Intelligent plasma robot system and self-adaptive disinfection control method thereof

Abstract

The invention discloses an intelligent plasma robot system and a self-adaptive disinfection control method thereof. The system comprises a shell module, a propulsion system, a plasma discharge system, a gas cooperation system, an energy supply module, a sensing detection system, an intelligent control module, a communication and navigation module, a cloud data processing system and a thermal management system. The robot can autonomously move in grain pile, storehouse and field multi-medium environments through a vibration pump type, a rotor wing type, a pangolin type, a crawler belt or a wheel type propelling structure; high-activity particles are generated by adopting grouped off-peak discharge and gas synergistic injection, so that contact type and diffusion type composite sterilization and toxicity reduction are realized. The system carries out power adjustment, path optimization and self-learning supplementary killing control based on an AI algorithm, and can monitor characteristic signals of Os, VOCs, temperature and humidity and mycotoxins in real time to realize sterilization and toxicity reduction effect evaluation and closed-loop correction. The system is suitable for grain storage, traditional Chinese medicinal material warehouses, tobacco warehouses, cold chain warehouses and agricultural fields, and unmanned, efficient and sustainable intelligent disinfection and environment purification control is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent equipment and plasma application, and particularly relates to an intelligent plasma robotic system and its adaptive bio-disinfection control, which can be used for deep sterilization and toxin degradation of grain storage space. BACKGROUND

[0002] At present, the fields of grain storage, agricultural product preservation and traditional Chinese medicine storage are generally faced with the technical bottleneck of mold propagation and mycotoxin pollution. Under the conditions of high humidity, high temperature and uneven ventilation, grain piles and stored materials are prone to breed fungi such as Aspergillus flavus, Penicillium, Fusarium and the like, and the metabolites such as aflatoxin B1, ochratoxin A and fumonisin are all strong carcinogenic and immunosuppressive compounds, which pose a serious threat to human and animal health and grain quality. Especially in deep grain piles, the temperature and humidity gradient is obvious, and the oxygen diffusion is limited, and mold is easy to form in the low-ventilation area to form a "latent moldy layer", which is difficult to be found by traditional surface detection methods, resulting in long-term existence of hidden dangers of stored grain safety.

[0003] The existing grain barn mold prevention and detoxification methods mainly rely on the following several means: (1) chemical fumigation and pesticide spraying method, such as phosphine, ozone, hypochlorous acid and the like. Although this method can inhibit mold in the short term, it is easy to produce residual toxicity, environmental pollution and drug resistance problems, and chemical fumigation is difficult to uniformly penetrate the interior of the grain pile. (2) Cold plasma jet technology, which uses high-voltage discharge to produce active particles (such as ·OH, O, O3, e⁻) to achieve sterilization. The core active factor has a very short life and only has an effective concentration within a few centimeters, which is difficult to penetrate deep into the grain pile. (3) Static ozone circulation method, which sends ozone into the warehouse through pipelines or fans to achieve diffusion sterilization, but due to the low porosity of the grain pile and the blocked fluid channel, the ozone concentration rapidly decays in the deep layer, and the sterilization effect is limited. (4) Temperature control and drying technology, which can delay the growth of mold by reducing the temperature and humidity of the grain, but cannot fundamentally eliminate the existing microorganisms and mycotoxin pollution.

[0004] In summary, the existing technology has the following main defects in dealing with the problems of deep mold, toxin accumulation and dynamic re-pollution in grain piles: Insufficient penetration: cold plasma and ozone have limited diffusion distance and can only act on the surface layer of the grain pile, and the microorganisms in the deep layer cannot be completely inactivated; Lack of dynamic feedback: most systems are static or timed spraying methods, which cannot adjust the discharge power or path according to real-time environmental parameters, and there is a "blind area sterilization" phenomenon; Low energy efficiency and serious heat accumulation: continuous high-voltage discharge leads to serious system heating, which requires long-term intermittent cooling, limiting the continuous operation ability; Limited toxin control capability: existing sterilization technologies are mostly focused on microbial inactivation, and it is difficult to simultaneously degrade or cleave the generated mycotoxin molecules; Low level of automation and intelligence: current equipment requires manual arrangement and maintenance, lacks self-learning, self-regulation and unmanned operation capabilities, and is difficult to meet the needs of modern intelligent warehousing or agricultural systems.

[0005] In the context of the continuous development of global food safety and green storage technology, there is an urgent need for a new system with active movement capability, which can penetrate into the interior of the grain pile, has self-adaptive control and multi-modal sterilization function. The system should be able to integrate plasma discharge, gas synergistic oxidation, AI intelligent sensing and cloud self-learning algorithm, realize dynamic sterilization and toxin inhibition control of stored grain, crude drugs, tobacco and agricultural products in the whole process, whole space, low energy consumption and no residue, and achieve truly sterile, non-toxic and long-term storage. SUMMARY

[0006] I. Invention purpose The present application aims to overcome the problems of limited sterilization radius, insufficient deep coverage, lack of self-feedback regulation and dynamic re-sterilization capability in existing cold plasma sterilization and ozone fumigation technology, and to provide an intelligent plasma robot system with self-movement capability, composite discharge system, gas synergistic mechanism and cloud AI self-learning control function, and a self-adaptive sterilization control method.

[0007] The system can move autonomously in various media environments, including grain piles, traditional Chinese medicine piles, tobacco warehouses, cold chain warehouses, cultural relic warehouses and farmland. Through multi-modal discharge and composite gas reaction, a high-activity sterilization energy field is formed, realizing deep penetration sterilization, mycotoxin and toxin synergistic degradation, and long-term low-oxygen steady-state storage, thereby achieving long-term sterile and non-toxic safe storage of grain and agricultural products and biological pollution closed-loop prevention and control.

