Remote control automatic sampling system

Abstract

The invention discloses a remote control automatic sampling system, and mainly relates to the technical field of AGV automatic cyclic sampling. Comprising a sampling module, the sampling module is provided with a horizontal reciprocating guide sliding table, a stroke frame is rotationally installed on the guide sliding table, a sampling pipe rotating based on electric drive is rotationally installed on the stroke frame, and the stroke frame has a swing stroke enabling the sampling pipe to be converted from a horizontal state to an upright state; the collecting module comprises a rotary table which is located below the guide frame and has stepping rotation action, a plurality of open box bodies are annularly arranged on the rotary table, and when the sampling tubes swing to a vertical state, the box bodies located at the storage positions are sequentially located below the sampling tubes based on stepping rotation; and the moving module is used for carrying the sampling module and the collecting module and executing walking actions based on the AGV technology. The straw bale drilling and sampling device has the advantages that continuous, automatic and efficient straw bale drilling and sampling can be achieved, the time cost and the labor cost of detection are greatly reduced, the detection frequency can be improved, and problems can be found in time.

Description

Technical Field

[0001] This invention relates to the field of AGV automatic sampling technology, specifically a remote-controlled automatic sampling system. Background Technology

[0002] Biomass power generation generally relies on solid fuels including wood-based fuels, straw / herbaceous fuels, fruit shells / kernels, and industrial by-products. Among these, herbaceous fuels are the second largest in usage after wood-based fuels due to their large agricultural residue volume and substantial government subsidies. Considering my country's national conditions of being a "major agricultural country with abundant straw, a coal-dependent energy structure, and heavy rural environmental governance tasks," and given the wide applicability of straw fuels to small and medium-sized and district heating projects, and against the backdrop of "abundant straw, scarce natural gas, numerous small boilers, and strict environmental protection," straw fuel is the most realistic, economical, and scalable biomass option for "replacing local coal with local resources, creating local employment, and solving local pollution."

[0003] Straw fuels are harvested in autumn and then stored in the factory for 2 to 6 months or even longer. During this period, the moisture, temperature, and chemical composition of straw change dynamically due to its own respiration, microbial activity, and changes in environmental temperature and humidity. This affects the calorific value, spontaneous combustion risk, and combustion characteristics. Taking moisture as an example, the porous fiber structure and hygroscopic properties of straw mean that it is affected by environmental temperature and humidity, rainfall, microbial activity, and the degree of compaction during storage. Excessive moisture (such as more than 30%) will reduce the calorific value, increase energy consumption for transportation and crushing, and lead to incomplete combustion, producing more tar and smoke, exacerbating equipment corrosion and environmental pollution. Conversely, excessively low moisture may increase dust and fire risk. In addition, microbial degradation (such as the action of mold and bacteria) consumes the volatile matter and fixed carbon in straw, further reducing the calorific value. At the same time, when the moisture content is higher than 20%, microorganisms multiply rapidly, and the core temperature can rise to 60-80°C or higher within a few days, even causing spontaneous combustion. Therefore, it is necessary to conduct regular or pre-use inspections, monitor various data in a timely manner, assess the fuel status in real time, and ensure optimized combustion and safe storage.

[0004] Currently, straw sampling in China is still mainly done manually, using shoulder-mounted / handheld electric straw drills. This requires two people: one to hold the ladder and the other to drill the hole. The work is labor-intensive, and during peak periods, 6-8 people are needed simultaneously on the stack to complete batch inspection. Semi-automatic sampling equipment prototypes have emerged, but they are still in the experimental or small-scale application stage. Automation is mainly focused on the sampling action, but efficiency is poor, allowing only individual samples for testing, and it is difficult to automate the entire process. Due to the low efficiency and cost-effectiveness, practical application has been slow. Summary of the Invention

[0005] The purpose of this invention is to provide a remote-controlled automatic sampling system that can achieve continuous, automatic, and efficient sampling of straw bales, greatly reducing the time and labor costs of testing, and helping to increase the frequency of testing and detect problems in a timely manner.

[0006] To achieve the above objectives, the present invention employs the following technical solution: A remote-controlled automatic sampling system, including The sampling module includes a horizontally arranged guide frame, on which a guide slide has a horizontal linear reciprocating stroke along its direction, a stroke frame is rotatably mounted on the guide slide, and a sampling tube based on electric drive rotation is rotatably mounted on the stroke frame, and the stroke frame has an oscillating stroke that allows the sampling tube to switch from a horizontal state to an upright state. The collection module includes a turntable located below the guide frame and having a stepping rotation action. The turntable has multiple storage positions arranged in a ring, and each storage position has a box with an open top. When the sampling tube swings to a vertical position, the box located in the storage position is moved to the lower position of the sampling tube in sequence based on the stepping rotation. The mobile module is used to carry the sampling module and the collection module, and performs walking actions based on AGV technology.

[0007] The mobile module includes a mobile platform with a housing on the mobile platform. The bottom of the housing has a base plate. The housing is fixed to the mobile platform, or the housing is installed in a height-reducing manner relative to the mobile platform. The collection module and the sampling module are installed inside the housing. A sampling port is provided on one side of the housing at the sampling tube position.

[0008] A horizontally extending guide screw and a linear track are centrally mounted on the guide frame. The guide screw is driven to rotate by a motor. A guide nut is fitted on the guide screw and fixed to the guide slide. A slider fixed to the guide slide is slidably fitted on the linear track. And / or, the stroke frame has a circular opening in the center for horizontally penetrating it, and an annular component is rotatably installed in the circular opening via a bearing component. The rear end of the sampling tube is coaxially fixed with the annular component, and a driven gear ring is coaxially fixed on the outer side of the annular component. A first motor is installed on the upper part of the stroke frame, and a drive gear that meshes with the driven gear ring is installed on the output shaft of the first motor.

