A millimeter-wave radar for assisting robots in avoiding obstacles

Abstract

The present invention relates to a millimeter-wave radar applied in the field of radar for assisting robots in avoiding obstacles, comprising a radar body and an intelligent detection and fault reporting mechanism. The intelligent detection and fault reporting mechanism can detect the radar body to verify whether its detection function is normal. If there is an abnormality in the detection function of the radar body, a fault warning will be sent to a staff member, so that the staff member can timely discover the abnormality of the radar and prompt the staff member to timely perform corresponding processing, thereby greatly reducing the adverse effects caused by the abnormal function of the radar. In addition, through the provision of a clearing component, the intelligent detection and fault reporting mechanism also has a cleaning function. If the abnormal function of the radar body is caused by being blocked by an obstacle, the intelligent detection and fault reporting mechanism can clear the obstacle blocking the protective cover with a high probability, thereby restoring the function of the radar body to normal with a high probability, greatly improving the functionality and practicality of the intelligent detection and fault reporting mechanism.

Description

Technical Field

[0001] The present invention relates to a radar, and in particular to a millimeter wave radar applied in the field of radars for assisting a robot in avoiding obstacles. Background Art

[0002] Millimeter wave radar is a detection radar that works in the millimeter wave band. It has the advantages of long detection distance, simple structure, low price, high detection accuracy, little influence by the detection environment, strong penetration ability, etc. Therefore, it has a wide range of applications in many fields.

[0003] Millimeter-wave radars are also widely used in the field of intelligent robots. For example, express delivery robots can be assisted in obstacle avoidance by millimeter-wave radars. Radar is one of the key components for express delivery robots to achieve intelligent obstacle avoidance. Once the radar fails, the robot's obstacle avoidance function will be seriously affected. In addition, express delivery robots often operate outdoors, and the radar's detection function is easily affected by obstacles, which in turn affects the robot's obstacle avoidance function. Therefore, when the radar fails or its function is limited, if it is not discovered in time, the express delivery robot will not be able to avoid obstacles smoothly, which will affect the use of the express delivery robot and even cause damage to the express delivery robot. Therefore, we propose a millimeter-wave radar for assisting robots in obstacle avoidance. Summary of the invention

[0004] In view of the above-mentioned prior art, the technical problem to be solved by the present invention is: when the radar fails or its function is limited, if it is not discovered in time, the express robot will not be able to avoid obstacles smoothly, which will affect the use of the express robot and even cause damage to the express robot.

[0005] In order to solve the above problems, the present invention provides a millimeter-wave radar for assisting a robot in avoiding obstacles, including a radar body and an intelligent detection and obstacle reporting mechanism arranged on the express delivery robot, the intelligent detection and obstacle reporting mechanism including a detection and adjustment box, a cylinder is fixedly installed on the inner wall of one end of the detection and adjustment box, the end of the detection and adjustment box away from the cylinder is arranged in an open shape, a linkage rod is fixedly connected to the output end of the cylinder, one end of the linkage rod is fixedly connected to a sealing box matching the detection and adjustment box, a vertical plate is fixedly installed on the top of the linkage rod, an elastic air storage cylinder is fixedly installed on the vertical plate, the elastic air storage cylinder is filled with air, one end of the elastic air storage cylinder is connected to a connecting tube, the outer wall of the connecting tube is sleeved with a connecting box tube connected to the connecting tube in a sliding and sealing manner, and the detection An extruded tube plate is fixedly installed on the top inner wall of the regulating box, the bottom end of the sealing box is arranged to be open, an obstacle detection plate slidably and sealedly connected to it is arranged in the sealing box, an elastic suspension rope is fixedly connected between the obstacle detection plate and the top inner wall of the sealing box, a connecting box tube penetrates the extruded tube plate and extends to be connected to the interior of the sealing box, and the connecting box tube is slidably connected to the extruded tube plate, and an inspection and reporting intelligent controller is fixedly installed in the detection and regulating box, and a detection and reporting intelligent controller is arranged in the detection and reporting intelligent controller, a detection control module, a detection and analysis module and a wireless fault reporting module with wireless communication function are provided, the detection control module is signal-connected with the radar body, the cylinder and the wireless fault reporting module, the radar body is signal-connected with the detection and analysis module, and the detection and analysis module is signal-connected with the wireless fault reporting module.

