Warehouse grain storage early warning system based on rotary laser radar

Abstract

The invention discloses a warehouse grain storage early warning system based on a rotary laser radar, and relates to the technical field of warehouse article management. Comprising a data acquisition module, a reserve analysis module, an environment analysis module, a safety early warning module and an event supervision module, wherein the data acquisition module is used for regularly acquiring height data of unprocessed grains in a warehouse and acquiring environment data of unprocessed grain storage in the warehouse in real time; the reserve analysis module is used for analyzing the collected height data of the unprocessed grains, calculating the storage amount of the unprocessed grains in the warehouse, and calculating the storage proportion of the unprocessed grains according to the storage amount of the unprocessed grains; the technical key points are as follows: the warehouse grain storage early warning system based on the rotary laser radar is provided, supervision of the storage amount of unprocessed grains in a warehouse and monitoring of the storage environment of the warehouse can be realized, feedback can be performed in time when abnormity occurs, manual checking and data comparison are not needed, and the working efficiency is improved. Related technicians can be helped to better supervise unprocessed grains, and the method has a good use prospect.

Description

Technical Field

[0001] The present invention relates to the technical field of warehouse article management, and in particular to a warehouse grain storage early warning system based on a rotating laser radar. Background Art

[0002] Raw grains are also called "natural grains". They generally refer to unprocessed grains, such as rice, wheat, corn, soybeans, sorghum, millet, broad beans, peas, etc.

[0004] In order to better manage grain and help relevant staff understand the storage quantity and storage environment of grain in granaries, people have invented some grain measurement methods, including a method of roughly judging the grain storage quantity by the volume of grain.

[0005] The existing application publication number is CN102692253A, and the invention patent named "Standardized Grain Storage Empty Warehouse Warning and Temperature and Humidity Warning Method" records that it uses a grain condition data center, a grain condition data collection client, an empty warehouse warning module, and a temperature and humidity warning module. The grain condition data center is connected to the grain condition data collection client. The grain condition data center includes an empty warehouse warning module and a temperature and humidity warning module. The empty warehouse warning module obtains an empty warehouse warning model based on the analysis of the type of heat in the grain pile; the temperature and humidity warning module directly determines the high temperature point and the low temperature point according to the historical trend and future change trend. The present invention performs standard measurement and management on the temperature, humidity, empty warehouse and other conditions of grain stored in the grain depot, and establishes a sound and scientific grain condition warning mechanism.

[0006] However, based on the above content and in combination with the prior art, the core solution of the solution recorded in the above patent is to detect the temperature and humidity through temperature and humidity sensors to manually determine whether it is suitable for storage, and to evaluate whether the warehouse is empty and issue an early warning when it is empty.

[0007] However, the above scheme has great defects in actual use. Its evaluation is relatively simple. Affected by the external environment, the temperature and humidity may exceed the standard for a short time. However, the above method will issue an early warning, causing unnecessary interference. In addition, its management of warehouse grain is relatively loose and cannot reflect the situation of warehouse grain, which does not meet people's usage requirements. For this reason, we have developed a warehouse grain storage early warning system based on rotating lidar. Summary of the invention

[0008] 1. Technical issues to be resolved

[0009] In view of the shortcomings of the prior art, the present invention provides a warehouse grain storage early warning system based on a rotating laser radar, which can supervise the storage amount of raw grain in the warehouse and monitor the warehouse storage environment, and provide timely feedback when an abnormality occurs. There is no need for manual review and comparison of data, thus reducing the workload of operators and helping relevant technical personnel to better supervise the raw grain. The system has good use effect and has a good prospect for use.