[0009] The annular component has a circular mounting port coaxially extending through it. The edge of the mounting port is provided with mounting blocks that extend axially. There are 2-6 mounting blocks arranged in a circular array around the annular component. Mounting bolts pass through the mounting blocks. The axial direction of the mounting bolts corresponds to the radial direction of the annular component. The mounting block has a stepped structure on the side near the mounting port. The sampling tube has a raised ring on its circumference near the end of the travel frame. One side of the raised ring mates with the stepped structure. The raised ring has a threaded groove that mates with the mounting bolts.

[0010] A portal frame is fixed above the guide frame. A sliding sleeve and a lifting screw nut are fixed at the top of the portal frame. The lifting screw nut is rotatably mounted on the portal frame and rotates based on a motor drive. A lifting screw that cooperates with the lifting screw nut passes through the lifting screw nut. An optical axis guide rail that slides up and down with the sliding sleeve passes through the sliding sleeve. A push block is fixed at the bottom of the lifting screw and the optical axis guide rail. The bottom of the push block has a conical structure, and the top of the push block is a cylinder corresponding to the inner diameter of the sampling tube. When the travel frame is at the rear end and the sampling tube is in an upright position, the push block corresponds vertically to the sampling tube.

[0011] The turntable includes an upper turntable and a lower turntable, coaxially arranged and circularly connected. The upper and lower turntables are rotatably mounted on a mounting cylinder that passes through them. The size and spacing of the storage positions on the upper and lower turntables correspond, with the upper turntable having one less storage position than the lower turntable. The upper turntable has a notch no smaller than the size of the missing storage position. A rotatably mounted mandrel is centrally and coaxially located within the mounting cylinder. A bushing is rotatably fitted around the mandrel, with the bottom end of the bushing higher than the bottom end of the mandrel. A first pulley is located at the bottom end of the bushing, and a second pulley is located at the bottom end of the mandrel. The system also includes two stepper motors that independently drive the first and second pulleys. An upper bevel gear is mounted on the upper part of the mandrel, and a lower bevel gear is mounted on the upper part of the bushing. The upper gear is fixed to the inner ring of the upper turntable, and the lower gear is fixed to the inner ring of the lower turntable. The upper and lower gears are positioned between the upper and lower turntables. A through shaft rotatably connects to the side wall of the mounting cylinder. The inner end of the through shaft is located inside the mounting cylinder and is equipped with an inner bevel gear. The upper inner bevel gear meshes with the upper bevel gear, and the lower inner bevel gear meshes with the lower bevel gear. The outer end of the through shaft is located outside the mounting cylinder and is equipped with an outer bevel gear. The upper outer bevel gear meshes with the upper gear, and the lower outer bevel gear meshes with the lower gear.

[0012] The top of the mounting cylinder is fixed with a cover plate no smaller than the size of the upper turntable. The cover plate has a clearance opening corresponding to the feeding port, and the edge of the clearance opening has an upward-extending baffle. The distance between the cover plate and the upper turntable corresponds to the height of the box.

[0013] The box body is a fan-shaped ring or an isosceles trapezoid with inclined side walls on both sides. The storage slot is provided with insert plates on both sides. The insert plates are in the shape of an "eight" and are adapted to the spacing and shape of the side walls. The insert plates or storage slots are provided with magnetic components.

[0014] The guide frame is provided with a guide trough below its rear end. The guide trough is an inclined trough with an open top. The bottom end of the guide trough has a downward-through discharge port. The higher end of the guide trough extends upward and backward, so that the rear end of the guide trough exceeds the rear end of the guide frame, and can cover the material drop trajectory during the swinging process of the sampling tube.

[0015] The front end of the guide frame is provided with an exposed detection ring, and multiple distance sensors are distributed around the periphery of the detection ring. The distance sensors emit and collect signals that are horizontally forward.

[0016] The sampling tube has a cutting edge along one end away from the travel frame.

[0017] The outer casing has a clearance opening to accommodate the sampling tube during the corresponding swinging motion in the middle.

[0018] In practical applications, the following testing and management methods shall be implemented for straw-based fuels: The straw fuel is sampled and tested 1-2 times per month. The testing process includes using a remote-controlled automatic sampling system to automatically sample the straw bales at the bottom of the target stack. If the sample data of the bottom straw bales is found to be abnormal, the upper straw stack is sampled and tested.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows: By equipping AGVs with automated sampling modules, continuous and batch sampling can be achieved. A single patrol can complete sampling at multiple points within the same stack, with samples stored independently, significantly improving sampling efficiency. Based on this high efficiency, the sampling frequency can be increased to 1-2 times per month for bottom sampling inspections. The bottom samples serve as an "early warning zone," quickly screening the "fundamentals" of the fuel and promptly identifying potential risks. This facilitates a substantial increase in sampling density, allowing for early detection of potential risks such as self-heating, mold, and excessive moisture absorption, preventing further losses. Simultaneously, operators can remotely control the sampling process, enabling a single person to complete the task, significantly reducing labor costs and improving economic efficiency.

[0020] In summary, this system offers numerous advantages in biomass fuel (especially straw-based fuel) sampling scenarios, including high efficiency, flexibility, accuracy, safety, cost-effectiveness, data management and analysis, environmental adaptability, scalability, and environmental protection and sustainability. It not only improves sampling efficiency and accuracy, reduces labor costs and safety risks, but also optimizes fuel management, enhances data management efficiency, and exhibits excellent environmental adaptability and scalability. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the outer shell and internal structure of the present invention.

[0022] Figure 2 This is a schematic diagram of the sampling tube swinging process of the present invention.

[0023] Figure 3 This is a schematic diagram of the internal structure of the housing of the present invention.

[0024] Figure 4 This is a schematic diagram of the sampling module and the pusher block working together to eject material according to the present invention.

