Intelligent fumigation inspection robot based on granary monitoring

Abstract

The intelligent fumigation warehouse inspection robot comprises a propelling frame, a bottom frame and a releasing frame which are connected in sequence, a medicament outer box is installed in the middle of the upper surface of the bottom frame, and a control panel is embedded outside the medicament outer box; the intelligent fumigation in the granary is jointly realized by taking a measure of combining continuous medicament loading and fixed-point medicament distribution, and targeted and accurate medicament application is performed through intermittent release and fixed-point medicament distribution after medicament loading, so that the fumigation effect in the granary is unified; in combination with parameter measurement of a gas fumigation comprehensive value and a pesticide application point position distribution value, the distribution condition of fumigation point positions and the distribution condition of the pesticide amount in the current granary are judged according to a granary patrol fumigation coefficient, and the distribution positions of the fumigation point positions and accurate infusion of the pesticide amount are correspondingly controlled; the problems that due to season change and grain condition parameter change, the concentration of phosphine gas in a granary is not uniform, and pesticide application accuracy is limited are solved, and grain storage safety is greatly guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of granary monitoring, and in particular to an intelligent fumigation and warehouse patrol robot based on granary monitoring. Background Art

[0002] During the grain storage process, storage insect pests are an important factor causing grain losses. At present, the main methods of pest control in granaries include chemical control, physical control, and biological control, with chemical control being the most important means of pest control.

[0003] Among them, the most common method is to use phosphine for fumigation. The principle is to use phosphine gas to fumigate objects or the environment to kill or expel harmful organisms such as microorganisms and insects in the environment to achieve the purpose of mildew prevention, anti-corrosion and insect prevention. It is widely used in the anti-corrosion, anti-mildew and insect prevention of grain, feed, wood, clothing and other objects, but it must follow strict rules and regulations to ensure the safety of operators and the environment.

[0004] In combination with the above, pest control of grain in granaries usually has problems such as uneven phosphine gas concentration and limited application accuracy due to seasonal changes and grain condition parameters, making it impossible to ensure the safety of grain storage. For this reason, this application proposes a solution. Summary of the invention

[0005] The purpose of the present invention is to provide an intelligent fumigation and patrol robot based on granary monitoring to solve the technical defects proposed by the background technology.

[0006] The purpose of the present invention can be achieved through the following technical solutions: an intelligent fumigation warehouse patrol robot based on grain warehouse monitoring comprises a propulsion frame, a base frame and a release frame connected in sequence, a medicine outer box is installed in the middle of the upper surface of the base frame, and a control panel is embedded outside the medicine outer box;

[0007] A medicine inner box is arranged inside the medicine outer box, and a tray storage rack is installed on the upper end of the pushing rack, and trays are stacked in the tray storage rack;

[0008] The two sides of the bottom of the pushing rack corresponding to the pallet storage rack are equipped with a pushing mechanism for pushing the pallet, and the lower ends of the two sides of the releasing rack are provided with an intermittent releasing structure for receiving the pallet.

[0009] It is further configured as follows: the intermittent release structure includes a motor 1 and four-corner rotating rods, the output end of the motor 1 is connected to the four-corner rotating rods, and the inner sides of the ends of the four-corner rotating rods are installed with supporting rods for the tray to bear.

[0010] It is further configured as follows: the propulsion mechanism includes a propulsion rod seat connected to the propulsion frame, a motor 2 is installed at the front end of the propulsion rod seat, a sliding block is slidably installed on the propulsion rod seat, one end of the sliding block is installed with a push plate aligned with one side of the pallet storage rack, and the pallet is moved into the release frame by the push plate through the propulsion rod seat.

[0011] It is further configured as follows: a side box is installed on the rear side of the medicine inner box, a motor four is installed on the upper end of the side box, a screw rod is installed on the output end of the motor four, and an injection block matching the bottom of the side box is connected to the outer sleeve of the screw rod.

[0012] It is further configured as follows: a medicine injection groove with an open bottom is provided at the lower end of the medicine outer box near the medicine inner box, an extrusion groove is provided on one side of the medicine push block near the medicine inner box, a flow channel connected to the extrusion groove is provided at the lower end of the medicine inner box near the medicine outer box, and a push tube connected to the inside of the medicine injection groove is installed at the bottom of the medicine inner box.