[0010] (II) Technical solution

[0011] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0012] A warehouse grain storage early warning system based on rotating laser radar includes a data acquisition module, a reserve analysis module, an environmental analysis module, a safety early warning module and an event monitoring module:

[0013] Data collection module: used to regularly collect the height data of raw grain in the warehouse and to collect the environmental data of raw grain storage in the warehouse in real time;

[0014] Storage analysis module: used to analyze the height data of the collected raw grains, calculate the storage volume of the raw grains in the warehouse, and calculate the storage ratio of the raw grains based on the storage volume of the raw grains;

[0015] Environmental analysis module: used to analyze the collected raw grain storage environment data and calculate the storage evaluation value of the raw grain;

[0016] Safety warning module: used to obtain the storage ratio of raw grain and the storage evaluation value of raw grain, and compare the storage amount of raw grain and the storage evaluation value of raw grain with the storage threshold interval and the risk threshold interval respectively. When the storage amount of raw grain is outside the storage threshold interval or the storage evaluation value is outside the risk threshold interval, the warning device is activated to sound an alarm;

[0017] Event monitoring module: used to obtain the storage data of raw grain before and after storage or release, calculate the storage value or release value, compare the storage value or release value with the input value, and calculate the difference. When the difference is outside the error range, the warning device is activated to sound an alarm.

[0018] The present invention provides a warehouse grain storage early warning system based on a rotating laser radar, which can realize the supervision of the raw grain storage amount in the warehouse and the monitoring of the warehouse storage environment, and provide timely feedback when an abnormality occurs, without the need for manual review and comparison of data, thereby reducing the workload of operators and helping relevant technical personnel to better supervise the raw grain. The system has good use effect and good use prospects.

[0019] Furthermore, the environmental data of raw grain storage in the warehouse includes temperature data of each area inside the warehouse and humidity data of each area inside the warehouse.

[0020] Furthermore, the height data of the collected raw grains is analyzed, and the formula for calculating the storage amount of raw grains in the warehouse is as follows:

[0021]

[0022] In the formula, Ccl is the storage volume of raw grain in the warehouse, N is the number of raw grain height data collected, and Ylgd i is the raw grain height data of the i-th group;

[0023] The formula for calculating the storage ratio of raw grain is as follows:

[0024]

[0025] In the formula, Ccbl is the storage ratio of raw grain, and Cksx is the upper limit of grain storage in the warehouse.

[0026] Furthermore, the calculation formula for the raw grain height data is as follows:

[0027] Ylgd=Ttgd-Jcjl×cos(1-α)

[0028] Where Ylgd is the raw grain height data, Ttgd is the distance between the probe and the warehouse floor, Jcjl is the distance between the probe and the raw grain, and α is the angle between the probe direction and the horizontal plane.

[0029] Furthermore, the calculation formula for the storage assessment value of raw grain is as follows:

[0030] Pgz=(Sswd-Zjwd)×A+(Sssd-Zjsd)×B

[0031] In the formula, Pgz is the storage evaluation value of raw grain, Sswd is the real-time monitored internal temperature data of the warehouse, Zjwd is the optimal storage temperature of raw grain, Sssd is the real-time monitored internal humidity data of the warehouse, Zjsd is the optimal storage humidity of raw grain, A and B are weight values, A+B=1.

[0032] Furthermore, the calculation formula for the real-time monitored warehouse internal temperature data is as follows:

[0033]

[0034] Where C is the number of temperature sensors inside the warehouse, Wdz i The temperature data collected by the temperature sensor of the i-th group;

[0035] The calculation formula for real-time monitoring of internal humidity data in the warehouse is as follows:

[0036]

[0037] Where D is the number of humidity sensors inside the warehouse, Sdz i It is the humidity data collected by the i-th group of humidity sensors.

[0038] Furthermore, the storage threshold interval is (E, 1-E), 10%≤E≤20%, and the risk threshold interval is (0, K), where K is a risk value set according to the type of raw grain.