[0025] Figure 5 This is a schematic diagram showing the component breakdown of the sampling module and the gantry frame of the present invention.

[0026] Figure 6 This is a schematic diagram of the storage mechanism of the present invention.

[0027] Figure 7 This is a schematic diagram of the upper and lower turntables of the present invention.

[0028] Figure 8 This is a schematic diagram showing the disassembled components of the cover plate, upper turntable, and lower turntable of the present invention.

[0029] Figure 9 This is a schematic diagram showing the disassembled mounting cylinder of the present invention.

[0030] The labels shown in the attached diagram: 1. Outer shell; 2. Guide frame; 3. Sampling port; 4. Clearance port; 5. Guide screw; 6. Guide slide; 7. Linear rail; 8. Travel frame; 9. Horizontal shaft; 10. Rotating seat; 11. Ring component; 12. Driven gear ring; 13. Mounting block; 14. Convex ring; 15. Cutting edge; 16. Sampling tube; 17. Drive gear; 18. Portal frame; 19. Push block; 20. Optical axis guide rail; 21. Lifting screw; 22. Sliding sleeve; 23. Extension tube; 24. Driven pulley; 25. Driving pulley; 26. Material guide 27. Groove; 28. Support frame; 29. ​​Discharge port; 30. Upper turntable; 31. Lower turntable; 32. Mounting cylinder; 33. Box body; 34. Protrusion; 35. Insert plate; 36. Notch; 37. Mandrel; 38. Second pulley; 39. Bushing; 40. First pulley; 41. Upper bevel gear; 42. Lower bevel gear; 43. Upper gear plate; 44. Tube sleeve; 45. Through shaft; 46. Inner bevel gear; 47. Outer bevel gear; 48. Cover plate; 49. Relief port; 50. Baffle; 51. Detection ring. Example 1

[0031] Straw-based fuels typically come from corn stalks, wheat straw, rice straw, cotton stalks, and energy grass. The vast majority are baled and compressed for easy transport and storage, and can be made into "round bales" (Φ1.2-1.5 m, width 1.2 m, weight 250-350 kg) or "square bales" (cross-section 0.36-0.5 m², length 0.8-2.4 m, weight 20-25 kg for small square bales / 500 kg for large square bales). According to the "Technical Guidelines for the Stacking and Storage of Biomass Fuels," each stack of straw bales must have a fire-fighting passage of at least 6 meters between them. Fuels of the same type are further stacked according to "new material—old material," implementing a system of storing new material and using old material. Therefore, the fire-fighting passage becomes a path for automatic sampling.

[0032] In the specific design scheme, we used an AGV intelligent vehicle solution to carry, move, and position the entire device, combined with an automatic sampling section and sample storage, to achieve automated batch sampling.

[0033] The main structure includes: a moving module, a sampling module, and a collection module.

[0034] 1. Mobile module The overall architecture adopts the existing mature AGV intelligent vehicle technology as follows: 1.1 Mobile Platform This includes a mobile platform, which uses a differential / steering wheel chassis and is equipped with wheels to provide flexible mobility and accommodate turning radii within 6-meter aisles. The chassis is equipped with a lithium battery pack to power the AGV and all mounted equipment, ensuring continuous operation.

[0035] For route planning and movement control, we opted for manual remote control. This method is easier to implement, relies more on human intervention technically, but is simpler to operate and has lower configuration costs.

[0036] In terms of motion protection, the mobile platform is equipped with a laser / TOF hard emergency stop component, which can achieve emergency stop upon encountering obstacles without relying on wireless communication, ensuring walking safety and avoiding the dangers of blind spots and operational errors.

[0037] In terms of remote control technology, by installing a 5G / Wi-Fi communication module on the mobile platform, remote control signal transmission can be achieved to control the movement of the mobile platform.

[0038] On the operating end, an industrial control tablet is configured to interact with the mobile platform via wireless data. This is not limited to this example; game controllers or APP terminals can also be used.

[0039] By combining the above "5G / Wi-Fi low-latency link + high-definition video + force feedback handle + layered safety", remote control of drilling and sampling can be achieved in a 6-meter fire escape, allowing "human-in-the-loop" control while retaining the flexibility of manual judgment and without sacrificing the accuracy and safety of automation.

[0040] 1.2 Operating Terminal Visual feedback is an essential aid for remote control of movement. The hardware uses a PTZ camera, which can be installed at the front and rear, or at the corners and four other locations. The video is transmitted wirelessly in sync (H.265 main stream 1080p@60 fps (<120 ms end-to-end), sub-stream 720p@30 fps for multiple vehicles to be displayed on the same screen), enabling convenient control of the remote route and drilling direction and position based on the image.

[0041] 1.3 Equipped Parts This mainly refers to the outer casing 1 installed on top of the mobile platform. The outer casing 1 is used to mount and protect the sampling module and the collection module, thus making the three modules constitute a complete device. The bottom of the outer casing 1 has a base plate, which can seal the internal structure of the outer casing 1, thereby allowing the entire device to be installed on the mobile platform.

[0042] The bottom of the outer casing 1 is equipped with an openable cabinet door for easy access to the box 32.

[0043] 2. Sampling Module Installed inside the housing 1, and including a guide frame 2 fixedly installed relative to the housing, the guide frame 2 extends horizontally. In this example, there are two guide frames 2 arranged side by side and fixed inside the housing 1 by angle iron hangers. A sampling port 3 is provided in the middle of one side of the housing 1 corresponding to the position between the guide frames 2, so as to facilitate the exposure of the area between the two guide frames 2. The side with the sampling port 3 is defined as the sampling side of the housing 1.