[0013] It is further configured as follows: a standby mechanism for pushing the rear tray load is installed on the upper ends of both sides of the release frame, the standby mechanism includes a motor three and a pressure plate, the output end of the motor three is connected to a rotating rod, the pressure plate is fixed outside the rotating rod and extends to the inner side of the release frame.

[0014] It is further configured as follows: temporary suspension structures are symmetrically installed at the lower ends of both sides of the pallet storage rack, and the temporary suspension structure includes a motor five, and the output end of the motor five is installed with a temporary suspension rod extending through the pallet storage rack to the inside, and the temporary suspension rod extends to the bottom of the pallet to form a stable support.

[0015] It is further configured as follows: a travel driving wheel for driving the entire warehouse patrol robot to walk is installed at the middle position of the bottom of the propulsion frame, and a support wheel for maintaining balance is installed in the middle of the lower surface of the base frame.

[0016] It is further configured as follows: the control panel is built with an intelligent control module, the intelligent control module includes a pesticide application monitoring terminal, an inspection and analysis terminal and a release execution terminal that are communicatively connected to each other; the pesticide application monitoring terminal is used to collect the comprehensive value of gas fumigation and the distribution value of pesticide application points during the use of the warehouse inspection robot, and send the comprehensive value of gas fumigation and the distribution value of pesticide application points to the inspection and analysis terminal; the inspection and analysis terminal performs numerical calculations based on the received comprehensive value of gas fumigation and the distribution value of pesticide application points, and generates a control signal and sends it to the release execution terminal; the release execution terminal receives the control signal to control the relevant components to perform actions.

[0017] The present invention has the following beneficial effects:

[0018] 1. The present invention aims at the problem of uneven concentration of phosphine gas and limited precision of pesticide application. On the one hand, the intelligent fumigation in the granary is realized by combining continuous loading of the agent and fixed-point application. After loading the agent, targeted and precise application is carried out through intermittent release and fixed-point application, so that the fumigation effect in the granary is unified. On the other hand, the parameter determination of the comprehensive value of gas fumigation and the distribution value of the application point is combined, and the distribution of the fumigation points and the distribution of the agent dosage in the current granary is determined by the warehouse inspection fumigation coefficient, and the distribution position of the fumigation points and the accurate infusion of the dosage are controlled accordingly, so as to solve the problem of uneven concentration of phosphine gas and limited precision of pesticide application in the granary caused by seasonal changes and changes in grain parameters, and ensure the safety of grain storage.

[0019] 2. In the process of realizing intelligent fumigation in granaries by combining continuous loading of pesticides and fixed-point distribution of pesticides, the stacked empty pallets are first pushed one by one, and the pesticide infusion of the pallets is completed by quantitative pesticide push injection. The pesticide in the pallet is intermittently placed at controllable points through the intermittent release structure, which is conducive to precise pesticide application in the granary, and the continuous and uninterrupted pushing of the pallet is completed by the propulsion mechanism, thereby realizing continuous pesticide application in large-area granaries, and finally realizing the uniform emission of phosphine gas concentration and precise pesticide application function. Finally, the fumigation in the granary is completed by intermittent release of the pallet, and in the intermittent release process, the release interval can be selected according to the actual position of the current granary to achieve the purpose of precise pesticide application. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 It is a structural schematic diagram of the present invention;

[0022] Figure 2 It is a rear view structural schematic diagram of the present invention;

[0023] Figure 3 is a side cross-sectional view of the present invention;

[0024] Figure 4 For the present invention Figure 3 Enlarged view of point A in the middle;

[0025] Figure 5 It is a structural schematic diagram of the pallet storage rack of the present invention;

[0026] Figure 6It is the internal structure diagram of the medicine mixing box of the present invention;

[0027] Figure 7 A cutaway view of a medicine mixing box of the present invention;

[0028] Figure 8 It is a structural diagram of the release frame of the present invention;

[0029] Fig. 9 It is a schematic diagram of the installation of the intermittent release structure of the pallet of the present invention.