[0008] II. Technical solution overview To achieve the above purpose, the present application proposes an intelligent plasma robot system, the structure of which includes the following core modules: (1) Three-section modular shell structure: the system shell is a cylindrical or elliptical closed body, divided into a front plasma module, a middle gas synergistic module and a tail heat management module. The outer surface is coated with a heat-conducting reflective coating + composite heat dissipation layer, which has both protection and temperature stability; the shell structure can be self-adaptively micro-deformed according to the medium density to reduce the propulsion resistance.

[0009] (2) Composite Propulsion System: The propulsion mechanism is one of the following: vibratory pump type, rotary wing type, tracked type, or wheeled type, and can be dynamically switched under different media through AI algorithms. The vibratory pump type structure is suitable for high-density particulate media (grain piles, medicinal material piles, etc.), the rotary wing type structure is suitable for gaseous environments (cold chain, wards, storage spaces, etc.), and the tracked / wheeled type is suitable for solid or surface media (greenhouse surface, shallow farmland, etc.). Through the joint control of frequency difference Δf and drag feedback ΔR, the adaptive adjustment of propulsion direction θ and attitude angle φ is achieved, thereby ensuring stable maneuverability in high-drag environments.

[0010] (3) Grouped staggered discharge plasma source array: Multiple sets of micro high-voltage discharge units are deployed at the front end, and an alternating working mode is adopted to achieve energy consumption balance, discharge attenuation compensation and life extension. The active particles such as ·OH, ·O, O2⁻· and NO· generated in the plasma can maintain high reactivity within a range of tens of centimeters, significantly expanding the effective radius of traditional plasma sterilization.

[0011] (4) Gas Coordination System: The middle section is equipped with multi-channel injection holes and oxidant auxiliary nozzles to form an ozone-NOx-plasma composite reaction field. The gas ratio and flow rate are dynamically adjusted through the AI ​​central control module to achieve ozone enhancement mode, cooling airflow mode or composite oxidation mode at different stages, thereby achieving a balance between sterilization, heat dissipation and toxin decomposition.

[0012] (5) Thermal Management and Energy Recovery System: The tail section features a three-layer composite structure consisting of a graphene thermal conductive layer, a phase change material layer, and an aerogel insulating layer, with built-in liquid thermal conduction channels and gas circulation channels. This structure enables self-conductive temperature balance and discharge heat recovery, keeping the system temperature rise within ±3℃ under high-power, long-term operation. The energy module includes a lithium battery, a supercapacitor, and a wireless charging coil, enabling long-endurance and unmanned operation.

[0013] (6) Perception and AI intelligent control system: It integrates a multi-dimensional sensor array, which can detect O3, NO2, VOC, temperature, humidity and spectral signals in real time; the intelligent control module performs power adjustment, path planning, state prediction and backup backtracking based on cloud AI algorithm. When the detected index is lower than the threshold η0, it automatically performs secondary backup and energy optimization.

[0014] (7) Cloud data processing and self-learning mechanism: The cloud system performs task scheduling, path optimization and energy allocation for multiple robots, and uses reinforcement learning algorithms to achieve multi-scenario transfer learning; in long-term operation, it continuously corrects the discharge power, propulsion parameters and gas ratio to achieve the optimal control strategy under different grain types, humidity and bulk density.

[0015] III. Invention Principles and Technical Points The core innovation of this invention lies in the triple coupling of the plasma discharge field, the gas-coordinated oxidation field, and the AI ​​dynamic control field: Physical layer: Deep particle excitation and energy transfer are achieved through high-frequency vibration and discharge coupling; Chemical layer: A multi-stage composite oxidation system is formed through the free radical chain reaction of ozone, NOx, and ROS / RNS / AOS; Intelligent layer: Enables data-driven adaptive control, self-calibration, and long-term strategy optimization through cloud-based AI algorithms.

[0016] During operation, the system can achieve a closed-loop mechanism of "detecting, sterilizing, and learning simultaneously". It can not only achieve deep sterilization and toxin degradation in particulate media such as grain piles and medicinal herb piles, but also perform dynamic purification, mold removal and environmental remediation tasks in gaseous or surface environments.

[0017] IV. Technical Effects and Significance of Innovation Compared with existing technologies, this invention achieves system-level technological breakthroughs in the following aspects: Breakthrough deep penetration capability: The composite energy field can form a stable high-reaction zone within the grain pile, achieving deep disinfection; AI closed-loop feedback control: enables real-time assessment and compensation decisions for sterilization efficiency; Energy consumption and thermal balance optimization: Energy efficiency is improved by 25-40% through phase change heat conduction and AI power distribution; Simultaneous degradation of toxins: Free radical chain reactions can cleave aflatoxin and ochratoxin molecules, achieving an integrated "mold-killing + toxicity-reducing" effect; Long-term safe storage is achieved: robots can periodically and autonomously patrol and sterilize, maintaining the grain pile environment in a low-oxygen, low-bacteria, and low-toxicity state, extending the storage period by more than 3 times compared to traditional technologies. Technical solution of the present invention

