Granary overground cage ventilating duct gate opening and closing robot and using method thereof

Abstract

The invention discloses a granary overground cage ventilating duct gate opening and closing robot and a using method thereof.According to the robot, an obstacle-crossing moving chassis integrating Micham wheels and a driving arm is adopted and matched with a precise lifting mechanical arm with a pressing cover plate and a scraper blade, and the problem that free opening and closing operation of a gate in a granary narrow air duct is difficult is solved. The use method comprises the following steps of: after initializing self-inspection and turning on illumination, realizing autonomous obstacle avoidance movement by utilizing infrared tracking and video monitoring; after a target gate position is reached, a mechanical arm vertically presses a bolt for unlocking, and gate opening and closing and magnetic attraction limiting locking are completed in combination with rotation of a machine body and stirring of a scraper; and synchronously returning and storing the operation real-time image data and exiting from the original path. Full-process semi-automatic operation is achieved by simulating manual logic, the problem of air duct gate opening and closing operation under the complex environment in a ventilation cage under a grain pile is effectively solved, the wiring and electricity utilization safety risks of an electric air duct gate in the grain pile are effectively avoided, and the investment cost of intelligent matching transformation of a reservoir area is reduced.

Description

Technical Field

[0001] This invention relates to the field of automated grain storage machinery technology, and in particular to a robot for opening and closing the ventilation duct gate of a grain warehouse and its usage method. Background Technology

[0002] With the continuous advancement of modern grain storage technology, achieving quality preservation, loss reduction, and green storage of grain through precise ventilation has become a core trend in the industry. As a crucial channel for air circulation within grain storage warehouses, the precise opening and closing of the air duct gates in the above-ground ventilation system directly impacts the control of temperature and humidity within the warehouse. In complex grain storage environments, how to efficiently and precisely control the opening and closing of the gates distributed at the connections between the main air duct and various branch air ducts is an important issue for ensuring grain storage safety, reducing losses and costs, and improving the level of intelligent warehouse management.

[0003] In addressing the challenges of narrow, enclosed, and complex structures within ground-level ventilation ducts, utilizing mobile robots to replace manual gate operation has become a crucial direction in technological evolution. These robots typically need to be capable of navigating ducts filled with reinforcing bars and exhibiting a certain slope, and must employ specialized actuators to precisely operate the gate's locking pins and physically move the gate. Achieving high robot mobility, precise positioning in low-light conditions, and stable interaction with the gate structure are the core objectives of this technological approach.

[0004] However, current technologies for managing ventilation duct gates largely rely on electric gates with power and communication lines installed at each gate location. This not only involves extremely high labor intensity during installation and wiring but also makes the related wiring and motor equipment susceptible to damage from the machinery during grain removal, resulting in high operating costs. Furthermore, phosphine can easily corrode the gate motor and electronic limit switches during warehouse fumigation, causing damage and malfunctions that compromise grain storage safety.

[0005] Therefore, a robot for opening and closing the ventilation duct gate of a grain warehouse and its usage method are desired. Summary of the Invention

[0006] The purpose of this invention is to provide a robot for opening and closing the ventilation duct gate of a grain warehouse and its usage method, which can effectively solve the problems in the background art mentioned above.

[0007] The purpose of this invention is achieved through the following technical solution: a robot for opening and closing the ventilation duct gate of a grain warehouse, comprising a robot body (1), a light-emitting diode lighting component (2) installed at the front end of the robot body (1), a monitoring camera unit (3) installed at the rear end of the robot body (1), and an infrared tracking module (8) installed on the bottom surface of the robot body (1).

[0008] The robot body (1) is equipped with a mechanical arm (4), and a first servo motor (5) and a second servo motor (6) are respectively installed at both ends of the mechanical arm (4). A cover plate (9) is installed on the upper part of the second servo motor (6). The front end of the cover plate (9) is an inclined tip, and a through hole (10) is opened at the front end of the cover plate (9). The robot body (1) is equipped with a third servo motor (7), and the monitoring camera unit (3) is installed on the third servo motor (7).

[0009] A method for using a robot for opening and closing ventilation duct gates in a grain warehouse includes: S1, perform environmental monitoring and equipment self-test, activate the power management module through the chassis control unit, and perform power-on testing on the sensors, drive motors and communication modules inside the machine body. At the same time, start the LED lighting component (2) installed at the front end to provide ambient lighting with preset brightness inside the ground cage ventilation duct in the closed state under the grain pile, and the monitoring camera unit (3) at the back end collects the initial environmental image. S2, execute path planning and autonomous tracking movement, use infrared tracking module (8) to capture the preset marking information inside the wind tunnel, transmit the image signal to the central processing unit for logical operation, control the roller drive motor to output differentiated speed by calculating the deviation value between the actual path and the set path, drive the Mecanum wheels connected in parallel on the left and right sides to generate synthetic vector power, realize the robot body to move straight, laterally or differentially in the narrow wind tunnel, and adjust the angle of the drive arm to overcome obstacles when encountering a tension obstacle with a specific height threshold or a preset tilt slope; S3, perform gate positioning and docking with the robot arm. When the robot body (1) moves to the gate position at the connection between the main air duct and the branch air duct, the real-time video monitoring screen confirms that the gate is in a closed or open state. The first servo motor (5) and the second servo motor (6) are remotely controlled to drive the robot arm (4) to move up and down, so that the front end through hole (10) of the cover plate (9) is precisely pressed on the air duct gate locking mechanism, providing physical contact conditions for subsequent unlocking actions. S4, execute the gate opening operation process, start the first servo motor (5) and the second servo motor (6) to drive the mechanical arm (4) to move downward, use the cover plate (9) to apply downward pressure, so that the gate locking pin overcomes the preset spring force and disengages from the top plate pin hole, then the remote control robot body (1) generates a backward displacement, use the cover plate (9) to link the gate pin to drive the gate to rotate away from the locked position, and finally drive the gate to rotate around the pivot to the magnetic limit baffle of the bottom plate center line through the forward thrust of the robot body (1), so as to realize the precise opening of the branch air duct; S5, execute the gate closing operation process. The remote control robot body (1) moves to the side front of the gate opening direction. By rotating to the right, it drives the mechanical arm (4) to push the gate away from the magnetic limit, so that it rotates counterclockwise to the left limit baffle position, so that the locking pin pops out under the action of the elastic force and inserts into the top plate pin hole to complete the mechanical locking of the gate. S6, Operation completion confirmation and data feedback: The final position of the gate and the locking status of the latch are visually confirmed by the high-precision monitoring camera module on the monitoring camera unit (3). The execution result is transmitted to the mobile application in real time through the communication module. Then, the next ventilation duct gate opening and closing operation instruction is executed until the ventilation duct gate opening and closing operation of this ventilation outlet is completed. Then, the original return instruction is executed to exit the ventilation duct. Preferably, the power management module involved in S8 consists of a specific type of rechargeable lithium battery, a solid-state power switch control unit, a multi-channel power step-down unit, and a motor drive unit. The rechargeable lithium battery provides a continuous power supply, and its capacity ensures that the single-operation time reaches a predetermined working time threshold. The multi-channel power step-down unit uses pulse width modulation technology to convert the battery output voltage into multiple preset voltage levels, respectively meeting the power supply requirements of the central processing unit, motor drive module, servo drive module, monitoring camera module, and communication module, ensuring the stability of the system operating in complex electromagnetic environments.