[0030] In the figure: 1. base frame; 2. release frame; 3. push frame; 4. medicine outer box; 5. tray storage rack; 6. medicine inner box; 7. intermittent release structure; 71. motor one; 8. push mechanism; 81. push rod seat; 82. sliding block; 83. push plate; 84. motor two; 9. standby mechanism; 91. motor three; 92. rotating rod; 93. pressing plate; 10. side box; 11. motor four; 12. screw rod; 13. medicine injection groove; 14. four-corner rotating rod; 15. supporting rod; 16. tray; 17. injection block; 18. flow channel; 19. injection tube; 20. extrusion groove; 21. motor five; 22. temporary suspension rod; 23. overflow weir plate; 24. travel drive wheel; 25. support wheel. DETAILED DESCRIPTION

[0031] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than 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.

[0032] Embodiment 1: In view of the problem of uneven phosphine gas concentration in the granary and limited pesticide application accuracy, the following technical solution is proposed:

[0033] Reference Figure 1 - Fig. 9 As shown, the intelligent fumigation warehouse patrol robot based on granary monitoring in this embodiment includes a propulsion frame 3, a base frame 1 and a release frame 2 connected in sequence, a medicine outer box 4 is installed in the middle of the upper surface of the base frame 1, and a control panel is embedded outside the medicine outer box 4;

[0034] The medicine inner box 6 is arranged inside the medicine outer box 4, the upper end of the push rack 3 is installed with a tray storage rack 5, and the tray storage rack 5 is stacked with trays 16, and the push rack 3 is installed with a push mechanism 8 for pushing the tray 16 on both sides of the bottom of the tray storage rack 5;

[0035] The lower ends of both sides of the release frame 2 are provided with intermittent release structures 7 for receiving the tray 16. The intermittent release structure allows the intermittent placement of the medicine in the tray 16 at controllable positions, which is conducive to accurate application of medicine in the granary. The propulsion mechanism 8 is used to push the tray 16 continuously and uninterruptedly, thereby achieving continuous application of medicine in a large-area granary, and finally achieving uniform emission of phosphine gas concentration and accurate application of medicine.

[0036] Reference Figure 5 , Figure 8 and Fig. 9 As shown, the intermittent release structure 7 includes a motor 1 71 and four-corner rotating rods 14, the output end of the motor 1 71 is connected to the four-corner rotating rods 14, and the inner sides of the ends of the four-corner rotating rods 14 are all installed with supporting rods 15 for the tray 16 to bear. The propulsion mechanism 8 includes a propulsion rod seat 81 connected to the propulsion frame 3, and a motor 2 84 is installed at the front end of the propulsion rod seat 81. A sliding block 82 is slidably installed on the propulsion rod seat 81, and a push plate 83 aligned with one side of the tray storage frame 5 is installed at one end of the sliding block 82. The tray 16 is moved into the release frame 2 by the push plate 83 through the propulsion rod seat 81. In the process of continuous propulsion, the empty pallet is pre-propelled and waits for loading through the sliding block 82 and the push plate 83.

[0037] Reference Figure 3 As shown, a travel driving wheel 24 for driving the entire warehouse patrol robot to walk is installed at the middle position of the bottom of the propulsion frame 3, and a support wheel 25 for maintaining balance is installed in the middle of the lower surface of the bottom frame 1. The travel driving wheel 24 realizes power drive and intelligent navigation. Here, it is a more mature obstacle avoidance navigation in the prior art, and the robot walks in the granary according to a pre-set navigation route, which will not be described in detail.

[0038] Reference Figure 3 and Figure 4 As shown, a side box 10 is installed at the rear side of the medicine inner box 6, a motor 4 11 is installed at the upper end of the side box 10, a screw rod 12 is installed at the output end of the motor 4 11, and a push block 17 matched with the bottom of the side box 10 is connected to the outer sleeve of the screw rod 12, a medicine injection groove 13 with an open bottom is provided at the lower end of the medicine outer box 4 near the medicine inner box 6, an extrusion groove 20 is provided on one side of the push block 17 near the medicine inner box 6, a flow channel 18 connected to the extrusion groove 20 is provided at the lower end of the medicine inner box 6 near the medicine outer box 4, and a push tube 19 connected to the inside of the medicine injection groove 13 is installed at the bottom of the medicine inner box 6;

[0039] Structural principle: The present invention realizes intelligent fumigation in the granary by combining continuous loading of the agent and fixed-point distribution of the agent. Specifically, the stacked empty trays 16 are pushed one by one to complete the agent infusion of the trays 16 by quantitative agent push injection, and then the fumigation in the granary is completed by intermittent release of the trays 16. In the intermittent release process, the release interval can be selected according to the actual position of the current granary to achieve the purpose of precise application of the agent.