[0018] A smart plasma robot system and its adaptive disinfection control method, characterized in that it includes: The housing module has a cylindrical or elliptical closed structure, and its outer surface is provided with a thermally conductive and reflective coating and a composite heat dissipation layer. The propulsion system is one of the following: vibratory pump type, rotary wing type, pangolin type, tracked type or wheeled type propulsion structure. It is used to generate controllable slow propulsion force in multi-media environments (including particulate media, semi-solid media and gas phase space) to achieve autonomous movement and attitude adjustment in multiple scenarios. The plasma discharge system, deployed at the front end and outer surface, includes multiple sets of staggered discharge bands or nozzle arrays, used to generate highly active particles to achieve contact sterilization. The gas synergy system, located in the middle and rear sections, includes ozone injection holes and oxidant auxiliary nozzles, used to achieve compound sterilization in conjunction with plasma discharge; The energy supply module includes a lithium battery, a supercapacitor, and a wireless charging coil; The sensing and detection system is used to detect O3, NO2, VOC, temperature and humidity, spectral signals, and various fungal metabolites and toxin molecules. The fungal and toxin detection includes the identification and quantitative analysis of aflatoxin, ochratoxin, fumonisin, patulin, deoxynivalenol, and other fungal toxins with characteristic spectral or ion mobility characteristics, so as to realize real-time monitoring, risk assessment, and dynamic closed-loop control of biological contamination in storage media. The intelligent control module has a built-in AI algorithm for power regulation, path control, and adaptive kill decision-making. The communication and navigation module, based on LoRa wireless communication and inertial navigation, enables positioning, data uploading, and collaborative operation. The cloud-based data processing system performs task scheduling, AI modeling, path optimization, and callback control. The thermal management system includes a phase change thermal conductive layer, a liquid thermal conductive channel, and a gas circulation channel, which is used to remove heat in a closed environment.

[0019] According to claim 1, the propulsion system comprises one or a combination of the following multimodal structures: (1) Vibration pump type structure, including at least two sets of independent eccentric vibration units, which control the forward direction and attitude angle θ through frequency difference Δf, satisfying θ = k·Δf, where k is the control constant; (2) Rotary wing structure, using a low-speed propeller mechanism or directional blades to achieve displacement propulsion in air or low-density medium; (3) The pangolin-like biomimetic propulsion structure is composed of several flexible scale-like hinged units and covered with a high-friction conductive material. It can achieve continuous drilling and self-obstacle clearing in particulate media, loose powder or bio-based material piles. Its propulsion direction can be adaptively adjusted through scale group deformation and rhythm control. (4) Tracked or wheeled structure, suitable for linear propulsion in planar or semi-solid media, and automatically adjusts drive power and speed according to resistance feedback signal through intelligent control module; The various propulsion structures can be dynamically identified and switched in mode by the intelligent control module based on the environmental resistance characteristics ΔR, the medium density ρ, and the vibration feedback signal Δa, so as to ensure that the system can achieve stable displacement and precise operation under different density, viscosity and resistance conditions. The propulsion system is suitable for various environments including grain storage warehouses, Chinese medicine warehouses, tobacco warehouses, agricultural product cold storage warehouses, cultural relic archives, underground pipe corridors, aerospace cabins, medical purification areas and farmland surfaces.

[0020] According to claim 1, the system is characterized in that it comprises a cold plasma module, an ozone generation module, a NO self-generating system, a chlorine dioxide activation module, a nitrogen barrier stabilization module, and an AI central control module; the AI ​​central control module is used to perform time-series scheduling, power adjustment, and parameter optimization of the above modules; each module is linked sequentially or dynamically according to the AI ​​algorithm to form a multi-stage composite oxidation system containing ROS, RNS, and AOS active species such as ·OH, ·O, O2⁻·, HOO·, NO·, ONOO⁻, ClO·, and ClO2·, which achieves anti-mold, anti-corrosion, toxin degradation, and long-term low-oxygen stable storage of plant and animal stored materials through free radical chain reaction, redox coupling, and nitrogen barrier stabilization mechanism.

[0021] According to claim 1, the system is characterized in that the discharge units of the plasma discharge system are grouped and operate in turn to extend the overall plasma activity lifetime and achieve energy consumption balance.

[0022] According to the system of claim 1, the gas coordination system can be switched to ozone injection mode or cooling airflow mode at different stages to achieve dual functions of sterilization and heat dissipation.

[0023] According to claim 1, the system is characterized in that the thermal management system includes an outer graphene thermally conductive layer, a middle phase change material layer and an inner aerogel insulating layer, and is provided with a closed liquid thermally conductive channel to guide the heat to the tail heat dissipation area through phase change heat transfer.

[0024] According to the system of claim 1, the sensing and detection system monitors O3, VOC, temperature and humidity, spectral signals and fungal metabolic toxins in real time. When the detected value is lower than the sterilization threshold or the toxin concentration is higher than the risk threshold, the intelligent control module automatically performs supplementary sterilization discharge, path re-sterilization or gas synergistic mode switching to ensure that environmental biosafety and toxin inhibition effect meet the standards.

[0025] According to the system of claim 1, the intelligent control module has dual threshold protection logic for temperature and energy. When the core temperature is higher than 60°C or the power is lower than the set value, it automatically reduces the discharge duty cycle or navigates to the wireless charging node.

[0026] Claim 9, an adaptive disinfection control method based on the system of claim 1, characterized in that it includes the following steps: Initialize the path and power configuration; Perform discharge and gas co-operation; Real-time acquisition of sensor data; Cloud-based analysis of sterilization effectiveness; If the effect is insufficient, perform additional removal or power adjustment; Generate a coverage heatmap and upload the task results.

[0027] According to the method of claim 9, the cloud system continuously optimizes parameters based on historical task data and machine learning algorithms, automatically corrects the discharge power, propulsion speed and oxidant ratio under different grain types, humidity and bulk density, and realizes closed-loop self-learning control.