[0044] A horizontally extending guide screw 5 is centrally mounted on the guide frame 2. The rear end of the guide screw 5 is connected to a screw motor installed at one end of the guide frame 2. A guide nut is fitted on the guide screw 5. The end faces of the guide frame 2 that are close to each other are upright end faces and are symmetrically mounted with linear rails 7. A guide slide 6 is slidably fitted on the linear rail 7. The nut is fixed on the guide slide 6, so that the guide slide 6 can move horizontally and reciprocally along the length of the guide frame 2 in a controllable manner, and the stroke movements of the two slides are synchronized.

[0045] Based on the above structure, the guide slide 6 realizes a linear reciprocating stroke that moves closer to or further away from the sampling port 3, completing the drilling and retraction actions for sampling.

[0046] This example uses a dual-slide table for synchronous movement to stabilize the sampling drilling action.

[0047] A travel frame 8 is provided between two guide slides 6. The travel frame 8 adopts a “┗┛” shaped structure. Horizontal shafts 9 are fixed on the left and right sides of the travel frame 8, respectively. A rotating seat 10 with bearings is provided on the guide slide 6. The outer end of the horizontal shaft 9 is rotatably connected to the guide slide 6 on the same side based on the rotating seat 10.

[0048] The travel frame 8 has a circular opening in the center for horizontal installation. An annular component 11 is rotatably mounted inside the circular opening via a bearing. A driven gear ring 12 is coaxially fixed to the outer side of the annular component 11. A sampling tube 16, coaxial with the annular component 11, is fixed inside the annular component 11. The specific structure is as follows: The annular component 11 has a circular mounting opening that is coaxially inserted inside. The mounting opening has a mounting block 13 that extends axially along its edge. There are three mounting blocks 13 arranged in a circular array around the annular component 11. Mounting bolts are inserted through the mounting blocks 13. The axial direction of the mounting bolts corresponds to the radial direction of the annular component 11. The mounting block 13 has a stepped structure on the side near the mounting opening.

[0049] The sampling tube 16 has a raised ring 14 on its circumferential surface near the travel frame 8. The raised ring 14 has a threaded groove that mates with the mounting bolt. The mounting bolt passes through the mounting block 13 and engages with the threaded groove to reliably fix the root of the sampling tube 16 relative to the mounting port. One side of the raised ring 14 mates with a stepped structure to quickly position the root of the sampling tube 16 relative to the mounting port. Furthermore, during the drilling and advancing motion of the sampling tube 16, the raised ring 14 can distribute and bear the pressure, preventing it from all falling on the mounting bolt, thus improving the convenience and reliability of the fixed position installation.

[0050] The sampling tube 16 is centrally located between the two guide frames 2. When the sampling tube 16 is set horizontally, the sampling tube 16 and the guide frame 2 are coplanar and parallel.

[0051] The sampling tube 16 has a cutting edge 15 at one end away from the travel frame 8, which facilitates rapid cutting of straw during sampling. When the sampling tube 16 is set horizontally and the travel frame 8 is located at the rear end of the guide frame 2 away from the sampling side, the cutting edge 15 is set close to the center of the sampling port 3.

[0052] With the above structure, the rear end of the sampling tube 16 is rotatably mounted on the travel frame 8, so that when the sampling tube 16 is in a horizontal state, it can complete the action of drilling forward or retracting into the outer shell 1 based on the forward and backward movement of the travel frame 8.

[0053] A first motor is installed in the center of the upper part of the stroke frame 8. A drive gear 17 that meshes with the driven gear ring 12 is installed on the output shaft of the first motor. Based on the motor drive, the sampling tube 16 can rotate quickly during the drilling action. With the help of the cutting edge 15, the straw bale can be cut and drilled quickly and efficiently, thus completing the sampling action efficiently, easily and quickly.

[0054] The sampling tube 16 can be withdrawn without being rotated, thus better preserving the cut sample inside the sampling tube 16.

[0055] Meanwhile, the horizontal axis 9 is driven by electricity to rotate and control its angle. Specifically, a second motor is installed above the guide slide 6 on one side. The output shaft of the second motor is driven by the horizontal axis 9 through belt drive or gear meshing. If gear meshing is used, meshing transmission gears are provided on the second motor and the horizontal axis 9 to control the rotation and angle of the horizontal axis 9, thereby allowing the travel frame 8 and the sampling tube 16 to achieve a swing stroke. During the swing stroke, the sampling tube 16 swings from horizontal to vertical (upward) by 90 degrees. This, combined with the forward and backward movement of the travel frame 8 and the rotation of the sampling tube 16, completes the sampling action.

[0056] When the sampling tube 16 is in a vertical position and the cutting edge 15 is at the top, it needs to work with the collection module to complete the collection of the sample, so that the pusher 19 can push the sample out from top to bottom.

[0057] The outer casing 1 has a clearance port 494 in the middle to accommodate the sampling tube 16 during the swinging motion. The clearance port 494 is connected to the sampling port 3, which provides sufficient space for the swinging stroke and avoids the use of a bulky casing, making the whole machine more compact.

[0058] When this sampling module performs a single sampling action, its actions include: For ease of description, the direction towards sampling port 3 is defined as forward, and the opposite direction is defined as backward.

[0059] The initial position of the travel frame 8 is located at the rear end of the guide frame 2, away from the sampling port 3.

[0060] The remote-controlled vehicle approaches the target straw bale, aligning the cutting edge 15 of the sampling tube 16 with the target straw bale. When the sampling tube 16 is in a horizontal state, it rotates based on electric drive and moves from the rear end to the front end along with the travel frame 8, so as to extend forward from the sampling port 3 while rotating, and cut and drill into the straw bundle located in front of the sampling port 3.

[0061] After drilling in, the sampling tube 16 remains horizontal and stops rotating. As the travel frame 8 moves to the rear end, it exits the straw bundle until the sampling tube 16 retracts into the outer shell 1.

[0062] 3. Collection Module Structurally, it consists of two main parts: auxiliary mechanisms and storage mechanisms.

[0063] 3.1 Auxiliary mechanisms It is installed above the rear end of guide frame 2.