[0010] Preferably, the Mecanum wheel structure in S2 is configured in parallel, specifically including a left front drive wheel set, a right front drive wheel set, a left rear drive wheel set, and a right rear drive wheel set. Each set consists of two independent Mecanum wheels connected coaxially. Each wheel set corresponds to an independent drive arm structure. The drive arm has a complex transmission gear set inside, including a driving gear, intermediate transition gears, and driven gears. By optimizing the gear ratio, the function of speed reduction and torque increase is achieved, thereby enhancing the robot's grip and load-bearing climbing ability on a floor covered with grain dust or a damp wind tunnel.

[0011] Preferably, the obstacle-crossing function in S2 is achieved through the coordinated operation of the roller drive motors. The front wheel drive motor drives the left and right front drive arms to rotate synchronously clockwise or counterclockwise via a coupling, changing the height of the front of the robot body relative to the ground, enabling it to cross the steel bracing with a specific height threshold within the air duct. The rear wheel drive motor uses the same logic to control the lifting and lowering of the rear end of the robot body. This multi-degree-of-freedom motion control mode allows the robot to adapt to the internal geometric constraints of different specifications of ground cage air ducts without changing the wheelbase.

[0012] Preferably, the infrared tracking module includes an infrared emitting unit, an infrared receiving unit, a tracking recognition unit, and a corresponding algorithm processing circuit. Its working principle is that the module determines the output high or low level based on the difference in reflectivity of the infrared light reflected back to the receiving tube, and calculates the lateral deviation distance and angular deviation between the current fuselage center axis and the path center line. The central processing unit, based on a proportional-integral-derivative control algorithm, outputs control commands to the gear drive motors on the left and right sides. By adjusting the linear velocity vector sum of the wheel sets on both sides, real-time dynamic correction of the path deviation is achieved, thereby realizing path tracking and obstacle detection.

[0013] Preferably, the communication module integrates a wireless LAN communication unit and a short-range wireless communication unit. In environments with wireless network coverage in the storage area, high-definition video streams are pushed in real time to remote servers and mobile applications via the wireless LAN, enabling beyond-line-of-sight control. Deep within enclosed ventilation ducts where signal is scarce, the system automatically switches to short-range wireless communication mode, establishing a data link with the handheld terminal using a point-to-point signal transmission protocol to ensure the real-time and reliable transmission of control commands.

[0014] Preferably, the mechanical arm's structural design fully considers the mechanical characteristics of the gate's elastic locking pin, and the mechanical arm and cover plate are driven to move via a first servo motor and a second servo motor. Both the mechanical arm and the cover plate are made of stainless steel to ensure that slippage and breakage do not occur when the pin handle is moved. The geometry of the through hole at the front end of the cover plate has been preset and optimized to accommodate various sizes of gate locking pins, ensuring that vertical pressure is evenly applied to the pin handle.

[0015] Preferably, the ST32F103C8T6 core board of the robot chassis uses a high-performance microcontroller chip. Through the combination of an expansion board with a high-power motor drive module, an infrared tracking module, a power management module, a video monitoring module, and three servo motors, multiple robot functions are achieved. The microcontroller chip has multiple capture and comparison channels for outputting signals to control the motors and has a built-in large-capacity memory for temporarily storing monitoring screen data. The drive board adopts a dual-bridge arm circuit structure, supporting independent polarity switching and speed adjustment of four drive motors, enabling control of the robot's forward, backward, and in-situ turning trajectories. By adjusting the first and second servo motors, precise control of the opening and closing of the robot arm cover and air duct gate can be achieved by rotating the front and rear robotic arms at different angles and speeds. Furthermore, by adjusting the servo motors of the monitoring camera module, the position of the monitoring camera's image can be adjusted by 270 degrees.

[0016] Preferably, the high-definition dynamic monitoring camera module is installed at a specific observation position on the robot body, and its field of view covers the robot's front-end travel path and the operating area of ​​the robotic arm. The camera module has a built-in digital image enhancement unit, which can perform automatic gain control and noise reduction processing on video signals in low-light environments, ensuring that operators can clearly identify pin holes, gate limiters, and tie rod obstacles in the air duct through a mobile application.

[0017] Preferably, the robot shell is made of lightweight, high-strength industrial alloy material through precision casting or stamping processes, and consists of an upper shell and a lower shell. A sealing ring is provided at the joint between the lower shell and the upper shell, providing a specific level of dust and moisture protection. Four semi-circular drive arm passage holes are symmetrically provided on both sides of the shell, and flexible dustproof structures are provided at the edges of the holes. This ensures a large-angle rotation space for the drive arms while preventing dust and impurities from the air duct from entering the robot body and damaging precision gears or circuit boards.