[0028] According to claim 1, the system is characterized in that the propulsion system can be one of a vibratory pump type, a rotary wing type, a tracked type, or a wheeled type propulsion structure, and can automatically switch the propulsion mode according to the working medium, wherein: The vibratory pump structure is suitable for high-density particulate media (such as grain piles, Chinese medicinal herb piles, feed piles, and powder silos). Rotary wing structures are suitable for air, aerosol, or low-density gas environments (such as cold chain warehouses, archives, medicine warehouses, cabins, or clean spaces). Tracked or wheeled structures are suitable for planar or semi-solid media (such as warehouses, mulch films, greenhouse surfaces, or shallow layers of farmland). Its control logic is based on an AI dynamic medium recognition model. It automatically selects the optimal propulsion mode through resistance characteristics ΔR and vibration feedback Δa, and the intelligent control module realizes adaptive adjustment of the direction of travel, attitude angle and power to ensure that the equipment can achieve stable displacement and precise operation under different density, viscosity and resistance conditions.

[0029] The system can be applied to grain reserves, tobacco storage, Chinese medicinal herb warehouses, agricultural product cold storage warehouses, cultural relic archives, underground utility tunnels, aerospace cabins, and agricultural field areas; during outbreaks of mold, bacteria, or viruses, it can perform mobile disinfection and surface composite mold removal tasks, achieving multi-scenario environmental control.

[0030] Based on the system described in claim 9, an adaptive environmental purification and biohazard control method is characterized by comprising the following steps: 1. Environmental initialization and modeling: The intelligent control module models the gas, humidity and resistance of the target area, and identifies the type of working medium through AI algorithms; 2. Operation mode selection: Automatically matches the propulsion method and discharge mode according to environmental characteristics, corresponding to gas phase, particulate phase or solid phase targets; 3. Dynamic disinfection execution: Performs plasma discharge and gas synergistic operation, while simultaneously collecting O3, VOC, temperature, humidity and spectral feedback signals in real time; 4. Data Analysis and Back-Kill Optimization: The cloud system analyzes the sterilization effect of the detection data. When the local area sterilization rate is lower than the threshold η0, it automatically triggers a supplementary sterilization operation or a path backtracking algorithm. 5. Multi-scenario self-learning control: Cloud AI continuously records power, speed and oxidant ratio parameters under different environments, and updates the control strategy through reinforcement learning algorithms to achieve multi-scenario transfer learning and optimization; 6. Expanded Application Areas: The method can be widely applied to various scenarios such as grain warehouses, traditional Chinese medicine warehouses, tobacco storage, agricultural product cold storage, fruit and vegetable warehouses, cultural relic archives, hospital clean rooms, underground utility tunnels, aircraft cabins, and farmland. When used in agricultural fields, it can perform self-navigating patrol sterilization in areas with mold outbreaks, achieving biological disease control. Furthermore, the system and method are also applicable to public health and epidemic prevention systems, including hospital wards, transportation hubs, schools, communities, and emergency control areas. During outbreaks of epidemic viruses, bacteria, and fungi, it can achieve space-level dynamic disinfection and air purification through autonomous movement and composite plasma discharge. In addition, the system can be deployed in urban sewer corridors, subway tunnels, aerospace modules, and enclosed cabins of ships to perform unmanned disinfection and environmental maintenance tasks in high-risk environments, thereby constructing a multi-domain intelligent prevention and control platform that combines agricultural safety, public health, and space protection functions.

[0031] According to claim 1, the system is characterized in that the discharge units of the plasma discharge system are grouped and operate in turn to extend the overall plasma activity lifetime and achieve energy consumption balance.

[0032] According to the system of claim 1, the gas coordination system can be switched to ozone injection mode or cooling airflow mode at different stages to achieve dual functions of sterilization and heat dissipation.

[0033] According to the system of claim 1, the sensing and detection system monitors O3, VOC, temperature, humidity and spectral signals in real time, and works in conjunction with the intelligent control module to automatically perform supplementary discharge or path re-kill operation when the detected value is lower than the set threshold.

[0034] According to the system of claim 1, the intelligent control module has dual threshold protection logic for temperature and energy. When the core temperature is higher than 60°C or the power is lower than the set value, it automatically reduces the discharge duty cycle or navigates to the wireless charging node.

[0035] According to claim 1, the system is characterized in that the thermal management system achieves dual-path heat dissipation through a liquid heat conduction channel and a gas circulation module, and the phase change material heat absorption zone and the tail heat dissipation zone form a closed heat conduction cycle, which can maintain the system's thermal balance and electrical stability during high-power discharge.

[0036] Summary of Technology Expansion Logic

[0037] Category Propulsion mode Applicable medium Main environment Function extension Vibrating pump type High-frequency vibration displacement Granular / powder Grain pile, traditional Chinese medicine pile Deep penetration and killing Rotary wing type Spiral air flow driven Gas Cold chain warehouse, archive, cabin Uniform diffusion sterilization Crawler / wheel type Ground propulsion Solid / semi-solid Warehouse, greenhouse, farmland Directional mold killing and disease prevention Self-adaptive AI control Mode switching Mixed medium Complex multi-scenario Intelligent identification and optimization control Beneficial effects This invention provides an intelligent plasma robot system and its adaptive disinfection control method, which has the following significant technical effects and comprehensive advantages compared with the prior art: I. All-media adaptive operation capability The robot of this invention features a multi-modal propulsion structure, including vibration pump, rotary wing, and tracked / wheeled types, enabling autonomous movement in various media environments such as gas, particulate matter, and solid surfaces. By using an AI media recognition algorithm to calculate the resistance characteristic ΔR and vibration feedback Δa in real time, the system can automatically select the optimal propulsion method and power parameters to achieve stable displacement and precise attitude control across media. Compared to traditional single propulsion devices, this invention achieves continuous feasibility from deep penetration operations inside grain piles to directional cruising on farmland surfaces, significantly improving environmental adaptability and mission reliability.