[0039] Furthermore, the formula for calculating the difference between the stored grain value or the released grain value and the input value is:

[0040] Cz=|Ccl 后 -Ccl 前 |-Lrz

[0041] In the formula, Cz is the difference between the stored grain value or the released grain value and the input value, Ccl 后 Ccl is the amount of raw grain stored in the warehouse after grain storage or release. 前 It is the storage volume of raw grain in the warehouse before storing or releasing grain. Lrz is a manually entered value.

[0042] Furthermore, the error range is (-F×Cksx, +F×Cksx), 0<F≤3%. When the difference is within the error range, no adjustment is made. When the difference is outside the error range, an alarm is issued to verify the storage value or the release value. When the storage value or the release value is accurate, relevant personnel are notified to perform a self-inspection of the rotating laser radar.

[0043] Furthermore, it also includes a storage display module for displaying the storage value that can be stored in the warehouse, the storage amount of raw grain, the temperature data of each area inside the warehouse and the humidity data of each area inside the warehouse, and the storage value = Cksx-Ccl.

[0044] The present invention provides a warehouse grain storage early warning system based on a rotating laser radar, which can carry out daily supervision of stored raw grains, can issue warnings when too much raw grain is stored or too little raw grain is stored, can intuitively display the amount of stored raw grain and the amount of raw grain that can still be stored, can supervise whether the amount of stored grain or taken out is accurate when extracting or storing grain, and can verify whether the rotating laser radar is damaged by whether the amount of stored grain or taken out is accurate, so that it has a self-inspection effect, good use effect, and good use prospect.

[0045] (III) Beneficial effects

[0046] The present invention provides a warehouse grain storage early warning system based on a rotating laser radar, which has the following beneficial effects:

[0047] 1. The present invention provides a warehouse grain storage early warning system based on a rotating laser radar, which can realize the supervision of the storage amount of raw grain in the warehouse and the monitoring of the warehouse storage environment, and provide timely feedback when an abnormality occurs, without the need for manual review and comparison of data, thereby reducing the workload of operators and helping relevant technical personnel to better supervise the raw grain. The system has good use effect and good use prospects.

[0048] 2. The present invention provides a warehouse grain storage early warning system based on a rotating laser radar, which can carry out daily supervision of stored raw grains, can issue warnings when too much raw grain is stored or too little raw grain is stored, can intuitively display the amount of stored raw grain and the amount of raw grain that can still be stored, can supervise whether the amount of stored grain or taken out is accurate when extracting or storing grain, and can verify whether the rotating laser radar is damaged by whether the amount of stored grain or taken out is accurate, so that it has a self-inspection effect, good use effect, and has a good prospect for use. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 The present invention is a structural block diagram of a warehouse grain storage early warning system based on a rotating laser radar. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] Research reasons

[0052] Existing warehouse food warnings all use temperature and humidity sensors to detect temperature and humidity to manually determine whether it is suitable for storage, and evaluate whether the warehouse is empty, and issue a warning when it is empty.

[0053] However, the above scheme has great defects in actual use. The evaluation method is relatively simple and easily affected by the external environment. The temperature and humidity may exceed the standard for a short time. However, the above method will issue an early warning, causing unnecessary interference. In addition, the management of warehouse grain is relatively lax and cannot reflect the situation of warehouse grain. It is easy to have no timely warning and excessive warning, which does not meet people's usage requirements.

[0054] Study plan

[0055] A warehouse grain storage early warning system based on rotating laser radar, such as Figure 1 As shown, it includes data acquisition module, reserve analysis module, environmental analysis module, safety warning module and event monitoring module:

[0056] Before the system is running, it runs based on the data inside the warehouse, which is based on the data collection module.

[0057] The data collection module is used to regularly collect the height data of raw grain in the warehouse and to collect the environmental data of raw grain storage in the warehouse in real time;

[0058] The environmental data of raw grain storage in the warehouse includes the temperature data of each area inside the warehouse and the humidity data of each area inside the warehouse. The temperature data is collected through a temperature sensor, and the humidity data is collected through a humidity sensor. It can also be collected directly using a temperature and humidity meter.