[0006] In the above-mentioned millimeter-wave radar used to assist robots in avoiding obstacles, the intelligent inspection and reporting mechanism can detect the radar body to verify whether its detection function is normal. If there is an abnormality in the detection function of the radar body, a fault warning will be sent to the staff, so that the staff can discover the abnormality of the radar in time and prompt the staff to take corresponding measures in time.

[0007] As a further improvement of the present application, the elastic air storage cylinder is configured as a hollow cylinder, and is made of elastic material, the connecting box tube is located above the obstacle detection plate, and the cylinder extrusion plate is located on the side of the elastic air storage cylinder away from the vertical plate.

[0008] As a further improvement of the present application, the sealing box is slidably and sealedly connected to the detection and adjustment box, so that the sealing box also has a sealing function to prevent debris from entering the detection and adjustment box. The bottom end of the obstacle detection plate is higher than the bottom end of the sealing box to prevent the obstacle detection plate from being stuck when the sealing box is reset.

[0009] As a further improvement of the present application, a mounting plate is fixedly installed at the bottom end of the detection and adjustment box, the radar body is fixedly installed on the mounting plate, and the outer cover of the radar body is provided with a protective cover, which can protect the radar body.

[0010] As a further improvement of the present application, a detection setting module is also provided in the inspection and reporting intelligent controller. The detection setting module is connected to the detection control module by signal. The staff can set a detection cycle through the detection setting module, so that the detection control module will automatically perform an inspection on the radar body at regular intervals. The detection control module is connected to the control system signal of the express robot. During each inspection, the detection control module will send a signal to the control system of the express robot, so that the control system of the robot will temporarily stop the movement of the robot during the inspection, so as to prevent accidents during the inspection and improve the safety of the inspection.

[0011] As a further improvement of the present application, a distance sensor is fixedly installed on the top inner wall of the sealing box, the detection control module is connected to the distance sensor signal, and the distance sensor is connected to the detection analysis module signal, which can avoid misjudgment and improve the accuracy of detection.

[0012] As another improvement of the present application, the intelligent inspection and fault reporting mechanism also includes a clearing and shielding component arranged in the detection and adjustment box, the clearing and shielding component includes an air blowing pipe, one end of the air blowing pipe is connected to the connecting box pipe, the other end of the air blowing pipe is connected to the air jet nozzle, the air blowing pipe is provided with a solenoid valve, and a clearing and shielding control module is also provided in the intelligent inspection and fault reporting mechanism.

[0013] As another improved supplement to the present application, the detection and analysis module is signal-connected to the clearing control module, the clearing control module is signal-connected to the solenoid valve, and the detection and analysis module is signal-connected to the detection control module, so that the intelligent detection and fault reporting mechanism also has a cleaning function.

[0014] To summarize, the present application provides an intelligent detection and fault reporting mechanism so that the millimeter-wave radar in the present application has a detection and verification function. The intelligent detection and fault reporting mechanism can detect the radar body to verify whether its detection function is normal. If there is an abnormality in the detection function of the radar body, a fault warning will be sent to the staff, so that the staff can promptly discover the abnormality of the radar and prompt the staff to take corresponding measures in time, thereby greatly reducing the adverse effects caused by the abnormal function of the radar. Through the setting of the clearing component, the intelligent detection and fault reporting mechanism also has a cleaning function. If the abnormal function of the radar body is caused by obstruction by an obstacle, the intelligent detection and fault reporting mechanism can clear the obstacle blocking the protective cover with a high probability, thereby restoring the function of the radar body to normal with a high probability, greatly improving the functionality and practicality of the intelligent detection and fault reporting mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the three-dimensional structure of a millimeter-wave radar used to assist a robot in avoiding obstacles in the first embodiment of the present application;

[0016] Figure 2 This is a schematic cross-sectional structure diagram of the protective cover in the first embodiment of the present application;

[0017] Figure 3 This is a schematic cross-sectional structure diagram of the detection and adjustment box in the first embodiment of the present application;

[0018] Figure 4 This is a schematic cross-sectional view of the sealing box in the first embodiment of the present application;

[0019] Figure 5 This is a schematic cross-sectional view of the connecting box tube in the first embodiment of the present application;

[0020] Figure 6 This is a system structure block diagram of the detection and reporting intelligent controller in the first embodiment of the present application;

[0021] Figure 7 This is a pictographic demonstration diagram of detecting the radar body in the first embodiment of the present application;

[0022] Figure 8 This is a schematic cross-sectional structure diagram of the detection and adjustment box in the second embodiment of the present application;

[0023] Fig. 9 This is a system structure block diagram of the detection and reporting intelligent controller in the second embodiment of the present application;

[0024] Fig.10 This is a pictographic demonstration diagram of the detection of the radar body in the second embodiment of the present application.