[0038] II. Synergistic Sterilization System of Plasma-Ozone-Oxidant This invention utilizes the synergistic effect of multiple staggered discharge bands and ozone / oxidant nozzles to form a multi-source composite high-energy sterilization field. Its mechanism of action encompasses electron bombardment, free radical chain reaction, and oxidative pyrolysis. The composite discharge system can achieve a bacterial, fungal, and mold inactivation rate of ≥99.99% in a short time, and has a highly efficient destructive effect on spores and fungal toxins. The discharge units adopt a grouped rotating working mode, which extends the system life by approximately 2.3 times, while maintaining dynamic energy balance and ensuring stable and reliable continuous operation.

[0039] The sensing and detection system is used to detect O3, NO2, VOC, temperature and humidity, spectral signals, and various fungal metabolites and toxin molecules. The fungal and toxin detection includes the identification and quantitative analysis of aflatoxin, ochratoxin, fumonisin, patulin, deoxynivalenol, and other fungal toxins with characteristic spectral or ion mobility characteristics, so as to realize real-time monitoring, risk assessment, and dynamic closed-loop control of biological contamination in storage media.

[0040] III. AI Self-Learning and Closed-Loop Supplementary Kill Mechanism The built-in AI control module collects O3, VOC, temperature, humidity and spectral feedback signals in real time, and evaluates the sterilization adequacy through a cloud neural network model. When the sterilization rate of a local area is lower than the threshold η0, the system automatically executes a supplementary sterilization backtracking algorithm, replans the path and discharge power, and achieves "zero omission closed-loop control". Through the cloud reinforcement learning mechanism, the robot can continuously optimize the parameter configuration under different densities, humidity and media, forming a self-evolving AI control logic, and continuously improving the accuracy and efficiency of operation.

[0041] IV. Innovative System for Thermal Balance and Energy Management The system adopts a three-layer composite thermal structure consisting of a graphene thermal conductive layer, a phase change material layer, and an aerogel insulation layer to achieve efficient heat flow extraction and temperature balance. The internal liquid thermal conductive channel and gas circulation pipeline form a closed thermal loop, and the temperature rise is stably controlled within ±3℃ under long-term high-power discharge conditions. The intelligent energy management module is based on temperature-power dual threshold logic, which automatically enters energy-saving or safety mode in the case of overheating or low power, ensuring stability for continuous operation for at least 48 hours.

[0042] V. Unmanned and Wireless Operation Architecture This invention achieves multi-machine collaborative operation and centralized cloud scheduling through a LoRa communication and inertial navigation fusion system; the system has wireless charging and automatic recharging functions, and can achieve fully unmanned autonomous operation in grain warehouses, cold storage or field environments; the cloud center can monitor the status of each unit in real time, generate dynamic heat maps and disinfection coverage maps, and realize regional-level visual management and scheduling optimization.

[0043] VI. Breakthroughs in Long-Term Grain Storage Safety and Toxin Control This invention enables periodic and on-demand plasma activation and sterilization in grain storage environments. Through a composite ROS / RNS free radical reaction chain, it continuously inhibits mold spore germination and aflatoxin formation. Experimental verification shows that the system can significantly reduce the growth rate of mold and the level of toxin accumulation inside stored grains, and maintain a long-term low-oxygen and antioxidant microenvironment, keeping the grains in a sterile, low-toxicity, and stable storage state. Compared with traditional ventilation, chemical fumigation, and ozone circulation technologies, the storage period is extended by at least three times, and the grain quality retention rate is increased by approximately 40%, achieving true **"room temperature sterile long-term storage"** and green grain storage.

[0044] VII. Multi-scenario Expansion and Agricultural Biological Control In addition to being applicable to enclosed spaces such as grain warehouses, Chinese medicinal herb warehouses, tobacco storage, cold chain storage, and cultural relics archives, the system of this invention can also be extended to agricultural greenhouses, agricultural product storage areas, and field disease outbreak areas. During the rapid spread of mold or pathogenic fungi, it can automatically perform cruise-style sterilization and mold removal and surface protection operations, realizing the integrated application of intelligent prevention and control of agricultural diseases, environmental purification, and ecological biological protection.

[0045] VIII. Comprehensive Technical Performance Evaluation Form Technical indicators System performance of the invention Comparison with traditional technology Effectiveness improvement Bactericidal inactivation rate ≥99.99% About 90-95% ↑30~50% Energy efficiency Dynamic grouping energy-saving control Single-point continuous discharge ↓25–40% Thermal management stability Temperature rise control ±3℃ Temperature rise fluctuation ±10℃ Stability improvement about 3 times Operation coverage ≥99.5% About 90% Almost no dead angle Storage grain period Extended 3-3.5 times Conventional benchmark 1 times Major breakthrough Intelligent adaptability Multi-medium AI identification Single-mode manual switching Automatic optimization Continuous operation capability ≥48 hours About 20 hours ↑2.2 times IX. Overall Technological Contribution and Social Value This invention, through the deep integration of plasma energy field, AI self-learning control, thermal energy regulation, and multimodal propulsion structure, constructs an intelligent biosafety control platform capable of adaptive operation in both closed and open environments. It has revolutionary significance in fields such as grain mold and toxicity prevention, medicinal herb storage purification, cold chain sterility maintenance, and agricultural field disease control, providing a novel engineering solution for global food security, ecological storage, and intelligent agriculture.

[0046] Conclusion In summary, the intelligent plasma robot system of this invention, through the system integration design of "multimodal propulsion + plasma composite energy field + AI adaptive control + cloud closed-loop optimization", has achieved a comprehensive improvement in sterilization efficiency, energy management, long-term storage stability and unmanned and intelligent level, forming a globally leading and sustainable self-evolving intelligent grain storage and environmental control system. Attached Figure Description

[0047] Figure 1 This is a schematic diagram of a vibration pump-driven plasma mobile robot.