[0059] After the data is collected, it needs to be further analyzed, and the analysis process is based on the reserve analysis module.

[0060] Storage analysis module: used to analyze the height data of the collected raw grains, calculate the storage volume of the raw grains in the warehouse, and calculate the storage ratio of the raw grains based on the storage volume of the raw grains;

[0061] The height data of the collected raw grains are analyzed and the formula for calculating the storage amount of raw grains in the warehouse is as follows:

[0062]

[0063] In the formula, Ccl is the storage volume of raw grain in the warehouse, N is the number of raw grain height data collected, and Ylgd i is the raw grain height data of the i-th group;

[0064] The formula for calculating the storage ratio of raw grain is as follows:

[0065]

[0066] In the formula, Ccbl is the storage ratio of raw grain, and Cksx is the upper limit of grain storage in the warehouse.

[0067] The calculation formula for raw grain height data is as follows:

[0068] Ylgd=Ttgd-Jcjl×cos(1-α)

[0069] Where Ylgd is the raw grain height data, Ttgd is the distance between the probe and the warehouse floor, Jcjl is the distance between the probe and the raw grain, and α is the angle between the probe direction and the horizontal plane.

[0070] The height of the raw grain can also be calculated directly, and then the storage ratio and storage volume of the raw grain can be directly calculated through the ratio of the height of the raw grain to the height of the warehouse.

[0071] You can select the appropriate calculation method according to your needs.

[0072] This solution is applicable to existing columnar granaries, which have a certain height but a small cross-sectional area, and the grain is evenly placed inside them, so this calculation method can be used.

[0073] The early warning not only considers the grain content, but also whether there is any abnormality in the storage space. This process is based on the environmental analysis module.

[0074] Environmental analysis module: used to analyze the collected raw grain storage environment data and calculate the storage evaluation value of the raw grain;

[0075] The calculation formula for the storage assessment value of raw grain is as follows:

[0076] Pgz=(Sswd-Zjwd)×A+(Sssd-Zjsd)×B

[0077] In the formula, Pgz is the storage evaluation value of raw grain, Sswd is the real-time monitored internal temperature data of the warehouse, Zjwd is the optimal storage temperature of raw grain, Sssd is the real-time monitored internal humidity data of the warehouse, Zjsd is the optimal storage humidity of raw grain, A and B are weight values, A+B=1.

[0078] The calculation formula for real-time monitoring of the internal temperature data of the warehouse is as follows:

[0079]

[0080] Where C is the number of temperature sensors inside the warehouse, Wdz i The temperature data collected by the temperature sensor of the i-th group;

[0081] The calculation formula for real-time monitoring of internal humidity data in the warehouse is as follows:

[0082]

[0083] Where D is the number of humidity sensors inside the warehouse, Sdz i It is the humidity data collected by the i-th group of humidity sensors.

[0084] By reflecting the actual temperature and humidity through the average, the overall data is more accurate and the early warning effect is better.

[0085] After understanding the internal situation of the warehouse, in order to reduce the workload of operators, it is also necessary to set corresponding early warning trigger conditions, which are based on the safety early warning module.

[0086] Safety warning module: used to obtain the storage ratio of raw grain and the storage evaluation value of raw grain, and compare the storage amount of raw grain and the storage evaluation value of raw grain with the storage threshold interval and the risk threshold interval respectively. When the storage amount of raw grain is outside the storage threshold interval or the storage evaluation value is outside the risk threshold interval, the warning device is activated to sound an alarm;

[0087] The storage threshold interval is (E, 1-E), 10%≤E≤20%, and the risk threshold interval is (0, K), where K is a risk value set according to the type of raw grain.

[0088] When in use, granaries are often opened to release grain or store grain. Therefore, this process also needs to be supervised separately, and the supervision process is based on the event supervision module.