[0040] It should also be noted that during the advancement of the empty pallet, the amount of agent released can be determined by controlling the amount of agent injected, so as to determine the fumigation effect according to the gas concentration in the granary and improve the level of pest control in the granary;

[0041] The control panel is equipped with an intelligent control module, which includes a pesticide application monitoring terminal, a patrol analysis terminal and a release execution terminal connected to each other;

[0042] The pesticide application monitoring terminal is used to collect the comprehensive value of gas fumigation and the distribution value of pesticide application points during the use of the warehouse patrol robot. The comprehensive value of gas fumigation represents the total amount of data on the change of the gas concentration value in the current granary with the fumigation time and is marked as QX. It can also indirectly reflect the gas concentration data in the granary over time without increasing the amount of pesticide application and the pesticide application points, thereby indicating the fumigation effect in the granary. The gas concentration value is collected by the optical sensor set in the granary, and the fumigation time is obtained by starting the timing after the application of the agent;

[0043] The pesticide application point distribution value represents the average value of the total distance between adjacent points of the current pesticide storage in the granary and is marked as SD. It is obtained by shooting with a high-definition camera set in the granary, and the pesticide storage points are all on the same horizontal plane. The gas fumigation comprehensive value QX and the pesticide application point distribution value SD are sent to the inspection and analysis end;

[0044] The inspection analysis end performs numerical calculations based on the received gas fumigation comprehensive value QX and the distribution value SD of the application point, and constructs the calculation formula of the inspection warehouse fumigation coefficient XC. Where a>b>0, and k>0, a and b are weight ratio coefficients, k is the preset fault tolerance factor coefficient, and the patrol warehouse fumigation coefficient is compared and analyzed with the patrol warehouse fumigation threshold preset in the intelligent control module. The comparative analysis process is as follows:

[0045] When the warehouse inspection fumigation coefficient is greater than the warehouse inspection fumigation threshold, it means that the gas concentration range in the current granary is dispersed, that is, the fumigation points in the granary are unevenly distributed but the amount of medicine is uniform, and a replenishment point signal is generated and sent to the release execution end;

[0046] When the patrol warehouse fumigation coefficient = patrol warehouse fumigation threshold, it means that the gas concentration in the current granary is evenly distributed and no signal is generated;

[0047] When the patrol warehouse fumigation coefficient is less than the patrol warehouse fumigation threshold, it means that the gas concentration range in the current granary is concentrated, that is, the fumigation points in the granary are evenly distributed but the amount of medicine is uneven, and a medicine replenishment signal is generated and sent to the release execution end;

[0048] After receiving the replenishment point signal, the release execution end converts it into a control signal and sends it to the motor 1 71. The motor 1 71 starts to release the tray 16 at the bottom of the release rack 2. At this time, the tray 16 loaded with the same fumigation point agent as the current warehouse is released to the ground in the granary until the points of the trays 16 in the warehouse are evenly distributed, so that the fumigation effect in the warehouse is uniform.

[0049] After receiving the medicine replenishment signal, the release execution end converts it into a control signal and sends it to the motor 4 11. The motor 4 11 drives the push block 17 to move to the bottom of the medicine outer box 6 through the screw 12, and squeezes the medicine into the push tube 19 through the flow channel 18 through the extrusion groove 20 on the push block 17, and completes the infusion into the pushed tray 16 through the injection groove 13. Then the push plate 83 continues to run, driving the tray 16 loaded with medicine to run into the release rack 2, and finally the intermittent release structure 7 completes the point release of the tray, so that the amount of medicine in the tray 16 in the warehouse is unified, so that the fumigation effect in the warehouse is also unified;

[0050] It should be noted that during the grain condition monitoring process in the granary, the intelligent fumigation patrol robot can also obtain the temperature information, humidity information and pest density information in the granary in real time. The temperature information and humidity information are collected by the temperature and humidity sensors installed in the granary, while the pest density information is represented by the images taken by the high-definition cameras distributed in the granary. The images are divided into 9×9 grids to calculate the pest density value per unit area, and then the temperature information, humidity information and pest density information are sent together to the external display terminal to make effective judgments for subsequent granary pest control.