[0048] Figure 2 This is a schematic diagram of the multi-source coupling structure of the pentathioneous oxidation system. Detailed Implementation

[0049] The intelligent plasma robot system and its adaptive disinfection control method of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the following embodiments are only for illustrating the present invention and are not intended to limit the scope of protection of the present invention.

[0050] I. Overall Structural Composition As shown in Figure 1, the intelligent plasma robot system of the present invention mainly consists of the following parts: 1. Shell Module (1) The robot body adopts a cylindrical or elliptical closed structure. The shell material is a high-strength insulating composite material (such as polyimide or ceramic-coated aluminum alloy). The outer surface is provided with a thermally conductive and reflective coating and a composite heat dissipation layer. The shell forms a three-section space: The front section is a plasma discharge chamber; The middle section is the gas coordination and sensing detection chamber; The tail section is the energy supply and heat dissipation module area.

[0051] This partitioned structure can effectively prevent electromagnetic interference and improve discharge stability and thermal isolation between modules.

[0052] 2 Propulsion System (2) The propulsion system includes four types: vibratory pump type, rotary wing type, tracked type and wheeled type, which can be automatically switched according to the working medium.

[0053] Vibratory pump propulsion structure: Composed of two sets of eccentric vibrating units, the frequency difference Δf is used to control the forward direction and attitude angle θ, satisfying θ = k·Δf, where k is a control constant. This method is suitable for high-density particulate media (such as grain piles and medicinal herb piles).

[0054] Rotary wing propulsion structure: including low-speed propeller and anti-clogging blades, it can achieve stable floating propulsion in gas or low-density media, and is suitable for spaces such as cold storage, tobacco warehouse, and medicinal material warehouse.

[0055] Tracked / wheeled propulsion structure: It adopts a synchronous drive motor and has an anti-slip control algorithm, which is suitable for solid media environments such as ground, farmland surface and greenhouse.

[0056] The propulsion system uses drag sensors and acceleration feedback to achieve AI dynamic medium recognition and automatically adjust propulsion power and mode.

[0057] 3 Plasma discharge system (3) The plasma system is deployed on the front end and outer surface of the robot and includes several staggered discharge bands and discharge nozzle arrays.

[0058] Each discharge band consists of a tungsten-copper alloy electrode and a ceramic insulating layer, and a highly active particle stream is generated using a pulsed high-frequency discharge mode.

[0059] The discharge units are divided into several groups, which work in turn to achieve energy balance and extend lifespan.

[0060] The generated low-temperature plasma contains active components such as electrons, ions, free radicals, and ozone, which can destroy bacteria, fungi, and viruses through multiple pathways.

[0061] 4. Gas Coordination System (4) The gas system is located in the middle and tail of the robot, including ozone injection holes and oxidant auxiliary nozzles. Controlled by a micro-pump and solenoid valves, it can be switched to different modes at different stages: Sterilization mode: The mixture of ozone and nitrogen peroxide is sprayed, which forms a synergistic compound sterilization with plasma discharge; Cooling mode: Switches to inert gas (such as nitrogen) circulation to assist the system in heat dissipation and purification of residual gases.

[0062] The system can flexibly switch between sterilization and thermal management.

[0063] 5. Energy Supply Module (5) The energy module includes a high-density lithium battery, a supercapacitor bank, and a wireless charging coil. Power distribution is controlled by an intelligent power management unit to achieve stable power supply for the discharge, gas pump, and propulsion system. When the battery level is below a set threshold, the system automatically navigates to a charging node for wireless charging.

[0064] 6. Sensing and Detection System (6) The sensing system integrates multiple sensors, including: Gas sensor: detects the concentrations of O3, NO2, and VOCs; Environmental sensors: detect temperature, humidity, air pressure, and spectral intensity; Vibration and attitude sensors: detect propulsion stability and changes in direction.

[0065] The detection signal is processed by a data fusion algorithm and then transmitted to the intelligent control module to achieve real-time monitoring and feedback control.

[0066] 7. Intelligent Control Module (7) The control module has a built-in AI self-learning algorithm, including power regulation, path planning, temperature control management, and kill / replacement decision logic. During task execution: If the sterilization rate of the detected area is lower than the threshold η0, the control module triggers the "return-to-sterilization path algorithm"; If the core temperature exceeds 60°C or the energy falls below the threshold, the discharge duty cycle is reduced or the system enters standby charging mode. This module is the "central nervous system" of the system.

[0067] 8. Communication and Navigation Module (8) adopts LoRa low-power wireless communication and inertial navigation technology to achieve: Multi-robot collaboration; Cloud-based task scheduling; Real-time data upload and location tracking.

[0068] The system supports self-positioning in indoor environments without GPS and can generate heat maps of work paths.

[0069] 9. Cloud Data Processing System (9) The cloud system includes a task scheduling unit, an AI model engine, a path optimization module, and a self-learning control module. Its functions include: Collect sensor data and execution logs uploaded by the robot; Calculate the coverage rate of sterilization effect; Optimize discharge power, gas flow rate, and propulsion speed; Initiate a multi-robot collaborative task.

[0070] By continuously optimizing operating parameters under different environments through machine learning algorithms, adaptive control across all scenarios can be achieved.

[0071] 10 Thermal Management System (10) The thermal management system includes: Outer graphene thermal conductive layer; Intermediate phase change material layer; The inner aerogel insulation layer is equipped with liquid heat conduction channels and gas circulation paths, forming a closed heat exchange loop. Dynamic temperature balance is achieved by controlling the opening of the cooling vent valves and the direction of the cooling airflow through AI.

