as well as network equipment and software. The main control module receives the meteorological data sent by the sounding instrument and the control commands sent by the cloud server through the communication receiver module, and controls the operation of the loading robot 10, the release mechanism 11 and the gas diversion device 13 according to the control commands.

[0052] Furthermore, in this embodiment, the main control module is specifically an industrial computer, a server, etc., and the control module also includes a programmable controller (PLC), an IO module, a robot controller, a teaching pendant, a servo drive, etc., which mainly completes the system operation, scheduling, control, data collection, data processing and other tasks.

[0053] Embodiment 2

[0054] like Fig.12 As shown, the second embodiment of the present invention provides a control method for a robot high-altitude meteorological detection device based on cloud computing, comprising the following steps:

[0055] S1. After receiving the ball release command sent by the cloud server, the robot is controlled to take the sounding tray assembly out of the loading rack.

[0056] After the system is started and before receiving the ball release command, it is necessary to perform a self-check and a gas leak test.

[0057] S2. Control the robot to place the sounding tray assembly into the base test box for testing. If the sounding instrument is qualified, it will proceed to the next step. If the sounding instrument is unqualified, the tray assembly will be placed in the unqualified area of ​​the loading rack and return to step S1 to re-take the material.

[0058] Specifically, unqualified pallet components are placed in the pallet recovery chute 22 in the loading rack, which automatically slides to the bottom located on one side of the hatch, making it convenient to recover the pallets in the loading rack.

[0059] S3, control the robot to place the sonde into the release mechanism, control the release mechanism to inflate the sounding balloon, and determine whether the lift of the balloon reaches the set value and there is no leakage. If so, proceed to the next step; if not, close the inflation valve, place the tray assembly into the unqualified area of ​​the loading rack, and return to step S1 to re-take the material.

[0060] Among them, if the set lift requirement cannot be achieved within the set time or the system detects a hydrogen leak in the ball release room, the system will automatically close the inflation valve if it considers that the balloon is leaking, and put the tray assembly into the recovery chute of the loading rack, and then take another tray assembly and start from the beginning; after the inflation is completed, the system closes the inflation valve and enters the waiting state for the release command. One minute before the release, the system opens the top cover of the ball release room, and automatically determines whether to open the gas diversion device and set the fan speed according to the external weather and wind conditions at that time, and increases the balloon lift according to the outdoor wind speed, so as to assist the sounding balloon to quickly protrude from the ball release room; when the system issues a release command, the inflation release system controls the solenoid valve to pull the balloon release baffle out of the balloon plug slot, so that the sounding instrument is separated from the tray assembly together with the balloon, flies out of the ball release room, and floats into the air; after the balloon is released, the system automatically closes the balloon release top cover 14 and the gas diversion device 13.

[0061] S4. Open the top cover and release the sounding balloon.

[0062] After the sounding balloon is released, the sonde it carries can collect meteorological data. The collected data is received through the sonde receiving system (Beidou / GPS high-altitude meteorological receiving system). After the meteorological data is received, the system automatically uploads it to the "Sounding Integrated Control Data Processing Cloud Platform". The cloud-based "business software" processes the data and outputs meteorological products in accordance with the "Conventional High-altitude Meteorological Observation Specifications". The output products include meteorological products such as the high-altitude specified isobaric surface layer, characteristic layer, troposphere, wind characteristic layer, etc.

[0063] Embodiment 3

[0064] like Fig.13 As shown, an embodiment of the present invention provides a cloud computing-based robotic high-altitude meteorological detection system including a control center, a network cloud service system and multiple detection devices shown in Example 1.

[0065] Control Center: Develop a "sounding integrated control data processing cloud platform" and deploy it on a cloud server with a dedicated address. It can conduct video monitoring, simulation demonstrations, preset or start the observation time of the robotic high-altitude meteorological detection system, process sounding meteorological element data, output meteorological products, etc. for the remote workstations under its jurisdiction, and can control the work of multiple remote workstations at the same time.

[0066] Network cloud service system: cloud computing, cloud storage resources (public cloud or private cloud), deployed with system control software, business processing software, etc., can use meteorological cloud or other public cloud or private cloud.

[0067] Detection device: used to release sounding balloons in real time.

[0068] This embodiment provides a cloud computing-based robotic high-altitude meteorological detection system, which is a networked, intelligent, multi-site controlled high-altitude meteorological observation system. It adopts Beidou / GPS dual-mode radiosonde + omnidirectional antenna receiver detection mode, and is an unattended high-altitude meteorological observation equipment that can automatically observe atmospheric parameters such as atmospheric temperature, humidity, pressure, wind speed and wind direction from the ground to an altitude of 36km, and can be remotely controlled over the network. Other special deployment methods such as fixed, vehicle-mounted, and ship-mounted are adopted to achieve the purpose of taking into account multiple observation methods such as fixed observation and mobile observation.

[0069] The control module can issue high-altitude observation instructions remotely and in real time by presetting the high-altitude observation time or by the operator. Then, the various functional modules in the detection device will automatically complete a series of working processes such as sequential loading of the sonde, powering on the sonde, basic measurements before release, receiving sounding data, quantitative inflation of the sounding balloon, opening of the top cover and release of the sonde, sounding data processing, sounding data forwarding, system resetting, etc.