[0018] Preferably, the mobile application integrates multiple sub-functional modules, including a video monitoring interface, a virtual remote control, sensor status display, power level display, and automated command control. Control signals sent by the user via the virtual remote control are encoded and transmitted to the robot. Simultaneously, the application has a logic prediction function; when the battery voltage is detected to be below a preset safety threshold or the communication signal strength is below a specific level, it will automatically trigger an alarm and prompt the operator on the interface to perform a forced retrieval process.

[0019] Preferably, the method of use provided by the present invention also includes an emergency fault handling mode. When the robot is inside the air duct and its movement is obstructed or its communication is interrupted, the timer inside the system starts to accumulate time. When the predetermined waiting time threshold is exceeded, the central processing unit will try to call the backup motion command, and try to get out of trouble by repeatedly adjusting the rotation angle of the drive arm and the differential rotation of the wheel set, and periodically emit a wireless homing signal of a specific frequency.

[0020] Preferably, the structural components of the ground-level cage ventilation duct gate switch robot are connected using high-strength bolts with anti-loosening washers to ensure that the geometric accuracy of the mechanical structure remains unchanged under long-term vibration and frequent obstacle-crossing impacts. All metal parts are treated with an anti-corrosion coating to cope with the potential phosphine fumigation environment and humidity fluctuations inside the grain silo.

[0021] Preferably, in S4 and S5, the magnetic force of the magnetic limit baffle is set to a specific threshold. This threshold needs to satisfy the following logical relationship: it can reliably attract the gate to prevent it from shaking due to airflow pressure during ventilation, and it can be overcome by the pushing or pulling force of the robot body to ensure smooth execution of the switching action.

[0022] This invention offers the following advantages: It provides a mobile operating platform specifically designed for the environment of grain silo ground-level ventilation ducts. By integrating Mecanum wheels and a multi-degree-of-freedom drive arm, it effectively solves the problem of insufficient passage capacity of traditional equipment in narrow, obstacle-filled, and sloping complex ventilation ducts, providing a reliable physical platform for the precise opening and closing control of grain silo gates. Employing a multi-functional tentacle robotic arm and a precision servo mechanism, it simulates manual operation logic to accurately open the gate's elastic locking pin and push the gate body, achieving fully automated or semi-automated operation from unlocking, opening, displacement to reset and locking, significantly improving the success rate and reliability of gate operation. Furthermore, it adopts a control mode combining infrared tracking and remote video monitoring, and solves the problem of poor perception in dimly lit environments inside the ventilation ducts through a lighting module.

[0023] This invention replaces the high-cost solution of installing independent fixed drive devices for each gate with a single robot managing multiple warehouse branch gates, significantly reducing the investment in intelligent transformation of grain storage areas and subsequent line maintenance costs. The robot body adopts lightweight, high-strength alloy materials and a modular power management system, possessing a long continuous operating time and extremely high structural durability, and can adapt to the harsh environment of grain storage fumigation, humidity, and high dust levels, providing a key technical means for achieving green grain storage and precise single-duct ventilation. The graphical interactive interface implemented through application software makes the operation process intuitive and simple, greatly reducing the technical threshold for operators and improving the level of intelligence and work efficiency of warehouse management. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall technical solution architecture of the ground cage ventilation duct gate switching robot proposed in this invention; Figure 2 This is a schematic diagram of the core principle framework for the automated unlocking and opening / closing of the gate in this invention; Figure 3 This is a logical flowchart of the environmental monitoring, autonomous tracking, and obstacle avoidance operations in this invention. Figure 4 This is a schematic diagram illustrating the multi-level interaction relationship and data flow between the robot terminal and the mobile application in this invention; Figure 5 This is a schematic diagram of the core principle framework of the power interaction between the tentacle robotic arm and the gate latch mechanism in this invention; Figure 6 This is a three-dimensional structural diagram of the robot body in this invention; In the diagram, 1. Robot body; 2. LED lighting assembly; 3. Monitoring camera unit; 4. Mechanical arm; 5. First servo motor; 6. Second servo motor; 7. Third servo motor; 8. Infrared tracking module; 9. Cover plate; 10. Through hole. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0026] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0027] It should be noted that, unless otherwise specified, the embodiments and features described in this invention can be combined with each other.

[0028] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0029] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use, or the orientation or positional relationship commonly understood by those skilled in the art. They are only used for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0030] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0031] Example 1 To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments.

[0032] In a specific implementation of the above-ground cage ventilation duct gate switching robot and its usage method of the present invention, the system is constructed based on a multi-dimensional collaborative mechatronics architecture. Through the decoupling and coupling of the chassis control unit and various functional modules, precise operation in narrow and complex environments is achieved. This embodiment first elaborates on the hardware composition and functional logic of the robot.

[0033] The robot body 1 includes a light-emitting diode lighting component 2 installed at the front end of the robot body 1, a monitoring camera unit 3 installed at the rear end of the robot body 1, and an infrared tracking module 8 installed on the bottom surface of the robot body 1. The robot body 1 is equipped with a mechanical arm 4. A first servo motor 5 and a second servo motor 6 are respectively installed at both ends of the mechanical arm 4. A cover plate 9 is installed on the upper part of the second servo motor 6. The front end of the cover plate 9 is an inclined tip, and a through hole 10 is opened at the front end of the cover plate 9. The robot body 1 is equipped with a third servo motor 7, and the monitoring camera unit 3 is installed on the third servo motor 7.

[0034] The core power source of robot body 1 comes from four sets of parallel-configured Mecanum wheels. Each set of Mecanum wheels consists of two structurally identical and independently controlled individual Mecanum wheels. This parallel design significantly increases the contact area, improving the robot's friction on the ventilation duct floor covered with grain dust or slightly damp surfaces. Each Mecanum wheel consists of two sets of rollers fixedly installed in a symmetrical arrangement, with the axes of these rollers forming a 45-degree angle with the hub axis. By controlling the rotational direction and speed of these four parallel wheel sets (left front wheel, right front wheel, left rear wheel, and right rear wheel), the robot can achieve omnidirectional movement, including straight-line movement, lateral movement, diagonal movement, and zero-radius turning in place. The left front wheel is driven by the left front drive arm and its internal drive gear; the right front wheel is driven by the right front drive arm and its internal drive gear; the left rear wheel is driven by the left rear drive arm and its internal drive gear; and the right rear wheel is driven by the right rear drive arm and its internal drive gear. This drive architecture ensures direct power transmission and efficient response.