[0072] II. System Working Principle When the system starts, the robot first models the target environment using the perception and detection module, including humidity, gas composition, and drag characteristics. The AI ​​module selects the propulsion mode (such as vibratory pump or rotor) based on the environmental characteristics and sets the initial power.

[0073] Subsequently, the plasma discharge system and the gas-assisted system work together: The front end generates a plasma stream and ejects active particles; The middle section releases ozone and oxidants to form a mixed energy field; The sterilization efficiency and path coverage are calculated in real time in the cloud.

[0074] When the sterilization effect in the detection area is insufficient, the system automatically executes the "re-sterilization compensation" process to achieve full coverage processing.

[0075] During long-term operation, the thermal management system automatically adjusts the circulation rate of the liquid channel and controls the shell temperature to remain stable within a safe range.

[0076] III. Typical Application Scenarios 1. The grain storage environment robot uses a vibration pump for propulsion in the grain pile to carry out deep-penetrating sterilization and mold degradation.

[0077] 2. The storage of Chinese medicinal materials and tobacco uses a rotor mode to achieve a uniform airflow field, completing low-temperature disinfection and mold and insect prevention.

[0078] 3. In cold chain and archive environments, microbial growth is controlled through the synergistic effect of low-power plasma and ozone.

[0079] 4. In agricultural fields, a tracked system is used to automatically patrol and perform surface mold removal and air purification tasks during mold or fungal outbreaks.

[0080] IV. Control Flow Examples As shown in Figure 2, the control flow includes: Environmental modeling and parameter identification; Propulsion mode and power initialization; Discharge and gas co-operation; Real-time sensing and data uploading; Cloud-based analytics and path tracking; Thermal management and energy self-balancing; Task completion and result reporting.

[0081] This process forms a complete adaptive closed-loop control system, enabling unmanned, fully automatic, and intelligent dynamic disinfection operations.

[0082] V. Effect Verification In simulated warehousing experiments: The robot achieves a 99.995% sterilization rate in a 30 m³ enclosed environment; The average lifespan of the discharge unit is increased by 2.3 times; The operation coverage rate reached 99.6%; The system temperature remained stable at ±3℃ after 48 hours of continuous operation.

[0083] Experimental results verify the significant advantages of this invention in terms of sterilization efficiency, energy consumption control, and adaptability to multiple scenarios.

Claims

1. An intelligent plasma robot system and its adaptive disinfection control method Claim 1 An intelligent plasma robot system, characterized in that it comprises: The housing module has a cylindrical or elliptical closed structure, and its outer surface is provided with a thermally conductive and reflective coating and a composite heat dissipation layer. The propulsion system is one of the following: vibratory pump type, rotary wing type, pangolin type, tracked type or wheeled type propulsion structure. It is used to generate controllable slow propulsion force in multi-media environments (including particulate media, semi-solid media and gas phase space) to achieve autonomous movement and attitude adjustment in multiple scenarios. The plasma discharge system, deployed at the front end and outer surface, includes multiple sets of staggered discharge bands or nozzle arrays, used to generate highly active particles to achieve contact sterilization. The gas synergy system, located in the middle and rear sections, includes ozone injection holes and oxidant auxiliary nozzles, used to achieve compound sterilization in conjunction with plasma discharge; The energy supply module includes a lithium battery, a supercapacitor, and a wireless charging coil; The sensing and detection system is used to detect O3, NO2, VOC, temperature and humidity, spectral signals, and various fungal metabolites and toxin molecules. The fungal and toxin detection includes the identification and quantitative analysis of aflatoxin, ochratoxin, fumonisin, patulin, deoxynivalenol, and other fungal toxins with characteristic spectral or ion mobility characteristics, so as to realize real-time monitoring, risk assessment, and dynamic closed-loop control of biological contamination in storage media. The intelligent control module has a built-in AI algorithm for power regulation, path control, and adaptive kill decision-making. The communication and navigation module, based on LoRa wireless communication and inertial navigation, enables positioning, data uploading, and collaborative operation. The cloud-based data processing system performs task scheduling, AI modeling, path optimization, and callback control. The thermal management system includes a phase change thermal conductive layer, a liquid thermal conductive channel, and a gas circulation channel, which is used to remove heat in a closed environment.

2. Claim 2 The system according to claim 1 is characterized in that, The propulsion system includes one or a combination of the following multimodal structures: (1) Vibration pump type structure, including at least two sets of independent eccentric vibration units, which control the forward direction and attitude angle θ through frequency difference Δf, satisfying θ = k·Δf, where k is the control constant; (2) Rotary wing structure, using a low-speed propeller mechanism or directional blades to achieve displacement propulsion in air or low-density medium; (3) The pangolin-like biomimetic propulsion structure is composed of several flexible scale-like hinged units and covered with a high-friction conductive material. It can achieve continuous drilling and self-obstacle clearing in particulate media, loose powder or bio-based material piles. Its propulsion direction can be adaptively adjusted through scale group deformation and rhythm control. (4) Tracked or wheeled structure, suitable for linear propulsion in planar or semi-solid media, and automatically adjusts drive power and speed according to resistance feedback signal through intelligent control module; The various propulsion structures can be dynamically identified and switched in mode by the intelligent control module based on the environmental resistance characteristics ΔR, the medium density ρ, and the vibration feedback signal Δa, so as to ensure that the system can achieve stable displacement and precise operation under different density, viscosity and resistance conditions. The propulsion system is suitable for various environments including grain storage warehouses, Chinese medicine warehouses, tobacco warehouses, agricultural product cold storage warehouses, cultural relic archives, underground pipe corridors, aerospace cabins, medical purification areas and farmland surfaces.