[0025] Description of the numbers in the figure:

[0026] 101. Radar body; 102. Mounting plate; 103. Protective cover; 201. Detection and adjustment box; 202. Cylinder; 203. Linkage rod; 204. Sealing box; 205. Elastic gas storage cylinder; 206. Connecting tube; 207. Connecting box tube; 208. Extrusion tube plate; 209. Obstacle detection plate; 210. Elastic suspension rope; 211. Vertical plate; 212. Distance sensor; 003. Inspection and reporting intelligent controller; 401. Blowing tube; 402. Solenoid valve; 403. Air nozzle. DETAILED DESCRIPTION

[0027] Two implementation modes of the present application are described in detail below with reference to the accompanying drawings.

[0028] The first implementation method:

[0029] Figure 1-6A millimeter-wave radar for assisting a robot in avoiding obstacles is shown, comprising a radar body 101 and an intelligent detection and obstacle reporting mechanism arranged on the express delivery robot, wherein the intelligent detection and obstacle reporting mechanism comprises a detection and adjustment box 201, a cylinder 202 is fixedly mounted on the inner wall at one end of the detection and adjustment box 201, an end of the detection and adjustment box 201 away from the cylinder 202 is arranged in an open shape, a linkage rod 203 is fixedly connected to the output end of the cylinder 202, one end of the linkage rod 203 is fixedly connected to a sealing box 204 matching the detection and adjustment box 201, a vertical plate 211 is fixedly mounted on the top of the linkage rod 203, an elastic gas storage cylinder 205 is fixedly mounted on the vertical plate 211, the elastic gas storage cylinder 205 is filled with air, the elastic gas storage cylinder 205 is arranged in a hollow cylindrical shape, and the elastic gas storage cylinder 205 is made of elastic material, one end of the elastic gas storage cylinder 205 is connected to a connecting tube 206, and a connecting box tube 207 connected to the connecting tube 206 in a sliding and sealing manner is sleeved on the outer wall of the connecting tube 206, and the top of the detection and adjustment box 201 is fixedly connected to the connecting tube 206. A tube extrusion plate 208 is fixedly installed on the inner wall, the bottom end of the sealing box 204 is set to an open shape, and a detection plate 209 is provided in the sealing box 204 to be slidably and sealedly connected thereto, and an elastic hanging rope 210 is fixedly connected between the detection plate 209 and the top inner wall of the sealing box 204, and the connecting box tube 207 passes through the tube extrusion plate 208 and extends to communicate with the inside of the sealing box 204, and the connecting box tube 207 is slidably connected to the tube extrusion plate 208, and the connecting box tube 207 is located above the detection plate 209, and the tube extrusion plate 208 is connected to the sealing box 204. Plate 208 is located on the side of the elastic air storage cylinder 205 away from the vertical plate 211. A detection and reporting intelligent controller 003 is fixedly installed in the detection and adjustment box 201. The detection and reporting intelligent controller 003 is provided with a detection control module, a detection analysis module and a wireless fault reporting module with wireless communication function. The detection control module is signal-connected with the radar body 101, the cylinder 202 and the wireless fault reporting module. The radar body 101 is signal-connected with the detection and analysis module, and the detection and analysis module is signal-connected with the wireless fault reporting module.