[0070] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A cloud computing-based robotic high-altitude meteorological detection device, characterized in that: It comprises a working cabin (1), wherein a control room (16) and a ball placing room (15) are arranged in the working cabin (1), and a loading port is arranged between the control room (16) and the ball placing room (15); The control room (16) is provided with a control module, a loading rack (9), a loading robot (10) and a base measurement box (17); The ball release chamber (15) is provided with a release mechanism (11) and a gas guide device (13); The loading rack (9) is used to store the sounding tray assembly (12); the loading robot (10) is used to take out the sounding tray assembly (12) from the loading rack (9), place it in a base measurement box (17) for base value measurement, and then place it on a release mechanism (11) through a loading port; the release mechanism (11) is used to inflate the sounding balloon in the sounding tray assembly (12); the gas guide device (13) is used to guide the sounding balloon after it has been inflated to release it; the loading robot is also used to take the released sounding tray assembly off the release mechanism (11) and place it in the loading rack (9); The control module is used to receive control instructions from the cloud, and control the loading robot (10), the release mechanism (11) and the gas guide device (13) to work according to the control instructions; The loading rack (9) comprises a main frame (20), wherein a plurality of inclined loading chutes (21) and a plurality of inclined tray recovery chutes (22) are arranged in the main frame, wherein the loading chutes (21) are lower at one end close to the loading robot and are used to place the sounding tray assembly, and the tray recovery chutes (22) are higher at one end close to the loading robot (10) and are used to place the sounding tray assembly that has been released, and a bottom portion of the loading chutes (21) is provided with a measuring device for measuring the corresponding loading chutes (2 1) whether there is a photoelectric induction sensor on the sounding tray assembly; the sounding tray assembly (12) includes a tray (25), the tray (25) is used to set a sounding balloon (28), a sonde (24), a spool (27) and an inflation plug (26) for inflation, the inlet of the sounding balloon (28) is set on the inflation plug (26), the sonde (24) is connected to the sounding balloon (28) through the spool (27), and a rubber ring (41) is set at the air outlet of the inflation plug (26); The release mechanism (11) comprises a bracket (36), a release solenoid valve (37), a release baffle (38) and an inflation tube (39); a base and a force sensor are arranged at the bottom of the bracket (36); the inflation tube (39) is fixedly arranged on the bracket (36); and a spherical inflation port (42) for cooperating with the outlet of the inflation plug (26) is arranged at the outlet of the inflation tube (39); the release baffle (38) is used to cooperate with the buckle on the inflation plug (26) to fix the balloon; the release solenoid valve (37) is connected to the release baffle (38) and is used to pull the release baffle to the suction position after inflation is completed, so as to release the sounding balloon (28).

2. The cloud computing-based robotic high-altitude meteorological detection device according to claim 1, characterized in that: The loading robot includes a six-axis industrial robot, a visual system, and an end effector. The six-axis industrial robot and the end effector are used to complete the placement and picking of the sounding tray assembly and the base measurement of the sounding instrument, and the visual system is used to identify and locate the material.

3. The cloud computing-based robotic high-altitude meteorological detection device according to claim 1, characterized in that: The top of the working cabin (1) is provided with a sounding receiver receiving antenna (2), a camera (3) and a balloon launching top cover (14) located above the balloon launching room (15); the balloon launching top cover (14) is used to open or close the top opening of the balloon launching room (15); and the working cabin (1) is provided with an air conditioning system (4) located in a control room (16).

4. The cloud computing-based robotic high-altitude meteorological detection device according to claim 3, characterized in that: The balloon launching top cover (14) comprises a cover plate (29), a servo motor (30), a guide rail (31) and a ball screw (32). The servo motor (30) is used to drive the ball screw (32) to move the cover plate (29) on the guide rail (31) to open and close the cover plate (29). The contact position between the cover plate (29) and the top of the working cabin (1) is provided with a sealing member (33).

5. The cloud computing-based robotic high-altitude meteorological detection device according to claim 1, characterized in that: The gas flow guide device (13) comprises a flow guide cover (35) and a plurality of axial flow fans (34); the axial flow fans are arranged at the bottom of the ball placing chamber (15); and the flow guide cover (35) is arranged above the axial flow fans (34).

6. The cloud computing-based robotic high-altitude meteorological detection device according to claim 1, characterized in that: It also includes a hydrogen cabin, and a gas pipeline is connected between the working cabin and the hydrogen cabin; the control module includes a main control module and a communication receiver module, and the communication receiver includes at least one of a Beidou receiver module and a GPS receiver module. The main control module receives meteorological data sent by the radiosonde and control commands sent by the cloud server through the communication receiver module, and controls the loading robot (10), the release mechanism (11) and the gas diversion device (13) to work according to the control module.

7. The control method of a cloud computing-based robot high-altitude meteorological detection device according to claim 1, characterized in that: The following steps are involved: S1. After receiving the ball release command sent by the cloud server, the robot is controlled to take out the sounding tray assembly from the loading rack; S2, control the robot to put the sounding tray assembly into the base test box for testing. If the sounding instrument is qualified, it will proceed to the next step. If the sounding instrument is unqualified, the tray assembly will be placed in the unqualified area of ​​the loading rack, and return to step S1 to re-take the material; S3, control the robot to put the sonde into the release mechanism, control the release mechanism to inflate the sounding balloon, and judge whether the lift of the balloon reaches the set value and there is no leakage. If so, proceed to the next step. If not, close the inflation valve, put the tray assembly into the unqualified area of ​​the loading rack, and return to step S1 to re-take the material; S4. Open the top cover and release the sounding balloon.

8. A cloud computing-based robotic high-altitude meteorological detection system, characterized in that: It includes a control center, a network cloud service system and a plurality of robot high-altitude meteorological detection devices as described in any one of claims 1 to 6.

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