3. Claim 3 The system according to claim 1 is characterized in that, The system includes a cold plasma module, an ozone generation module, a self-generating NO system, a chlorine dioxide activation module, a nitrogen barrier stabilization module, and an AI central control module. The AI ​​central control module is used to perform time-series scheduling, power allocation, and parameter optimization of the above modules. Each module is linked sequentially or according to AI dynamic timing to form a multi-stage composite oxidation system containing active species such as ROS, RNS, and AOS, including ·OH, ·O, O2⁻·, HOO·, NO·, ONOO⁻, ClO·, and ClO2·. This system achieves mold prevention, corrosion prevention, toxin degradation, and long-term low-oxygen stable storage of plant and animal-based storage materials such as grains, Chinese medicinal herbs, tobacco, and agricultural products through free radical chain reactions, redox coupling, and nitrogen barrier stability mechanisms.

4. Claim 4 The system according to claim 1 is characterized in that, The discharge units of the plasma discharge system are grouped and operate in turn to extend the overall plasma activity lifetime and achieve energy balance.

5. Claim 5 The system according to claim 1 is characterized in that, The gas-coordinated system can switch between ozone injection mode and cooling airflow mode at different stages to achieve dual functions of sterilization and heat dissipation.

6. Claim 6 The system according to claim 1 is characterized in that, The thermal management system includes an outer graphene thermally conductive layer, a middle phase change material layer, and an inner aerogel insulating layer, and is equipped with a closed liquid thermally conductive channel to guide heat to the tail heat dissipation area through phase change heat transfer.

7. Claim 7 The system according to claim 1 is characterized in that, The sensing and detection system monitors O3, VOC, temperature, humidity, spectral signals, and mold metabolic toxins in real time. When the detected value is lower than the sterilization threshold or the toxin concentration is higher than the risk threshold, the intelligent control module automatically performs supplementary sterilization discharge, path re-sterilization, or gas synergy mode switching to ensure that environmental biosafety and toxin inhibition effects meet the standards.

8. Claim 8 The system according to claim 1 is characterized in that, The intelligent control module has dual threshold protection logic for temperature and energy. When the core temperature is higher than 60°C or the power is lower than the set value, it automatically reduces the discharge duty cycle or navigates to the wireless charging node.

9. Claim 9 The system according to claim 1 is characterized in that, The propulsion system is one of the following: vibratory pump type, rotary wing type, tracked type, or wheeled type propulsion structure. Its propulsion mode automatically switches according to the working medium. Vibration pumps are suitable for high-density particulate media (such as grain piles, medicinal herb piles, fertilizer or powder warehouses). Rotary wing structures are suitable for air, aerosol, or low-density gas environments (such as cold chain storage, tobacco warehouses, pharmaceutical warehouses, archives, hospital wards, and transportation cabins). Tracked or wheeled structures are suitable for planar or semi-solid media (such as ground, mulch film, warehouse floor, greenhouse surface or shallow farmland). Its control logic is based on an AI dynamic medium recognition model. It automatically selects the best propulsion mode through resistance characteristics ΔR and vibration feedback signal Δa, and uses an intelligent control module to achieve adaptive adjustment of travel direction, attitude angle and power, so as to ensure that the equipment can achieve stable displacement and precise operation under different density, viscosity and resistance conditions. This propulsion system can be applied to grain reserves, tobacco storage, traditional Chinese medicine warehouses, agricultural product cold storage, cultural relic archives, underground utility tunnels, aerospace cabins, and agricultural fields. During outbreaks of mold, bacteria, or viruses, it can directly perform mobile disinfection and surface composite mold removal tasks.

10. Claim 10 Based on the system described in claim 9, an adaptive environmental purification and biological hazard control method is characterized in that... Includes the following steps: Environmental initialization and modeling: The intelligent control module models the gas, humidity and resistance of the target space or area, and identifies the medium type through AI; Operation mode selection: The propulsion method and discharge mode are automatically matched according to environmental characteristics, corresponding to gas phase, particulate phase or solid phase targets respectively; Dynamic disinfection execution: Performs plasma discharge and gas synergistic operation, while simultaneously collecting O3, VOC, temperature, humidity and spectral feedback signals in real time; Data analysis and retracement optimization: The cloud system analyzes the sterilization effect based on the detection data; when the sterilization rate in the target area is lower than the threshold η0, it automatically triggers a supplementary sterilization operation or a path backtracking algorithm; Multi-scenario self-learning control: Cloud AI continuously records power, speed and gas ratio parameters under different environments, and updates the control strategy through reinforcement learning algorithms to achieve multi-scenario transfer learning; Expanded Application Areas: The method can be widely applied to various scenarios such as grain warehouses, traditional Chinese medicine warehouses, tobacco storage, agricultural product cold storage, fruit and vegetable warehouses, cultural relic archives, hospital clean rooms, underground utility tunnels, aircraft cabins, and farmland. When used in agricultural fields, it can perform self-navigating, iterative sterilization of areas with mold outbreaks, achieving biological disease control. Furthermore, the system and method are also applicable to public health and epidemic prevention systems, including hospital wards, transportation hubs, schools, communities, and emergency response areas. During outbreaks of viral, bacterial, and fungal contamination, it can achieve space-level dynamic disinfection and air purification through autonomous movement and composite plasma discharge. In addition, the system can be deployed in urban sewer corridors, subway tunnels, aerospace modules, and enclosed ship cabins to perform unmanned disinfection and environmental maintenance tasks in high-risk environments, thereby constructing a multi-domain intelligent prevention and control platform that combines agricultural safety, public health, and space protection functions.

Images