[0051] Basic principle: The basic principle of the present invention is similar to that of conventional fumigation and inspection in granaries, but the difference lies in that the present invention realizes intelligent fumigation in granaries by combining continuous loading of agents and fixed-point application of agents. After loading the agents, targeted and precise application of agents is carried out through intermittent release and fixed-point application, so that the fumigation effect in the granary is unified. In combination with the parameter determination of the comprehensive value of gas fumigation and the distribution value of the application point, the fumigation point distribution and the agent dosage distribution in the current granary are determined by the inspection fumigation coefficient, and the distribution position of the fumigation points and the accurate infusion of the dosage are controlled accordingly, so as to solve the problems of uneven phosphine gas concentration and limited application accuracy in the granary caused by seasonal changes and changes in grain parameters, and ensure the safety of grain storage.

[0052] Embodiment 2: This embodiment further optimizes the structure of the medicine push injection structure in Embodiment 1:

[0053] The upper ends of both sides of the release rack 2 are provided with a standby mechanism 9 for pushing the rear tray 16. The standby mechanism 9 includes a motor 3 91 and a pressure plate 93. The output end of the motor 3 91 is connected to a rotating rod 92. The pressure plate 93 is fixed outside the rotating rod 92 and extends to the inner side of the release rack 2. The setting of the standby mechanism 9 is to control the lifting of the tray 16 loaded with medicines in real time before release through the pressure plate 93 during the intelligent warehouse patrol process, so as to avoid the joint release immediately after the release of the previous tray 16, so as to achieve the function of accurate positioning of medicine distribution;

[0054] The lower ends of both sides of the tray storage rack 5 are symmetrically installed with temporary suspension structures, which include a motor 5 21. The output end of the motor 5 21 is installed with a temporary suspension rod 22 extending through the tray storage rack 5 to the inside. The temporary suspension rod 22 extends to the bottom of the tray 16 to form a stable support.

[0055] Among them, for the empty pallets 16 located in the pallet storage rack 15, the pallets that have not been pushed are all supported by the temporary suspension rods 22 driven by the motor 5 21 to avoid the failure of pushing caused by the pallet 16 falling during the pushing process.

[0056] In summary, the present invention realizes intelligent fumigation in the granary by combining continuous loading of the agent and fixed-point application of the agent. Specifically, the stacked empty trays 16 are pushed one by one to complete the agent infusion of the trays 16 by quantitative agent push injection, and then the fumigation in the granary is completed by intermittent release of the trays 16. In addition, during the intermittent release process, the release interval can be selected according to the actual position of the current granary to achieve the purpose of precise application of the agent.

[0057] Combined with the parameter determination of the comprehensive value of gas fumigation and the distribution value of the pesticide application point, the warehouse patrol fumigation coefficient is used to determine the current distribution of fumigation points and the distribution of pesticide dosage in the granary, and the distribution position of the fumigation points and the accurate infusion of the pesticide dosage are controlled accordingly to solve the problems of uneven phosphine gas concentration and limited pesticide application accuracy in the granary caused by seasonal changes and changes in grain parameters, thereby ensuring the safety of grain storage.

[0058] The above are only preferred specific implementation modes of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and inventive concepts of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An intelligent fumigation robot for grain silo monitoring, comprising a propulsion frame (3), a base frame (1) and a release frame (2) connected in sequence, characterized in that: A medicine outer box (4) is installed in the middle of the upper surface of the base frame (1), and a control panel is embedded outside the medicine outer box (4); The medicine outer box (4) is provided with a medicine inner box (6), the upper end of the pushing frame (3) is provided with a tray storage rack (5), and trays (16) are stacked in the tray storage rack (5); The pushing frame (3) is provided with a pushing mechanism (8) for pushing the pallet (16) on both sides of the bottom corresponding to the pallet storage frame (5), and the lower ends of both sides of the release frame (2) are provided with an intermittent release structure (7) for receiving the pallet (16).