[0035] The drive actuators include a front-wheel drive motor, a rear-wheel drive motor, a left gear drive motor, and a right gear drive motor. The front-wheel drive motors are connected to the left and right front-wheel drive arms via couplings. Their rotational output drives the two front-wheel drive arms to synchronously perform clockwise or counterclockwise angular displacements, thereby changing the height of the front of the vehicle relative to the ground and enabling obstacle crossing or slope adaptation. The rear-wheel drive motors use a similar connection method, driving the two rear-wheel drive arms to perform lifting and lowering movements. The left gear drive motor is responsible for power output, driving the gear sets inside the left front and left rear-wheel drive arms to rotate synchronously and in the same direction via couplings, thus driving the four Mecanum wheels on the left side. The right gear drive motor drives the gear sets inside the two right-side drive arms, driving the four Mecanum wheels on the right side. When the control system receives a forward command, the left and right gear drive motors rotate in the same direction, driving a total of eight Mecanum wheels on both sides to roll in the same direction. In the steering logic, if a left turn is executed, the left gear drive motor remains braked or stationary, while the right gear drive motor rotates forward, achieving the steering of the fuselage through the difference in linear velocity between the two sides.

[0036] The robot's energy supply is handled by a drive power module, which includes a rechargeable 18650 lithium battery pack, a solid-state power switch control module, a power step-down module, and a motor drive module. The lithium battery pack's rated capacity has been optimized, providing over 4 hours of runtime on a single charge. The solid-state power switch control module is responsible for the robot's power-on control and overcurrent protection, ensuring circuit safety under extreme loads. The power step-down module uses multi-channel pulse width modulation technology to convert the high-voltage energy output from the battery into various voltage levels, such as 5 volts and 3.3 volts, to power the infrared tracking module, wireless communication module, lighting module, monitoring camera module, and the core main control board. The motor drive module uses a high-power dual-bridge circuit, capable of precisely adjusting the speed and direction of the four drive motors based on the control signals output from the main control chip.

[0037] Environmental perception is provided jointly by an infrared tracking module and a high-definition dynamic monitoring camera module. The infrared tracking module consists of an infrared transceiver, a tracking identification strip, and a mainboard. The infrared transceiver collects path information from the pre-set tracking identification strip on the duct floor, and the mainboard uses a processing algorithm to identify the path centerline and adjusts the drive motor output parameters by calculating the deviation. The high-definition dynamic monitoring camera module is mounted on a servo mount at the rear of the robot and includes a high-definition camera, a video control board, and a high-speed data transmission line. It can capture real-time footage of the robotic arm's operation and obstacles within the duct. To address the issue of a completely enclosed, light-free duct, an LED lighting module is installed at the front of the robot. Powered by a step-down module and controlled by a solid-state switch, it provides clear visual boundaries for the sensors.

[0038] The operating mechanism is a tentacle robotic arm, which consists of front and rear robotic arm servo motors, a robotic arm frame, and a robotic arm cover plate. The servo-driven robotic arm frame performs telescopic and lifting movements. The front end of the robotic arm cover plate has a specific geometric shape designed to easily cover the locking pin handle of the air duct gate. The rotation of the servo motor drives the cover plate to pull the pin handle, thereby unlocking and opening the air duct gate.

[0039] The above system operates according to the following specific steps: In S1, environmental monitoring and equipment self-test are initialized. After the solid-state power switch control module is closed, the chassis control unit first samples the system voltage and uses the power management software to determine whether the remaining battery power is above the safe threshold. Subsequently, the main control board sends detection signals to the infrared tracking module 8 and the WIFI / Bluetooth dual-function module in sequence, and activates the LED lighting component 2. At this time, the monitoring camera unit 3 begins to capture the initial image and cache it, and the system enters standby mode.

[0040] In S2, path planning and autonomous tracking are performed. The infrared tracking module 8 captures visual features on the path recognition strip in real time and extracts the geometric center of the path through an edge detection algorithm. After receiving the offset data, the central processing unit calculates the angular deviation and lateral distance deviation between the current body centerline and the preset path. Using a proportional-integral-differential algorithm, the speed difference between the left and right gear drive motors is adjusted to correct the robot's trajectory. When the high-definition monitoring camera module in the monitoring camera unit 3 detects a tension bar obstacle or ramp in the air duct, the front and rear wheel drive motors start, driving the roller drive arm to rotate, raising or tilting the robot body 1 chassis to cross the obstacle. The parallel structure of the Mecanum wheels ensures that slippage does not occur during climbing, with a climbing ability of 35 degrees and the ability to cross tension bars with a height of 4 cm.

[0041] In S3, gate positioning and docking with the robotic arm are performed. When the robot moves to the gate position at the entrance of the branch ventilation duct, the gate number and current opening / closing status are confirmed through real-time video. The operator issues commands via a mobile APP or remote control, and the first servo motor 5 and the second servo motor 6 drive the through hole 10 on the front cover plate 9 of the robotic arm 4 to align with and press against the gate locking pin, establishing physical contact.

[0042] In S4, the gate opening operation is executed. First, the first servo motor 5 and the second servo motor 6 are activated, driving the robotic arm 4 to press down the gate locking pin, causing it to overcome the internal spring force and disengage from the pin hole in the top plate. Then, the central control unit drives the right-side motor, causing the robot body to perform a small-angle counter-clockwise leftward rotation. At this time, the front cover plate 9 of the robotic arm 4 pulls the pin, causing the gate to rotate clockwise around the central axis, mechanically maintaining the unlocked state. After unlocking, the robot moves to the left front, using the combined thrust of the robot body 1 and the robotic arm 4 to drive the gate to continue rotating clockwise around the central axis. When the gate rotates to a position coinciding with the center line of the air duct bottom plate, the magnetic limit baffle installed on the bottom plate uses magnetic force to attract the edge of the gate, completing the opening.