[0089] Event monitoring module: used to obtain the storage data of raw grain before and after storage or release, calculate the storage value or release value, compare the storage value or release value with the input value, and calculate the difference. When the difference is outside the error range, the warning device is activated to sound an alarm.

[0090] The formula for calculating the difference between the stored grain value or the released grain value and the input value is:

[0091] Cz=|Ccl 后 -Ccl 前 |-Lrz

[0092] In the formula, Cz is the difference between the stored grain value or the released grain value and the input value, Ccl 后 Ccl is the amount of raw grain stored in the warehouse after grain storage or release. 前 It is the storage volume of raw grain in the warehouse before storing or releasing grain. Lrz is a manually entered value.

[0093] The error range is (-F×Cksx, +F×Cksx), 0<F≤3%. When the difference is within the error range, no adjustment is made. When the difference is outside the error range, an alarm is issued to verify the storage value or the release value. When the storage value or the release value is accurate (indicating a failure of the detection instrument), the relevant personnel are notified to perform a self-inspection of the rotating laser radar.

[0094] When the grain storage value or grain release value is inaccurate, it means that there is an abnormality in the grain value entered into the system and needs to be checked separately, so a separate warning is set.

[0095] The present invention provides a warehouse grain storage early warning system based on a rotating laser radar, which can realize the supervision of the raw grain storage amount in the warehouse and the monitoring of the warehouse storage environment, and provide timely feedback when an abnormality occurs, without the need for manual review and comparison of data, thereby reducing the workload of operators and helping relevant technical personnel to better supervise the raw grain. The system has good use effect and good use prospects.

[0096] It also includes a storage display module, which is used to display the storage value that the warehouse can still store, the storage amount of raw grain, the temperature data of each area inside the warehouse and the humidity data of each area inside the warehouse. The storage value = Cksx-Ccl.

[0097] This display function is mainly to facilitate relevant technical personnel to view data and to facilitate staff supervision.

[0098] The present invention provides a warehouse grain storage early warning system based on a rotating laser radar, which can carry out daily supervision of stored raw grains, can issue warnings when too much raw grain is stored or too little raw grain is stored, can intuitively display the amount of stored raw grain and the amount of raw grain that can still be stored, can supervise whether the amount of stored grain or taken out is accurate when extracting or storing grain, and can verify whether the rotating laser radar is damaged by whether the amount of stored grain or taken out is accurate, so that it has a self-inspection effect, good use effect, and good use prospect.

[0099] The above formula is a formula obtained by collecting a large amount of data and performing software simulation to obtain the most recent real situation. The preset parameters in the formula are set by technicians in this field according to actual conditions.

[0100] The above embodiments may be implemented in whole or in part by software, hardware, firmware or any other combination thereof. When implemented using software, the above embodiments may be implemented in whole or in part in the form of a computer program product. A person of ordinary skill in the art may appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein may be implemented in electronic hardware, or in a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution.

[0101] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, and may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0102] The above description is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application.

Claims

1. A warehouse grain storage early warning system based on rotating laser radar, characterized in that: include: Data collection module: used to regularly collect the height data of raw grain in the warehouse and to collect the environmental data of raw grain storage in the warehouse in real time; Storage analysis module: used to analyze the height data of the collected raw grains, calculate the storage volume of the raw grains in the warehouse, and calculate the storage ratio of the raw grains based on the storage volume of the raw grains; Environmental analysis module: used to analyze the collected raw grain storage environment data and calculate the storage evaluation value of the raw grain; Safety warning module: used to obtain the storage ratio of raw grain and the storage evaluation value of raw grain, and compare the storage amount of raw grain and the storage evaluation value of raw grain with the storage threshold interval and the risk threshold interval respectively. When the storage amount of raw grain is outside the storage threshold interval or the storage evaluation value is outside the risk threshold interval, the warning device is activated to sound an alarm; Event monitoring module: used to obtain the storage data of raw grain before and after storage or release, calculate the storage value or release value, compare the storage value or release value with the input value, and calculate the difference. When the difference is outside the error range, the warning device is activated to sound an alarm.