2. The intelligent fumigation and inspection robot based on granary monitoring according to claim 1 is characterized in that: The intermittent release structure (7) comprises a motor (71) and four-corner rotating rods (14), wherein the output end of the motor (71) is connected to the four-corner rotating rods (14), and the inner sides of the ends of the four-corner rotating rods (14) are each provided with a supporting rod (15) for receiving a tray (16).

3. The intelligent fumigation inspection robot based on granary monitoring according to claim 2 is characterized in that: The propulsion mechanism (8) comprises a propulsion rod seat (81) connected to the propulsion frame (3), a motor 2 (84) is installed at the front end of the propulsion rod seat (81), a sliding block (82) is slidably installed on the propulsion rod seat (81), and a push plate (83) aligned with one side of the tray storage frame (5) is installed at one end of the sliding block (82), and the tray (16) is moved into the release frame (2) by the push plate (83) through the propulsion rod seat (81).

4. The intelligent fumigation and inspection robot based on granary monitoring according to claim 1 is characterized in that: A side box (10) is installed on the rear side of the medicine inner box (6), a motor four (11) is installed on the upper end of the side box (10), a screw rod (12) is installed on the output end of the motor four (11), and an injection block (17) that matches the bottom of the side box (10) is connected to the outer sleeve of the screw rod (12).

5. The intelligent fumigation warehouse patrol robot based on grain warehouse monitoring according to claim 4 is characterized in that: The medicine outer box (4) is provided with a medicine injection groove (13) with an open bottom at the lower end near the medicine inner box (6), the push-injection block (17) is provided with an extrusion groove (20) on one side near the medicine inner box (6), the medicine inner box (6) is provided with a flow channel (18) connected to the extrusion groove (20) at the lower end near the medicine outer box (4), and the bottom of the medicine inner box (6) is provided with a push-injection tube (19) connected to the inside of the medicine injection groove (13).

6. The intelligent fumigation and inspection robot based on granary monitoring according to claim 1 is characterized in that: The upper ends of both sides of the release frame (2) are provided with a standby mechanism (9) for pushing the rear tray (16) to carry the load, the standby mechanism (9) comprising a motor three (91) and a pressure plate (93), the output end of the motor three (91) is connected to a rotating rod (92), and the pressure plate (93) is fixed outside the rotating rod (92) and extends to the inner side of the release frame (2).

7. The intelligent fumigation and inspection robot based on granary monitoring according to claim 1 is characterized in that: The lower ends of both sides of the pallet storage rack (5) are symmetrically equipped with temporary suspension structures, and the temporary suspension structure includes a motor five (21). The output end of the motor five (21) is equipped with a temporary suspension rod (22) that passes through the pallet storage rack (5) and extends to the inside. The temporary suspension rod (22) extends to the bottom of the pallet (16) to form a stable support.

8. The intelligent fumigation warehouse patrol robot based on grain warehouse monitoring according to claim 1 is characterized in that: A travel driving wheel (24) for driving the entire warehouse patrol robot to walk is installed at the middle position of the bottom of the propulsion frame (3), and a support wheel (25) for maintaining balance is installed at the middle of the lower surface of the base frame (1).

9. The intelligent fumigation inspection robot based on granary monitoring according to claim 1 is characterized in that: The control panel is built with an intelligent control module, which includes a pesticide application monitoring terminal, a patrol analysis terminal and a release execution terminal that are communicatively connected; The pesticide application monitoring terminal is used to collect the comprehensive value of gas fumigation and the distribution value of pesticide application points during the use of the warehouse patrol robot, and send the comprehensive value of gas fumigation and the distribution value of pesticide application points to the patrol analysis terminal; The inspection and analysis end performs numerical calculations based on the received gas fumigation comprehensive value and the distribution value of the application point, and generates a control signal to send to the release execution end; The release execution end receives the control signal to control related components to perform actions.

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