[0043] In S5, the gate closing operation is executed. The robot body 1 first moves to the left front side of the gate, and by turning right, the robotic arm pushes the gate to overcome the magnetic attraction and rotate it in the closing direction. When the gate reaches the left limit plate position, the gate locking pin automatically pops upward under the preload of the base spring and accurately inserts into the pin hole in the top plate, completing the locking and closing of the gate.

[0044] In S6, task completion confirmation and data transmission are performed. A high-definition dynamic monitoring camera module performs secondary visual verification of the latch's pop-up status and the gate's vertical angle. An image recognition algorithm compares the result to a standard locked-state template and provides a logical judgment. This result, along with current battery level, ambient temperature, and humidity data, is packaged into a data packet and sent in real-time to the mobile app control software via Wi-Fi or Bluetooth. After confirmation, the robot executes a tracking retreat command, returning to the main air duct to execute the next gate opening / closing command or exiting the ventilation duct along the original path.

[0045] Furthermore, regarding the operating logic of the power management module, the multi-channel power buck unit employs a high-efficiency buck chip to convert the unstable DC voltage output from the lithium battery into a stable DC voltage with a ripple factor of less than 0.5%. The motor drive unit integrates a current feedback sampling circuit, capable of real-time monitoring of the current of the four drive motors. When abnormal conditions such as stalling cause the current to exceed the preset safety limit, the drive module automatically cuts off the output and sends an alarm signal to the central processing unit.

[0046] For the mechanical transmission structure of the Mecanum wheels, each drive arm housing adopts a sealed design and is filled with lubricating grease. The internal gear set of the drive arm is made of high-strength alloy steel and undergoes a quenching process to enhance its wear resistance. The coupling adopts a plum-shaped elastic connection, which can effectively absorb the impact force at the moment of motor start-up and compensate for the axis misalignment caused by unevenness of the air duct base plate. This structure enables the robot to maintain extremely high transmission accuracy even in high-dust environments.

[0047] The infrared tracking module 8 includes an infrared transmitting unit (infrared emitter) and an infrared receiving unit (infrared receiver). It extracts the path boundary by calculating the difference between infrared transmission and reception. The control logic calculates the offset of the path center point coordinates and, combined with preset weighting coefficients, outputs a compensating rotational speed. This autonomous tracking function reduces the fatigue of manual remote control and ensures that the robot always maintains its centered position within narrow, windy ducts.

[0048] The communication module features a combined Wi-Fi and Bluetooth design with automatic signal strength detection. Outside the ventilation duct, the system prioritizes the higher bandwidth Wi-Fi mode for transmitting high-definition video. When the robot moves deeper into the ventilation duct, causing the Wi-Fi signal to weaken below a preset threshold, the system automatically and seamlessly switches to the low-power, high-penetration Bluetooth communication mode or relay communication mode to ensure the continuity of the control link.

[0049] The surface of the through hole 10 on the front cover plate 9 of the robotic arm 4 is covered with a layer of elastic fluororubber material, which not only increases the friction but also protects the pin structure of the air duct gate from hard wear.

[0050] The STM32F103C8T6 core board of the robot chassis acts as its brain, interacting with power driver modules, L298N motor driver modules, WIFI / Bluetooth dual-communication modules, video monitoring modules, infrared tracking modules, and servo motor modules on the expansion board via a high-speed bus. The core board runs a real-time operating system, breaking down video acquisition, communication management, motion planning, and task execution into multiple task handles with different priorities. The chassis control unit generates multiple pulse signals with consistent frequency but adjustable duty cycles via timers to control the speed vectors of the four motors and three servos.

[0051] The robot's outer shell is designed using a combination of aerodynamic and protective mechanical principles. Four semi-circular drive arm passageways are located on the left and right sides of the bottom shell, with a diameter slightly larger than the rotation diameter of the drive arm shell. Nylon dust bristles are installed at these passageways to prevent grain particles from entering the machine body without affecting the large-angle rotation of the drive arms.

[0052] The APP control software provides a graphical user interface. The video surveillance APP software uses decoding algorithms to reconstruct the monitoring stream in real time; the remote control operation software converts screen touch signals into control command packets; and the motor drive software provides real-time feedback on the motor's speed and power consumption. These software modules together form a closed loop of remote monitoring and precise control.

[0053] Example 2 Building upon Example 1, this example provides a detailed description of the robot's redundancy design and adaptive adjustment mechanism under extremely complex working conditions. When the robot encounters an obstacle higher than 4 centimeters or a steep slope exceeding 35 degrees within the air duct, the system triggers an enhanced obstacle-crossing mode.

[0054] In this mode, the front-wheel drive motor and the rear-wheel drive motor no longer perform simple synchronous rotation. The central processing unit determines the fuselage's attitude and tilt angle based on the acceleration and angular velocity data output by the six-axis inertial measurement unit mounted on the chassis. When the front of the fuselage contacts an obstacle, the front-wheel drive motor drives the left and right front-wheel drive arms to rotate downwards, using leverage to lift the front of the fuselage. Simultaneously, the left and right gear drive motors increase torque output, providing thrust to overcome the component of gravity. After the center of gravity passes the obstacle's apex, the rear-wheel drive motor immediately starts, driving the rear drive arm to complete the follow-up lifting. Throughout the process, the motor's torque output is guided by a verbal torque balance formula: the output torque equals the sum of the obstacle resistance torque, frictional resistance torque, and inertial resistance torque.

[0055] To address potential rusting or jamming of the air duct gate, the robotic arm incorporates torque feedback protection logic. During the downward pressing action in step 4, if the robotic arm's servo motor fails to reach the designated pulse position within a preset time, and the drive current rises to 1.5 times the rated current, the system will determine that the gate locking mechanism is jammed. At this point, the robot will automatically execute a "vibration unlocking" command, whereby the lifting motor performs a high-frequency, small-amplitude reciprocating motion. This mechanical impact breaks down the rust or dust accumulation layer until the pin successfully disengages.