[0030] See also Figure 1-7Under the effect of wireless communication technology, the staff can use the mobile phone (or electronic equipment with wireless communication function such as computer) to communicate with the wireless fault reporting module, so that the staff can send detection instructions to the wireless fault reporting module through the mobile phone, and the wireless fault reporting module can convey the instructions to the detection control module. After receiving the instructions, the detection control module will start the cylinder 202, so that the cylinder 202 pushes the linkage rod 203, the sealing box 204, etc. to move a certain distance outside the detection adjustment box 201 (the specific moving distance can be reasonably set by technicians in this field according to actual conditions). During the movement, the movement of the linkage rod 203 The movement will drive the vertical plate 211 and the elastic gas storage cylinder 205 to move together. After the elastic gas storage cylinder 205 moves to abut against the cylinder extrusion plate 208, the linkage rod 203 will continue to move, so that the vertical plate 211 and the cylinder extrusion plate 208 will squeeze the elastic gas storage cylinder 205, causing the air in the elastic gas storage cylinder 205 to flow into the sealing box 204 through the connecting tube 206 and the connecting box tube 207. The inflow of air will push the obstacle detection plate 209, causing the obstacle detection plate 209 to move downward. Combined with the push of the cylinder 202 on the linkage rod 203, the sealing box 204, etc., after the movement is completed, the obstacle detection plate 209 will be located in front of the radar body 101. After the movement is completed, The detection control module will send instructions to the radar body 101, so that the radar body 101 performs detection and feeds back the detection results to the detection analysis module. The detection analysis module will analyze and verify the detection results. If the detection results are accurate and error-free, it means that the radar body 101 functions normally. On the contrary, if the detection result is that the obstacle detection plate 209 is not detected, or there is an obvious error in the detection result, it means that the radar body 101 has a fault or its function is limited. At this time, the detection analysis module will remotely send a fault warning to the staff's mobile phone through the wireless fault reporting module. After the detection is completed, the detection control module will control the cylinder 202 to drive the linkage rod 2 03. When the sealing box 204 is reset, the obstacle detection plate 209 will automatically return to the sealing box 204 under the action of the elastic suspension rope 210. Therefore, through the setting of the intelligent detection and fault reporting mechanism, the millimeter wave radar in the present application has its own detection and verification function. The intelligent detection and fault reporting mechanism can detect the radar body 101 to verify whether its detection function is normal. If there is an abnormality in the detection function of the radar body 101, a fault warning will be sent to the staff, so that the staff can discover the abnormality of the radar in time and prompt the staff to take corresponding measures in time, thereby greatly reducing the adverse effects caused by radar failure or limited function.

[0031] See also Figure 3-4The sealing box 204 is slidably and sealedly connected to the detection and adjustment box 201, so that the sealing box 204 also has a sealing function to prevent debris from entering the detection and adjustment box 201. The bottom end of the obstacle detection plate 209 is higher than the bottom end of the sealing box 204 to avoid the obstacle detection plate 209 being stuck when the sealing box 204 is reset. The bottom end of the detection and adjustment box 201 is fixedly installed with a mounting plate 102, and the radar body 101 is fixedly installed on the mounting plate 102. The outer cover of the radar body 101 is provided with a protective cover 103, which can protect the radar body 101.

[0032] See also Figure 6 A detection setting module is also provided in the inspection and reporting intelligent controller 003. The detection setting module is connected with the detection control module signal. The staff can set a detection cycle through the detection setting module, so that the detection control module will automatically detect the radar body 101 once every period of time. The detection control module is connected with the control system signal of the express robot. During each detection, the detection control module will send a signal to the control system of the express robot, so that the control system of the robot will temporarily stop the movement of the robot during the detection period to prevent accidents during the detection period and improve the safety of the detection.

[0033] See also Figure 4 and Figure 6 A distance sensor 212 is fixedly installed on the inner wall of the top of the sealing box 204. The detection control module is connected to the distance sensor 212 by signal, and the distance sensor 212 is connected to the detection analysis module by signal. During the detection and verification of the radar body 101, the detection control module sends an instruction to the radar body 101 and starts the distance sensor 212 to make the distance sensor 212 measure the distance between it and the obstacle detection plate 209. The data measured by the distance sensor 212 will be fed back to the detection analysis module. The detection analysis module can judge whether the obstacle detection plate 209 has moved downward smoothly according to the measurement results, because unexpected situations such as air leakage may cause the obstacle detection plate 209 to move downward smoothly. 09 cannot move downward smoothly. If the obstacle detection plate 209 does not move downward, it will affect the detection result. Therefore, a distance sensor 212 is set to check whether the obstacle detection plate 209 has moved downward. This can avoid misjudgment and improve the accuracy of detection. In addition, after the detection is completed, the detection control module will automatically turn off the distance sensor 212. If the obstacle detection plate 209 analyzes the measurement results of the distance sensor 212 and finds that the obstacle detection plate 209 has not moved downward, it means that there is a problem with the intelligent inspection and fault reporting mechanism. The wireless fault reporting module will send this situation to the staff's mobile phone through the wireless fault reporting module to provide feedback to the staff, prompting the staff to perform corresponding maintenance on the intelligent inspection and fault reporting mechanism.