2. According to claim 1, a warehouse grain storage early warning system based on rotating laser radar is characterized in that: The environmental data of raw grain storage in the warehouse includes the temperature data of each area inside the warehouse and the humidity data of each area inside the warehouse.

3. The warehouse grain storage early warning system based on rotating laser radar according to claim 2 is characterized in that: The height data of the collected raw grains are analyzed and the formula for calculating the storage amount of raw grains in the warehouse is as follows: In the formula, Ccl is the storage volume of raw grain in the warehouse, N is the number of raw grain height data collected, and Ylgd i is the raw grain height data of the i-th group; The formula for calculating the storage ratio of raw grain is as follows: In the formula, Ccbl is the storage ratio of raw grain, and Cksx is the upper limit of grain storage in the warehouse.

4. The warehouse grain storage early warning system based on rotating laser radar according to claim 3 is characterized in that: The calculation formula for raw grain height data is as follows: Ylgd=Ttgd-Jcjl×cos(1-α) Where Ylgd is the raw grain height data, Ttgd is the distance between the probe and the warehouse floor, Jcjl is the distance between the probe and the raw grain, and α is the angle between the probe direction and the horizontal plane.

5. The warehouse grain storage early warning system based on rotating laser radar according to claim 4 is characterized in that: The calculation formula for the storage assessment value of raw grain is as follows: Pgz=(Sswd-Zjwd)×A+(Sssd-Zjsd)×B In the formula, Pgz is the storage evaluation value of raw grain, Sswd is the real-time monitored internal temperature data of the warehouse, Zjwd is the optimal storage temperature of raw grain, Sssd is the real-time monitored internal humidity data of the warehouse, Zjsd is the optimal storage humidity of raw grain, A and B are weight values, A+B=1.

6. The warehouse grain storage early warning system based on rotating laser radar according to claim 5 is characterized in that: The calculation formula for real-time monitoring of the internal temperature data of the warehouse is as follows: Where C is the number of temperature sensors inside the warehouse, Wdz i The temperature data collected by the temperature sensor of the i-th group; The calculation formula for real-time monitoring of internal humidity data in the warehouse is as follows: Where D is the number of humidity sensors inside the warehouse, Sdz i It is the humidity data collected by the i-th group of humidity sensors.

7. The warehouse grain storage early warning system based on rotating laser radar according to claim 6 is characterized in that: The storage threshold interval is (E, 1-E), 10%≤E≤20%, and the risk threshold interval is (0, K), where K is a risk value set according to the type of raw grain.

8. The warehouse grain storage early warning system based on rotating laser radar according to claim 7 is characterized in that: The formula for calculating the difference between the stored grain value or the released grain value and the input value is: Cz=|Ccl 后 -Ccl 前 |-Lrz In the formula, Cz is the difference between the stored grain value or the released grain value and the input value, Ccl 后 Ccl is the amount of raw grain stored in the warehouse after grain storage or release. 前 It is the storage volume of raw grain in the warehouse before storing or releasing grain. Lrz is a manually entered value.

9. The warehouse grain storage early warning system based on rotating laser radar according to claim 8, characterized in that: The error range is (-F×Cksx, +F×Cksx), 0<F≤3%. When the difference is within the error range, no adjustment is made. When the difference is outside the error range, an alarm is issued to verify the storage value or the release value. When the storage value or the release value is accurate, the relevant personnel are notified to perform a self-inspection of the rotating laser radar.

10. The warehouse grain storage early warning system based on rotating laser radar according to claim 9, characterized in that: It also includes a storage display module, which is used to display the storage value that the warehouse can still store, the storage amount of raw grain, the temperature data of each area inside the warehouse and the humidity data of each area inside the warehouse. The storage value = Cksx-Ccl.

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