[0064] It includes a gantry frame 18 straddling the guide frame 2. The bottom side of the gantry frame 18 is fixed to the upper side of the travel frame 8 on the same side by fasteners. It is not limited to this design and can also be fixed inside the housing 1.

[0065] The outer shell 1 of this design is a relatively independent component, while the internal components adopt a whole-machine design and pre-installation approach, which facilitates processing and assembly.

[0066] Below the gantry frame 18 is a push block 19 with a lifting stroke relative to it. The bottom of the push block 19 has a conical structure to facilitate the entry of the sampling tube 16. The cross-section of the push block 19 is circular, and the top of the push block 19 is a cylindrical part corresponding to the inner diameter of the sampling tube 16. Two upright optical axis guide rails 20 and one lifting screw 21 are connected to the top surface of the push block 19. A lifting screw nut is fitted on the lifting screw 21. The optical axis guide rails 20 are slidably fitted with a sliding sleeve 22. The sliding sleeve 22 and the lifting screw nut are both set on the gantry frame 18. The lifting screw nut passes through the gantry frame 18 and is connected by a bearing component for rotation. The top of the lifting screw nut is coaxially keyed to a driven pulley 24. A second motor is also set on the gantry frame 18. A driving pulley 25 is set on the output shaft of the second motor. A transmission belt is provided between the driving pulley 25 and the driven pulley 24.

[0067] When the travel frame 8 is located at the rear end of its linear reciprocating stroke, and when the sampling tube 16 is upright, the push block 19 corresponds vertically to the sampling tube 16. Based on the fact that the push block 19 can penetrate the sampling tube 16 from top to bottom during the lifting stroke, the sample in the sampling tube 16 is pushed downwards and the sample falls from the end of the sampling tube 16 away from the blade 15.

[0068] 3.2 Storage Structure Located below the sampling module, it works in conjunction with the auxiliary mechanism and the sampling module to receive and store samples separately.

[0069] 3.2.1 Feed chute 26 The guide trough 26 is located below the guide frame 2, centrally between the two guide frames 2, and close to the rear end of the guide frame 2.

[0070] The bottom or sides of the guide trough 26 are fixed with support brackets 27, which fix the guide trough 26 inside the outer shell 1 (it can be fixed on the bottom plate, or it can be fixed on the sides or top of the outer shell 1).

[0071] The guide trough 26 is an inclined trough with an open top. The end of the guide trough 26 near the sampling port is the bottom end. The bottom end of the guide trough 26 is provided with a downward-through discharge port 28. When the sampling tube 16 is in an upright state, the front end area of ​​the guide trough 26 covers the projection range of the sampling tube 16, which can better receive the sample and guide it to fall from the discharge port 28.

[0072] 3.2.2 Storage Structure It includes two layers of turntables: an upper turntable 29 and a lower turntable 30. This double-layer design increases the number of samples that can be stored in a single sampling. Furthermore, the number of samples on each turntable can be adjusted by changing the size of the turntables. For clarity, this upright model is demonstrated using a limited number of drawings.

[0073] Specifically, the upper turntable 29 and the lower turntable 30 are coaxially mounted on the mounting cylinder 31 via bearing components, and the mounting cylinder 31 is axially upright with its bottom fixed to the base plate of the outer casing 1. The bottom of the mounting cylinder 31 is provided with a portal opening for easy passage of the transmission components, allowing for the placement of the power components externally with ample space.

[0074] The upper turntable 29 and the lower turntable 30 are in a circle.

[0075] The upper turntable 29 and lower turntable 30 each have multiple storage slots arranged in a circular array. Each storage slot is used to hold a box 32. Specifically, the box 32 is designed as a fan-shaped ring or an isosceles trapezoid to adapt to the shape of the turntable and save space. The two sides of the box 32 have inclined sidewalls. When the box 32 is in a storage slot, the sidewalls of the box 32 correspond to the diameters of the upper turntable 29 / lower turntable 30. Insert plates 34 are provided on both sides of the storage slot. The spacing and shape of the insert plates 34 are adapted to the spacing and shape of the sidewalls, so the insert plates 34 are in a "V" shape. The upper part of the sidewall of the box 32 has a raised ridge 33, which is located on the top side of the insert plate 34 and helps to limit the box 32. The box 32 is mainly limited by inserting it inward using the insert plates 34 in conjunction with the insert plates 34. Because the turntable rotates slowly and the rotation angle is small each time, the box 32 can be placed well by using friction after being firmly inserted. Furthermore, magnets can be set at each storage position corresponding to each upper turntable 29 / lower turntable 30, and iron boxes 32 or iron components (patches or metal parts) can be set at corresponding positions on the boxes 32 to quickly and automatically restrict the boxes 32.

[0076] The upper turntable 29 has one less storage position than the lower turntable 30, and the upper turntable 29 has a notch 35 of no less than the size of the storage position at the position where the storage position is missing. The notch 35 can completely expose one storage position on the lower turntable 30, so that the sample can directly pass through the notch 35 and fall into the box 32 of the lower turntable 30, realizing multi-layer material storage.

[0077] The rotation of the upper turntable 29 and the lower turntable 30 is independently controlled: A bearing seat is centrally located at the bottom of the mounting cylinder 31, which can be fixed to the bottom of the mounting cylinder 31 or the base plate. A spindle 36, coaxially located centrally inside the mounting cylinder 31, has its bottom end rotatably connected to the bearing seat. A bushing 38 is rotatably sleeved on the outside of the spindle 36 via bearing components. The bottom end of the bushing 38 is higher than the bottom end of the spindle 36, fully exposing the bottom of the spindle 36. A first pulley 39 is located at the bottom end of the bushing 38, and a second pulley 37 is located at the bottom end of the spindle 36. Two stepper motors are mounted on the base plate inside the outer casing 1. The output shafts of the stepper motors are respectively equipped with control pulleys that drive the first pulley 39 or the second pulley 37. Independent control of the rotation of the spindle 36 and the bushing 38 is achieved through independent motors. Furthermore, the angle of each rotation corresponds to the angle between adjacent storage positions, achieving precise stepping rotation.