[0034] The second implementation method:

[0035] Figure 8-10A millimeter-wave radar for assisting a robot in avoiding obstacles is shown. Different from the first embodiment, the intelligent detection and reporting mechanism also includes a clearing component arranged in the detection and adjustment box 201, and the clearing component includes an air blowing pipe 401, one end of the air blowing pipe 401 is connected to the connecting box pipe 207, and the other end of the air blowing pipe 401 is connected to an air nozzle 403, and an electromagnetic valve 402 is arranged on the air blowing pipe 401. A clearing control module is also arranged in the intelligent detection and reporting mechanism, and the detection and analysis module is connected to the clearing control module by signal, and the clearing control module is connected to the electromagnetic valve 402 by signal, and the detection and analysis module is connected to the detection control module by signal. When the radar body 101 is detected and verified, if the detection and analysis module determines that the radar body 101 has In the event of an abnormality, the detection and analysis module will not immediately send a fault warning to the staff's mobile phone remotely through the wireless fault reporting module, but will first send a signal to the clearing and shielding control module. After receiving the signal, the clearing and shielding control module will open the solenoid valve 402. When the cylinder 202 pushes the linkage rod 203, the sealing box 204, etc. to move outside the detection and adjustment box 201, the air blowing pipe 401, the solenoid valve 402, and the air nozzle 403 will also move together to the outside of the detection and adjustment box 201. After the movement is completed, the air nozzle 403 will be at the upper left of the protective cover 103. Therefore, after the clearing and shielding control module opens the solenoid valve 402, the air in the sealing box 204 will be sprayed toward the protective cover 103 through the air blowing pipe 401 and the air nozzle 403, thereby playing a role. The cleaning function is that if the radar body 101 malfunctions because an obstacle is attached to the protective cover 103 and blocks it, the cleaning component cleans the protective cover 103, which can clean up the obstacle attached to the protective cover 103 with a high probability, and then the radar body 101 can be restored to normal with a high probability. After the cleaning is completed, the detection and analysis module will send a feedback signal to the detection and control module, so that the detection and control module controls the cylinder 202 to drive the linkage rod 203 to reset, and the detection and control module controls the cylinder 202 to detect the radar body 101 again. If the detection result shows that the radar body 101 is still abnormal, the detection and analysis module will remotely notify the staff through the wireless fault reporting module. The mobile phone sends a fault warning. In addition, when the cylinder 202 drives the linkage rod 203 to reset, the elastic air storage cylinder 205 can re-inhale air through the air pipe 401 and the air nozzle 403, and after the linkage rod 203 is reset, the clearing control module will automatically close the solenoid valve 402 to ensure that subsequent detection can be carried out smoothly. Therefore, through the setting of the clearing component, the intelligent detection and fault reporting mechanism also has a cleaning function. If the abnormal function of the radar body 101 is caused by obstruction by obstacles, the intelligent detection and fault reporting mechanism can clear the obstacles blocking the protective cover 103 with a high probability, so that the function of the radar body 101 can be restored to normal with a high probability, which greatly improves the functionality and practicality of the intelligent detection and fault reporting mechanism.

[0036] In view of current practical needs, the above-mentioned implementation mode adopted in this application is not limited to the scope of protection. Various changes made within the knowledge scope of technical personnel in this field without departing from the concept of this application still fall within the scope of protection of the present invention.