[0056] The power management system in this embodiment also incorporates a dynamic voltage regulation mechanism. When traveling on smooth surfaces, the power step-down module reduces the bus voltage of the motor drive to save energy. Upon detecting heavy-load conditions (such as pushing a heavy gate), the system instantaneously boosts the voltage to the lithium battery's rated high level, allowing the motor to briefly enter overclocking mode. This energy allocation strategy is implemented through a task scheduler within the central processing unit, ensuring high operational efficiency.

[0057] Regarding the communication link, Example 2 employs a multi-path transmission scheme. In addition to Wi-Fi and Bluetooth, a set of ultrasonic obstacle avoidance sensors is integrated into the robot's shell to provide basic distance perception data to the chassis when the video image becomes blurry due to extreme dust. The APP control software can dynamically compress the bitrate of the video stream based on the received signal quality index, prioritizing the transmission bandwidth of control commands in situations with extremely weak signals.

[0058] Example 3 This embodiment describes in detail the specific application of a ground-based cage ventilation duct gate switch robot in a multi-warehouse joint inspection scenario, emphasizing its intelligent path selection and efficiency optimization.

[0059] In a large warehouse, a single robot is responsible for opening and closing the gates of multiple storage areas. The app control software contains a pre-stored electronic map of the entire warehouse area and identification codes for each ventilation duct. When the robot enters a specific ventilation duct, the initialization in step 1 also includes identifying the duct's code. By scanning the QR code or feature marker at the duct entrance with a high-definition camera, the robot automatically loads the gate distribution data within that duct.

[0060] During S2's tracking movement, the system calculates the optimal gate operation sequence based on preset ventilation task priorities. For example, if an abnormal grain temperature is detected in a certain branch ventilation duct, the system will automatically adjust its path planning, prioritizing the gate position in that branch ventilation duct to perform the opening operation. During movement, the robot uses a high-definition camera module to scan the physical connection status of the ventilation cage. If displacement, gaps, or deformation due to grain compression are detected in the ventilation cage, the system will use a wireless communication module to mark the coordinates of the fault location in real time and send a warning report containing fault images to the management terminal.

[0061] For precise gate docking, Embodiment 3 introduces laser-aligned auxiliary positioning logic. A miniature laser emitter is installed on the tentacle robotic arm. When the laser spot lands on a preset reflection marker on the gate, the monitoring camera module determines the relative spatial relationship between the robotic arm and the latch handle by capturing the brightness center of the laser spot. This closed-loop control logic eliminates robot tilting errors caused by uneven ground.

[0062] After completing its task in S6, the robot no longer exits directly but proceeds to the next gate according to the task chain. The return journey is only initiated when the battery level falls below the mandatory safety threshold of 20% or all tasks are completed. During the return trip, the power management module records the total energy consumption and motor heat data for the current task, used to predict the equipment's lifespan.

[0063] This embodiment also provides an emergency fault handling method. When the robot experiences a serious malfunction inside a 50-meter-deep wind tunnel, resulting in a loss of main communication, the chassis control unit will activate the emergency backup battery and switch to a low-speed, high-torque mode to attempt slow reversal. Simultaneously, the LED lighting module will emit light signals at a specific flashing frequency, facilitating observation and positioning by management personnel through the wind tunnel opening.

[0064] In summary, this invention achieves highly reliable gate management within narrow ventilation ducts through a complex electromechanical coupling structure and intelligent control strategy. From the omnidirectional movement of the Mecanum wheels to the precise force control of the tentacle robotic arm, every action is realized through a closed-loop sensor feedback system. This mobile robot not only significantly reduces the difficulty and cost of modifying storage facilities but also provides crucial technical support for modern green grain storage.

[0065] The selection of all parameters involved in this invention is based on clear engineering principles. For example, the 18650 lithium battery was chosen to ensure high energy density while adapting to potential temperature fluctuations inside the grain silo. The STM32F103C8T6 core board was used to meet the requirements of concurrent processing of multiple high-speed signals. The anti-corrosion paint coating on all metal structural components effectively resists corrosion from grain fumigation agents such as phosphine, ensuring the robot maintains structural strength over a service life of several years.

[0066] In the specific execution of the motion logic, when the forward gear of the remote control is pressed, four pulse width modulation signals with equal duty cycles generated by the main control chip are sent to the drive board. The gear drive motors on the left and right sides receive current of the same polarity, driving the gear set to rotate. Due to the force decomposition of the Mecanum wheel's rollers, the longitudinal components superimpose and the lateral components cancel each other out, thus generating a stable forward resultant force. This motion process is calculated in the central processing unit using the principle of vector superposition, that is, the resultant velocity is equal to the weighted average of the velocity vectors of the four wheel sets.

[0067] Regarding torque distribution during obstacle crossing, the angle at which the front-wheel drive motor rotates the drive arm is sinusoidally related to the lifting height of the robot body. To maintain chassis stability, the control system dynamically adjusts the stall torque of the drive arm motor based on feedback from the angle sensor, ensuring the robot maintains its posture balance even under full load. This meticulous mechanical adjustment ensures that the robotic arm will not deviate from its alignment coordinates due to severe vibrations during obstacle crossing.

[0068] In S4 and S5, the magnetic force setting of the magnetic limit baffle is crucial. The magnetic force must be sufficient to overcome the dynamic wind pressure generated by the ventilator's operation within the duct, preventing the baffle from swaying during operation. Simultaneously, this magnetic force must be less than the maximum static thrust generated by the robot motor in low-speed mode, ensuring the robot can smoothly push the baffle away from the limit position. This magnetic force threshold setting is based on force analysis under maximum duct wind speed.

[0069] In this invention, the contact surface of the through hole in the front cover plate of the tentacle robotic arm is designed to be arc-shaped when the pin is moved. This geometric design makes the contact stress distribution more uniform when the cover plate contacts the pin handle, reducing wear caused by point contact.

[0070] The high-definition dynamic monitoring camera module used in this invention features low-light enhancement. In extremely low-light environments, by activating automatic gain control and three-dimensional digital noise reduction, blurry video signals can be restored to clear digital images. This allows operators to observe in real time via an app whether the pin is accurately inserted into the pin hole, ensuring absolute operational safety.