[0078] The top of the mandrel 36 is equipped with an upper bevel gear 40, and the upper part of the bushing 38 is equipped with a lower bevel gear 41.

[0079] The inner ring of the upper turntable 29 is fixed with an upper gear plate 42, and the inner ring of the lower turntable 30 is fixed with a lower gear plate 43. The upper gear plate 42 and the lower gear plate 43 are arranged between the upper turntable 29 and the lower turntable 30. Of course, this layout is not limited to this layout, and they can also be located above or below, but this design can make the transmission components more concentrated and facilitate space utilization.

[0080] Two horizontally extending sleeves 44 extend through the side wall of the mounting cylinder 31. A through shaft 45 is rotatably mounted within each sleeve 44 via bearings. The inner end of the through shaft 45 is located inside the mounting cylinder 31 and is equipped with an inner bevel gear 46. The upper inner bevel gear 46 meshes with an upper bevel gear disk 40, and the lower inner bevel gear 46 meshes with a lower bevel gear disk 41. The outer end of the through shaft 45 is located outside the mounting cylinder 31 and is equipped with an outer bevel gear 47. The upper outer bevel gear 47 meshes with an upper gear disk 42, and the lower outer bevel gear 47 meshes with a lower gear disk 43. This allows for independent control of the rotation of different turntables and effectively brakes the upper turntable 29 and lower turntable 30 to a certain position. Based on the rotation of the upper turntable 29 and lower turntable 30, the box body 32 on the turntable can be positioned below the discharge port 28, with the box opening covering the discharge port 28.

[0081] When storing samples, the upper and lower layers can be controlled independently. When receiving samples from the upper turntable 29 and its housing 32, the precise rotation of the stepper motor drives the storage positions of the upper turntable to be positioned below the discharge port 28, allowing the samples to fall into different housings 32 for separate storage. When receiving samples from the lower turntable 30, the upper turntable 29 is rotated so that the notch 35 is positioned below the discharge port 28. Then, the lower turntable 30 is rotated sequentially so that each storage position is positioned below the discharge port 28, allowing the samples to fall into different housings 32 on the lower turntable 30.

[0082] The top of the mounting cylinder 31 is fixed with a cover plate 48 that is circular with the upper turntable 29. The cover plate 48 is provided with a clearance opening 494 corresponding to the discharge port 28. The edge of the clearance opening 494 is provided with an upwardly extending baffle 50 to help the sample fall in better. The distance between the cover plate 48 and the upper turntable 29 corresponds to the height of the box 32, which closes and blocks the upper box 32 to prevent the sample from entering the upper box 32 when it is stored on the lower turntable 30.

[0083] In practice, based on remote-controlled movement, it is possible to sample any stack of straw bales within the warehouse. A single patrol can continuously collect multiple samples from the same stack, with samples stored independently, making it highly efficient and safe.

[0084] In summary, when this system performs continuous sampling, the actions include: The mobile module moves to the target stacking location, circles the stack once, and performs multi-point sampling during the circumvention. Each sampling action includes: The remote-controlled vehicle s1 approaches the target straw bundle, so that the cutting edge 15 of the front end of the sampling tube 16 faces the target straw bundle. The sampling tube 16 rotates and extends outward in a horizontal state to cut and drill into the straw bundle located in front of the sampling port 3. Then it stops rotating and retracts into the outer shell 1, completing one deoxygenation action. S2 sampling tube 16 swings from horizontal to vertical. During the swing, the rear end of sampling tube 16 is within the receiving range of the receiving groove. After swinging to the vertical state, push block 19 is inserted downward into sampling tube 16 from the top edge 15 of sampling tube 16. The sample in sampling tube 16 is pushed downward by push block 19 to the bottom of sampling tube 16 and falls into the box 32 on the upper turntable 29 or the lower turntable 30. S3 upper turntable 29 rotates once to switch the box 32 located below the material discharge port; or, the notch 35 of the upper turntable 29 is located below the material discharge port and exposes a storage position on the lower turntable 30, and the lower turntable 30 rotates once to switch the box 32 located below the notch 35.

[0085] Repeating s1-s3 above allows for multiple consecutive samplings until all boxes 32 are filled, at which point you can return to the testing room for convenient testing.

[0086] During sampling, a comprehensive test is typically conducted quarterly, focusing on moisture content, calorific value, and ash content. Due to the system's high efficiency and low operating cost, fuel management can be optimized by updating the sampling method to the following: The straw fuel is sampled and tested 1-2 times per month. The remote-controlled automatic sampling system in this example is used for testing. The system is operated remotely to automatically patrol the straw stack, collect samples at multiple points, isolate and store the samples, and then test the moisture content, calorific value and ash content of the samples.

[0087] When abnormal sample data is detected, sampling and testing of the upper straw stack is initiated.

[0088] In open-air or simply stored stacks of straw, the bottom layer, in direct contact with the ground, is the most susceptible and vulnerable area to moisture penetration, microbial decay, and mold. Simultaneously, the bottom layer bears the pressure of the entire stack, has the highest density, and the worst permeability, making it more prone to accumulating heat and moisture. Therefore, the bottom layer sample can be considered a "warning zone" or "weakest link" for the entire stack. If key indicators (such as moisture and mold) of the bottom layer sample are within acceptable limits, there is reason to believe that the upper layers will be in better condition. Furthermore, the overall quality of fuel is often determined by its worst-performing component. If a pile of dry straw has a moldy and deteriorated bottom layer, it will contaminate the entire fuel flow during transportation, crushing, and combustion, potentially causing equipment blockages, corrosion, and excessive emissions. Therefore, prioritizing testing of the bottom layer, where problems are most likely to occur, is crucial for quality control.