Claims

1. A millimeter wave radar for assisting a robot in avoiding obstacles, comprising a radar body (101) and an intelligent obstacle detection and reporting mechanism arranged on a delivery robot, characterized in that: The intelligent fault detection and reporting mechanism comprises a detection and adjustment box (201), a cylinder (202) is fixedly mounted on the inner wall of one end of the detection and adjustment box (201), an end of the detection and adjustment box (201) away from the cylinder (202) is arranged in an open shape, an output end of the cylinder (202) is fixedly connected to a linkage rod (203), one end of the linkage rod (203) is fixedly connected to a sealing box (204) matching the detection and adjustment box (201), a vertical plate (211) is fixedly mounted on the top end of the linkage rod (203), an elastic air storage cylinder (205) is fixedly mounted on the vertical plate (211), the elastic air storage cylinder (205) is filled with air, and the elastic air storage cylinder (205) is One end is connected to a connecting tube (206), the outer wall of the connecting tube (206) is sleeved with a connecting box tube (207) which is slidably and hermetically connected thereto, a tube extrusion plate (208) is fixedly mounted on the top inner wall of the detection and adjustment box (201), the bottom end of the sealing box (204) is arranged in an open shape, an obstacle detection plate (209) which is slidably and hermetically connected thereto is arranged inside the sealing box (204), an elastic hanging rope (210) is fixedly connected between the obstacle detection plate (209) and the top inner wall of the sealing box (204), the connecting box tube (207) penetrates the tube extrusion plate (208) and extends to communicate with the inside of the sealing box (204), and the connecting box tube (207) is slidably connected to the tube extrusion plate (208); A detection and reporting intelligent controller (003) is fixedly installed in the detection and regulation box (201), wherein the detection and reporting intelligent controller (003) is provided with a detection control module, a detection analysis module, and a wireless fault reporting module having a wireless communication function, wherein the detection control module is signal-connected to the radar body (101), the cylinder (202), and the wireless fault reporting module, wherein the radar body (101) is signal-connected to the detection and analysis module, and wherein the detection and analysis module is signal-connected to the wireless fault reporting module; The detection control module sends instructions to the radar body (101), causing the radar body (101) to perform detection and feed back the detection result to the detection analysis module. The detection analysis module analyzes and verifies the detection result. If the detection result is accurate and error-free, it means that the radar body (101) functions normally. On the contrary, if the detection result is that the obstacle detection plate (209) is not detected, or the detection result has an error, it means that the radar body (101) has a fault or its function is limited.

2. The millimeter wave radar for assisting a robot in avoiding obstacles according to claim 1, characterized in that: The elastic gas storage cylinder (205) is configured to be a hollow cylinder and is made of an elastic material. The connecting box tube (207) is located above the obstacle detection plate (209), and the cylinder squeezing plate (208) is located on a side of the elastic gas storage cylinder (205) away from the vertical plate (211).

3. The millimeter wave radar for assisting a robot in avoiding obstacles according to claim 1, characterized in that: The sealing box (204) is slidably and hermetically connected to the detection and adjustment box (201), and the bottom end of the obstacle detection plate (209) is higher than the bottom end of the sealing box (204).

4. The millimeter wave radar for assisting a robot in avoiding obstacles according to claim 1, characterized in that: A mounting plate (102) is fixedly mounted on the bottom end of the detection and adjustment box (201), the radar body (101) is fixedly mounted on the mounting plate (102), and a protective cover (103) is provided on the outer side cover of the radar body (101).

5. The millimeter wave radar for assisting a robot in avoiding obstacles according to claim 1, characterized in that: The inspection and reporting intelligent controller (003) is also provided with a detection setting module, the detection setting module is connected to the detection control module by signal, and the detection control module is connected to the control system of the express robot by signal.

6. The millimeter wave radar for assisting a robot in avoiding obstacles according to claim 1, characterized in that: A distance sensor (212) is fixedly mounted on the inner wall of the top end of the sealing box (204); the detection control module is signal-connected to the distance sensor (212); and the distance sensor (212) is signal-connected to the detection analysis module.

7. The millimeter wave radar for assisting a robot in avoiding obstacles according to claim 1, characterized in that: The intelligent detection and fault reporting mechanism further comprises a clearing and blocking component arranged in the detection and adjustment box (201), the clearing and blocking component comprising an air blowing pipe (401), one end of the air blowing pipe (401) being connected to the connecting box pipe (207), the other end of the air blowing pipe (401) being connected to an air jet nozzle (403), the air blowing pipe (401) being provided with a solenoid valve (402), and the intelligent detection and fault reporting mechanism further being provided with a clearing and blocking control module.

8. The millimeter wave radar for assisting a robot in avoiding obstacles according to claim 7, characterized in that: The detection and analysis module is signal-connected to the clearing and blocking control module, the clearing and blocking control module is signal-connected to the solenoid valve (402), and the detection and analysis module is signal-connected to the detection and control module.

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