[0071] The robot chassis of this invention utilizes an STM32-L298N drive module for motor control, resulting in extremely high current cutoff response speed. In the instant of mechanical jamming, the microcontroller can identify the distortion of the current waveform within milliseconds and immediately execute a reverse reversal to escape the obstacle. This intelligent overload protection is the core guarantee for the robot's stable operation for extended periods without supervision.

[0072] For the robot's shell heat dissipation design, although a fully enclosed structure is used for dust prevention, the alloy shell itself acts as a large heat sink. Heat generated by the core board and drive board is transferred to the inner wall of the shell via thermal grease, and then exchanged with the airflow within the ventilation channels on the shell surface. This fanless cooling design ensures both a high level of protection and improves the system's mean time between failures (MTBF).

[0073] The method of using this invention demonstrates extremely high operational flexibility in practical applications. Whether for the renovation of ventilation systems in newly built warehouses or old warehouses, this robot can be seamlessly adapted. Its compact physical dimensions are based on statistical analysis of the geometric parameters of mainstream ground-mounted cage ventilation ducts nationwide, ensuring its versatility across different warehouse areas.

[0074] One of the innovations of this invention lies in simplifying complex industrial robot technology into a specialized tool suitable for specific warehousing environments. Its hybrid mode of automatic infrared tracking and remote control operation balances both efficiency and precision. This human-machine collaborative working method is an effective way to achieve intelligent upgrading of grain reserve warehouses.

[0075] Another key technology of this invention is its self-healing communication protocol. In complex metal duct environments, multipath effects can cause severe signal fluctuations. The system's internal data verification algorithm can automatically eliminate bit errors caused by interference and recover damaged data packets through forward error correction technology. This ensures that even when transmitting high-definition video streams, the APP interface will not experience lag or screen tearing.

[0076] This invention provides not only a hardware product, but also a complete refined management system for warehouse ventilation. By collecting historical data on gate status through APP control software, managers can analyze the ventilation demand patterns of different warehouses and different grain types, thereby optimizing the energy consumption structure of the entire storage area and achieving significant grain saving, loss reduction, energy conservation, and emission reduction effects.

[0077] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A robot for opening and closing ventilation duct gates in a grain warehouse, comprising a robot body (1), characterized in that: The front end of the robot body (1) is equipped with a light-emitting diode lighting component (2), the rear end of the robot body (1) is equipped with a monitoring camera unit (3), and the bottom surface of the robot body (1) is equipped with an infrared tracking module (8). The robot body (1) is equipped with a mechanical arm (4), and a first servo motor (5) and a second servo motor (6) are respectively installed at both ends of the mechanical arm (4). A cover plate (9) is installed on the upper part of the second servo motor (6). The front end of the cover plate (9) is an inclined tip, and a through hole (10) is opened at the front end of the cover plate (9). The robot body (1) is equipped with a third servo motor (7), and the monitoring camera unit (3) is installed on the third servo motor (7).

2. A method for using a robot for opening and closing ventilation duct gates in a grain warehouse, comprising the robot for opening and closing ventilation duct gates in a grain warehouse as described in claim 1, characterized in that... include: S1, perform environmental monitoring and equipment self-test, activate the power management module through the chassis control unit, and perform power-on testing on the sensors, drive motors and communication modules inside the machine body. At the same time, start the LED lighting component (2) installed at the front end to provide ambient lighting with preset brightness inside the ground cage ventilation duct in the closed state under the grain pile, and the monitoring camera unit (3) at the back end collects the initial environmental image. S2, execute path planning and autonomous tracking movement, use infrared tracking module (8) to capture the preset marking information inside the wind tunnel, transmit the image signal to the central processing unit for logical operation, control the roller drive motor to output differentiated speed by calculating the deviation value between the actual path and the set path, drive the Mecanum wheels connected in parallel on the left and right sides to generate synthetic vector power, realize the robot body to move straight, laterally or differentially in the narrow wind tunnel, and adjust the angle of the drive arm to overcome obstacles when encountering a tension obstacle with a specific height threshold or a preset tilt slope; S3, perform gate positioning and docking with the robot arm. When the robot body (1) moves to the gate position at the connection between the main air duct and the branch air duct, the real-time video monitoring screen confirms that the gate is in a closed or open state. The first servo motor (5) and the second servo motor (6) are remotely controlled to drive the robot arm (4) to move up and down, so that the front end through hole (10) of the cover plate (9) is precisely pressed on the air duct gate locking mechanism, providing physical contact conditions for subsequent unlocking actions. S4, execute the gate opening operation process, start the first servo motor (5) and the second servo motor (6) to drive the mechanical arm (4) to move downward, use the cover plate (9) to apply downward pressure, so that the gate locking pin overcomes the preset spring force and disengages from the top plate pin hole, then the remote control robot body (1) generates a backward displacement, use the cover plate (9) to link the gate pin to drive the gate to rotate away from the locked position, and finally drive the gate to rotate around the pivot to the magnetic limit baffle of the bottom plate center line through the forward thrust of the robot body (1), so as to realize the precise opening of the branch air duct; S5, execute the gate closing operation process. The remote control robot body (1) moves to the side front of the gate opening direction. By rotating to the right, it drives the mechanical arm (4) to push the gate away from the magnetic limit, so that it rotates counterclockwise to the left limit baffle position, so that the locking pin pops out under the action of the elastic force and inserts into the top plate pin hole to complete the mechanical locking of the gate. S6, Operation completion confirmation and data feedback, visually confirm the final position of the gate and the locking status of the latch through the high-precision monitoring camera module on the monitoring camera unit (3), transmit the execution result to the mobile application in real time through the communication module, then execute the next air duct gate opening and closing operation instruction until the air duct gate opening and closing operation of this ventilation outlet is completed, and then execute the original return instruction to exit the ventilation duct.

3. The method of using a robot for opening and closing ventilation duct gates in a grain warehouse as described in claim 2, characterized in that: In step S1, the power management module comprises a rechargeable lithium battery, a solid-state power switch control unit, a multi-channel power step-down unit, and a motor drive unit. The rechargeable lithium battery provides continuous power, with its capacity required to meet a predetermined working time threshold for a single operation. The multi-channel power step-down unit uses pulse width modulation (PWM) technology to convert the voltage output from the lithium battery into multiple preset voltage levels, which are then supplied to the central processing unit, the monitoring camera unit, and the communication module. The motor drive unit integrates a current feedback sampling circuit to monitor the current status of each drive motor in real time and cuts off the output when the current exceeds a preset safety limit.