[0089] This method, by drilling a sufficient number of samples from the bottom of the stack in a single operation, can quickly screen the "fundamentals" of the fuel. This avoids the complex operation of sampling multiple points at the top, middle, and bottom of the stack initially, greatly saving time and manpower. Furthermore, due to the significant savings in efficiency, time, manpower, and cost, the sampling density can be greatly increased, concentrating testing resources on the highest-risk areas to detect potential risks such as self-heating, mold, and excessive moisture absorption at an early stage, preventing further losses. Even with the increased frequency, there are still significant savings in cost and manpower.

[0090] Therefore, the advantages of this method reinforce each other, supporting more timely problem detection and reducing losses and risks. It can also be combined with full-scale inspections every quarter or half-year, thus providing multi-dimensional support for fuel management. Example 2

[0091] Based on Example 1, the material feeding process was further optimized.

[0092] To guide the sample downwards and reduce diffusion, an extension tube 23 is added to the rear end of the sampling tube 16. One end of the extension tube 23 has an inner step that mates with the sampling tube 16. The rear end of the sampling tube 16 is inserted into the inner step, and a tightening screw passes through the inner step axially upwards to fix the sampling tube 16. The inner diameter of the extension tube 23 is the same as that of the sampling tube 16, allowing it to extend downwards and guide the sample as the sampling tube 16 swings upwards from a horizontal position, thus reducing diffusion. The extension tube 23 is independently detachable and easy to install and use. Different extension lengths can be selected to achieve different effects depending on the conditions.

[0093] The higher end of the guide trough 26 extends upward and backward, so that the rear end of the guide trough 26 exceeds the rear end of the guide frame 2, which can cover the trajectory of the extension tube 23 during the swing of the sampling tube 16, and completely catch any samples that may fall. Example 3

[0094] In this example, the housing (including the base plate) houses the sampling module and the collection module, forming an independent body. The bottom of the housing is connected to the mobile platform via a lifting module.

[0095] The lifting module can be an electrically controlled scissor lifting mechanism, which uses a multi-layered X-structure linkage to lift the entire machine, including the housing and the internal sampling and collection modules.

[0096] Not limited to this example, other lifting structures can also be used for lifting modules to achieve lifting and mounting of the housing and the moving module.

[0097] By raising and lowering the shell, sampling can be performed on the stack at higher locations, thus enabling sampling operations at different heights.

[0098] In the optimized fuel sampling method of Example 1, the "initiating sampling and inspection of the upper straw stack" can be performed using the sampling system of this example. Example 4

[0099] Unlike Example 1, this example selects a solution for the AGV intelligent vehicle that can automatically determine and plan routes to achieve system-controlled movement.

[0100] The main structure includes: a moving module, a sampling module, a collection module, and accessories.

[0101] 1. Mobile module The overall architecture adopts the existing mature AGV intelligent vehicle technology as follows: 1.1 Mobile Platform Current AGV (Automated Guided Vehicle) technology can achieve autonomous movement, route recognition, and route planning. Especially in the well-organized "grid"-shaped fire lane environment of our warehouse, after simple data input of the stacking position / autonomous map running to complete the route data, autonomous navigation and planning are not a problem at all. For example, relying on LiDAR SLAM or high-precision GNSS / RTK can easily achieve route positioning. Combined with the use of AI vision and 3D vision systems, environmental perception feedback and stacking point positioning feedback can be achieved.

[0102] 1.2 Equipped Parts The mobile platform is equipped with 2D / 3D vision sensors, multi-point LiDAR, and an inertial measurement unit (IMU), supplemented by ultrasonic / infrared sensors. Visually, it can utilize a binocular stereo vision camera or an IFM O3R platform 3D camera. The O3R platform is a mature, integrated module capable of centralized and synchronous processing of images and sensor information from autonomous movement. Through simplified integration and reliable interaction, the camera and sensors achieve robust navigation, collision avoidance, and positioning functions. It can also measure and integrate the dimensions of stationary objects, automatically building a target database.

[0103] 1.3 System Control for Remote Sampling After inputting the CAD plan of the stacking plant area, the mobile platform automatically patrols and verifies the map model, and automatically performs patrol sampling on each / individual stack according to the settings.

[0104] 2-3 Sampling module, collection module The sampling module and the collection module can use the same structure as in Embodiments 1, 2 or 3.

[0105] 4 Attachments Based on the need for autonomous sampling, a detection ring 51 exposed in the sampling port 3 is provided at the front end of the two guide frames 2. Multiple distance sensors are distributed around the detection ring 51. The distance sensors emit and collect horizontally forward signals. The detection ring 51 is coaxially and circularly arranged with the sampling tube 16 in a horizontal state. Therefore, the situation of the straw bales around the sampling point can be obtained through the detection ring 51. That is to say, sampling is avoided at the edge position, because when the sampling point is located at the edge position, there will inevitably be gaps between adjacent straw bales, and the data fed back by multiple distance sensors will be significantly different.

[0106] Therefore, the attachment can assist in providing feedback on the sampling point, ensuring that the sampling point is located in the middle position.

Claims

1. A remote-controlled automatic sampling system, characterized in that, include: The sampling module includes a horizontally arranged guide frame, on which a guide slide has a horizontal linear reciprocating stroke along its direction, a stroke frame is rotatably mounted on the guide slide, and a sampling tube based on electric drive rotation is rotatably mounted on the stroke frame, and the stroke frame has an oscillating stroke that allows the sampling tube to switch from a horizontal state to an upright state. The collection module includes a turntable located below the guide frame and having a stepping rotation action. The turntable has multiple storage positions arranged in a ring, and each storage position has a box with an open top. When the sampling tube swings to a vertical position, the box located in the storage position is moved to the lower position of the sampling tube in sequence based on the stepping rotation. The mobile module is used to carry the sampling module and the collection module, and performs walking actions based on AGV technology.

2. The remote-controlled automatic sampling system according to claim 1, characterized in that, The mobile module includes a mobile platform with a housing on the mobile platform. The bottom of the housing has a base plate. The housing is fixed to the mobile platform or is installed in a height-reducing manner relative to the mobile platform. The collection module and the sampling module are installed inside the housing. A sampling port is provided on one side of the housing at the sampling tube position.

3. The remote-controlled automatic sampling system according to claim 1, characterized in that, A horizontally extending guide screw and a linear track are centrally mounted on the guide frame. The guide screw is driven to rotate by a motor. A guide nut is fitted on the guide screw and fixed to the guide slide. A slider fixed to the guide slide is slidably fitted on the linear track. And / or, the stroke frame has a circular opening in the center for horizontally penetrating it, and an annular component is rotatably installed in the circular opening via a bearing component. The rear end of the sampling tube is coaxially fixed with the annular component, and a driven gear ring is coaxially fixed on the outer side of the annular component. A first motor is installed on the upper part of the stroke frame, and a drive gear that meshes with the driven gear ring is installed on the output shaft of the first motor.

4. The remote-controlled automatic sampling system according to claim 3, characterized in that, The annular component has a circular mounting port coaxially extending through it. The edge of the mounting port is provided with mounting blocks that extend axially. There are 2-6 mounting blocks arranged in a circular array around the annular component. Mounting bolts pass through the mounting blocks. The axial direction of the mounting bolts corresponds to the radial direction of the annular component. The mounting block has a stepped structure on the side near the mounting port. The sampling tube has a raised ring on its circumference near the end of the travel frame. One side of the raised ring mates with the stepped structure. The raised ring has a threaded groove that mates with the mounting bolts.

5. The remote-controlled automatic sampling system according to claim 1, characterized in that, A portal frame is fixed above the guide frame. A sliding sleeve and a lifting screw nut are fixed at the top of the portal frame. The lifting screw nut is rotatably mounted on the portal frame and rotates based on a motor drive. A lifting screw that cooperates with the lifting screw nut passes through the lifting screw nut. An optical axis guide rail that slides up and down with the sliding sleeve passes through the sliding sleeve. A push block is fixed at the bottom of the lifting screw and the optical axis guide rail. The bottom of the push block has a conical structure, and the top of the push block is a cylinder corresponding to the inner diameter of the sampling tube. When the travel frame is at the rear end and the sampling tube is in an upright position, the push block corresponds vertically to the sampling tube.

6. The remote-controlled automatic sampling system according to claim 1, characterized in that, The turntable includes an upper turntable and a lower turntable, coaxially arranged and circularly connected. The upper and lower turntables are rotatably mounted on a mounting cylinder that passes through them. The size and spacing of the storage positions on the upper and lower turntables correspond, with the upper turntable having one less storage position than the lower turntable. The upper turntable has a notch no smaller than the size of the missing storage position. A rotatably mounted mandrel is centrally and coaxially located within the mounting cylinder. A bushing is rotatably fitted around the mandrel, with the bottom end of the bushing higher than the bottom end of the mandrel. A first pulley is located at the bottom end of the bushing, and a second pulley is located at the bottom end of the mandrel. The system also includes two stepper motors that independently drive the first and second pulleys. An upper bevel gear is mounted on the upper part of the mandrel, and a lower bevel gear is mounted on the upper part of the bushing. The upper gear is fixed to the inner ring of the upper turntable, and the lower gear is fixed to the inner ring of the lower turntable. The upper and lower gears are positioned between the upper and lower turntables. A through shaft rotatably connects to the side wall of the mounting cylinder. The inner end of the through shaft is located inside the mounting cylinder and is equipped with an inner bevel gear. The upper inner bevel gear meshes with the upper bevel gear, and the lower inner bevel gear meshes with the lower bevel gear. The outer end of the through shaft is located outside the mounting cylinder and is equipped with an outer bevel gear. The upper outer bevel gear meshes with the upper gear, and the lower outer bevel gear meshes with the lower gear.

7. The remote-controlled automatic sampling system according to claim 6, characterized in that, The top of the mounting cylinder is fixed with a cover plate no smaller than the size of the upper turntable. The cover plate has a clearance opening corresponding to the feeding port, and the edge of the clearance opening has an upward-extending baffle. The distance between the cover plate and the upper turntable corresponds to the height of the box.

8. The remote-controlled automatic sampling system according to claim 1, characterized in that, The box body is a fan-shaped ring or an isosceles trapezoid with inclined side walls on both sides. The storage slot is provided with insert plates on both sides. The insert plates are in the shape of an "eight" and are adapted to the spacing and shape of the side walls. The insert plates or storage slots are provided with magnetic components.

9. The remote-controlled automatic sampling system according to claim 1, characterized in that, The guide frame is provided with a guide trough below its rear end. The guide trough is an inclined trough with an open top. The bottom end of the guide trough is provided with a downward-through discharge port. The higher end of the guide trough extends upward and backward, so that the rear end of the guide trough exceeds the rear end of the guide frame and can cover the material drop trajectory during the swinging process of the sampling tube. And / or, the front end of the guide frame is provided with an exposed detection ring, and multiple distance sensors are distributed around the periphery of the detection ring, the distance sensors emitting and collecting horizontally forward signals.

10. The remote-controlled automatic sampling system according to claim 1, characterized in that, In practical applications, the following testing and management methods shall be implemented for straw-based fuels: The straw fuel is sampled and tested 1-2 times per month. The testing process includes using a remote-controlled automatic sampling system to automatically sample the straw bales at the bottom of the target stack. If the sample data of the bottom straw bales is found to be abnormal, the upper straw stack is sampled and tested.

Images