4. The method of using a robot for opening and closing ventilation duct gates in a grain warehouse as described in claim 2, characterized in that: In S2, the Mecanum wheels are configured in parallel, specifically including a left front drive wheel set, a right front drive wheel set, a left rear drive wheel set, and a right rear drive wheel set. Each wheel set consists of two independent Mecanum wheels connected coaxially. Each wheel set is configured with an independent drive arm structure. The drive arm is equipped with a transmission gear set, which includes a driving gear, an intermediate transition gear, and a driven gear. The gear ratio of the transmission gear set is used to reduce speed and increase torque, thereby increasing the robot's grip and load-bearing capacity on the duct floor plate containing grain dust or in a humid environment.

5. The method of using a robot for opening and closing ventilation duct gates in a grain warehouse as described in claim 2, characterized in that: The obstacle crossing in S2 is achieved through the coordinated operation of the drive motors: the front drive motor drives the left and right front drive arms to rotate clockwise or counterclockwise synchronously via a coupling, changing the height of the robot's front end relative to the ground, allowing it to cross the steel bracing with a specific height threshold within the air duct; the rear drive motor controls the lifting and lowering of the robot's rear end according to the same logic as the front drive motor; during obstacle crossing, the robot's attitude tilt angle is determined by the acceleration and angular velocity data output by the inertial measurement unit mounted on the chassis. When the front of the robot contacts an obstacle, the front drive motor drives the corresponding drive arm to rotate downwards, using the lever principle to lift the front of the robot, while simultaneously increasing the torque output of the drive motor to overcome the gravitational component.

6. The method of using a robot for opening and closing ventilation duct gates in a grain warehouse as described in claim 2, characterized in that: In S2, the infrared tracking module (8) includes an infrared transceiver unit, a tracking recognition unit, and an algorithm processing circuit. The infrared transceiver unit captures continuous visual features preset on the bottom plate of the air duct, and the algorithm processing circuit executes an edge detection algorithm to identify the path centerline and calculates the lateral deviation distance and angular deviation between the current fuselage center axis and the path centerline. The central processing unit outputs control commands to the lateral drive motor based on the proportional-integral-derivative control algorithm, and realizes real-time dynamic correction of the path deviation by adjusting the linear velocity vector sum of different side wheel groups.

7. The method of using a robot for opening and closing ventilation duct gates in a grain warehouse as described in claim 2, characterized in that: In S3, both the first servo motor (5) and the second servo motor (6) are high-torque metal servo motors. The first servo motor (5) can drive the front end of the mechanical arm (4) to rotate 270 degrees, and the second servo motor (6) can drive the rear end of the mechanical arm (4) to rotate 270 degrees. Both the first servo motor (5) and the second servo motor (6) can drive the mechanical arm (4) to rotate quickly or slowly as needed, thereby achieving the requirement of precise opening and closing of the gate locking structure of the mechanical arm (4). The surface of the through hole (10) is covered with elastic fluororubber material, and its geometric dimensions are preset and optimized to cover various specifications of gate locking devices, ensuring that the vertical pressure is evenly applied to the top of the locking pin. The monitoring camera unit (3) is installed on the third servo motor (7) which can rotate 360 ​​degrees. By controlling the rotation of the third servo motor (7), the monitoring camera unit (3) can adjust the position of the monitoring and recording screen in the air duct. The laser point emitter installed on the mechanical arm (4) emits a beam of light to the preset reflection mark position of the gate. The monitoring camera unit (3) captures the brightness center of the light point to determine the relative spatial relationship between the mechanical arm (4) and the latch handle.

8. The method of using a robot for opening and closing ventilation duct gates in a grain warehouse as described in claim 2, characterized in that: In S4, the opening operation process also includes a vibration unlocking mode: when the first servo motor (5) and the second servo motor (6) do not reach the designated position pulse within a preset time and the driving current rises to a preset multiple of the rated current, it is determined that the gate locking mechanism is stuck. At this time, the first servo motor (5) and the second servo motor (6) perform high-frequency and small-amplitude reciprocating motion, and the mechanical impact generated can destroy the rust layer or dust accumulation layer until the locking pin is disengaged from the top plate pin hole; the magnetic force of the magnetic limit baffle is set to a specific threshold. The specific threshold needs to be greater than the thrust generated by the airflow pressure during the ventilation process and less than the maximum static thrust generated by the robot body motor in low-speed mode.

9. The method of using a robot for opening and closing ventilation duct gates in a grain warehouse as described in claim 2, characterized in that: In S5, the robotic arm (4) is integrated with a cover plate (9) with a specific shaped through hole (10). The cover plate (9) is made of stainless steel or hard wear-resistant material and is designed with an arc-shaped through hole structure to increase the friction when in contact with the pin and to distribute the contact stress evenly. During the closing process, the robot body (1) drives the robotic arm (4) to push the gate to overcome the magnetic attraction of the magnetic limit baffle by turning right. After the gate reaches the preset limit position, the spring at the lower end of the locking pin slot is used to spring the pin into the pin hole of the top plate of the air duct to realize the gate closing and locking.

10. The method of using a robot for opening and closing ventilation duct gates in a grain warehouse as described in claim 2, characterized in that: In step S6, the communication module integrates a wireless local area network (WLAN) communication unit and a short-range wireless communication unit, and has a signal strength detection function. In an environment with wireless network coverage in the storage area, the WLAN communication unit is preferentially selected to transmit video streams. When the wireless network signal strength is detected to be lower than a preset signal threshold, the system automatically switches to the short-range wireless communication unit to perform data link transmission. The mobile application integrates a video monitoring interface, a virtual remote control, sensor status display, power display, and an automated command control module. It has a logic prediction function. When the battery voltage is detected to be lower than a preset safety threshold or the communication signal strength is lower than a specific level, an alarm is automatically triggered and a prompt is made to execute the forced recycling process.

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