CN115824313A

CN115824313A - Integrated multi-parameter monitoring control method and system for grain condition monitoring

Info

Publication number: CN115824313A
Application number: CN202310101978.6A
Authority: CN
Inventors: 张树; 郑轶群; 龚永新; 赵淼
Original assignee: Beijing Kunlun Coast Technology Co ltd
Current assignee: Beijing Kunlun Coast Technology Co ltd
Priority date: 2023-02-13
Filing date: 2023-02-13
Publication date: 2023-03-21

Abstract

The invention provides an integrated multi-parameter monitoring control method and system for grain condition monitoring, wherein the method comprises the following steps: the method comprises the steps of obtaining a grain monitoring area, determining a monitoring route, generating a control instruction based on the monitoring route, and controlling a target monitoring device to move to the grain monitoring area according to the control instruction; determining a monitoring sequence for carrying out multi-parameter monitoring on target grains in a grain monitoring area, determining a target monitoring condition of each parameter, and simultaneously carrying out condition monitoring on the target grains in the grain monitoring area based on the monitoring sequence and the monitoring conditions; and when the monitoring result of the grain monitoring area does not meet the target monitoring condition, ending the current condition monitoring process, simultaneously generating an alarm instruction, and controlling an alarm device to alarm based on the alarm instruction. The invention ensures the accuracy of understanding the grain condition through multi-parameter monitoring and also improves the convenience and efficiency of grain monitoring.

Description

Integrated multi-parameter monitoring control method and system for grain condition monitoring

Technical Field

The invention relates to the technical field of grain condition monitoring and control, in particular to an integrated multi-parameter monitoring and control method and system for grain condition monitoring.

Background

At present, phosphine and temperature and humidity detectors are needed to be monitored in grain storage; nitrogen and oxygen detectors are needed for part of the newly upgraded granary; the auxiliary sensor is a patch type temperature sensor, a water immersion sensor and the like. Temperature and humidity, carbon dioxide measurement layering, and different layering measurement methods are needed. Due to the complex measuring environment, the safety problem of installation and maintenance personnel can not be guaranteed; and after the field detection equipment is formally operated, the difficulty of adding or replacing the equipment is high.

At present, the industrial traffic product can only obtain single sensing information, measures various sensing information forms in an accumulation mode, measures in a fixed mounting mode, and is large in limitation of measuring positions and high in replacement and maintenance cost. In the past, most of single products are collected to a data collector in a wired or wireless communication mode and then are subjected to subsequent operations such as data storage, processing and the like, so that the collected data volume is huge, the system processing is not timely, the production efficiency is influenced, and economic loss is seriously caused.

Because the sensor is a self-consuming device original element which needs to be sensed by environmental contact, the sensor is placed in a humid environment in the south or the moisture of the south for a long time, so that the product accuracy is reduced, the reaction performance is reduced, and the real data of a stored object is not easy to measure. Because the granary stores a large amount of grains, personnel are easy to get into the granary during operation, so that life loss is caused, and the phenomenon that the sensor is placed at a fixed position and a product is not easy to disassemble and scrap is caused.

Therefore, the invention provides an integrated multi-parameter monitoring control method and system for grain condition monitoring.

Disclosure of Invention

The invention provides an integrated multi-parameter monitoring control method and system for grain condition monitoring, which are used for effectively formulating a monitoring route by determining a grain monitoring area, so that a target monitoring device can be conveniently controlled to operate to the grain monitoring area to carry out condition monitoring on target grains, and corresponding alarm operation is carried out in time when the monitored parameters do not meet the target monitoring conditions, thereby ensuring the accuracy of understanding the grain condition through multi-parameter monitoring and also improving the convenience and the efficiency of grain monitoring.

The invention provides an integrated multi-parameter monitoring control method for grain condition monitoring, which comprises the following steps:

step 1: the method comprises the steps of obtaining a grain monitoring area, determining a monitoring route, generating a control instruction based on the monitoring route, and controlling a target monitoring device to move to the grain monitoring area according to the control instruction;

and 2, step: determining a monitoring sequence for carrying out multi-parameter monitoring on target grains in a grain monitoring area, determining a target monitoring condition of each parameter, and simultaneously carrying out condition monitoring on the target grains in the grain monitoring area based on the monitoring sequence and the monitoring conditions;

and step 3: and when the monitoring result of the grain monitoring area does not meet the target monitoring condition, ending the current condition monitoring process, simultaneously generating an alarm instruction, and controlling an alarm device to alarm based on the alarm instruction.

Preferably, the integrated multi-parameter monitoring control method for grain condition monitoring comprises the following steps in step 2:

the monitoring sequence of multi-parameter monitoring is as follows: temperature and humidity monitoring, carbon dioxide monitoring, oxygen monitoring, nitrogen monitoring and phosphine monitoring.

Preferably, in step 2, the method for monitoring and controlling the grain condition of the grain monitoring area based on the monitoring sequence and the monitoring conditions includes:

generating a first control instruction based on the central processing end, controlling the temperature and humidity sensor module to carry out first monitoring on the grain monitoring area based on the first control instruction, obtaining a dynamic environment temperature and humidity set according to a first monitoring result, and meanwhile judging whether the dynamic environment temperature and humidity set meets a first preset condition or not;

when the dynamic environment temperature and humidity set does not meet the first preset condition, the condition monitoring process is exited;

when the dynamic environment temperature and humidity set meets a first preset condition, triggering a second control instruction to control the carbon dioxide sensor module to carry out second monitoring on the grain monitoring area, obtaining a carbon dioxide monitoring data set based on a second monitoring result, and meanwhile, judging whether the carbon dioxide monitoring data set meets the second preset condition or not;

when the carbon dioxide monitoring data set does not meet the second preset condition, the condition monitoring process is exited;

when the carbon dioxide monitoring data set meets a second preset condition, triggering a third control instruction to control the oxygen sensor module to carry out third monitoring on the grain monitoring area, obtaining an oxygen monitoring data set based on a third monitoring result, and meanwhile judging whether the oxygen monitoring set meets the third preset condition or not;

when the oxygen monitoring set does not meet a third preset condition, the condition monitoring process is exited;

when the oxygen monitoring set meets a third preset condition, triggering a fourth control instruction to control the nitrogen sensor module to carry out fourth monitoring on the grain monitoring area, acquiring a nitrogen monitoring data set based on a fourth monitoring result, and meanwhile, judging whether the nitrogen monitoring set meets the fourth preset condition or not;

when the nitrogen monitoring set does not meet the fourth preset condition, the condition monitoring process is exited;

when the nitrogen monitoring set meets a fourth preset condition, triggering a fifth control instruction to control the phosphine sensor module to carry out fifth monitoring on the grain monitoring area, acquiring a phosphine monitoring data set based on a fifth monitoring result, and meanwhile, judging whether the phosphine monitoring data set meets the fifth preset condition or not;

when the phosphine monitoring data set meets a fifth preset condition, the condition monitoring process is exited;

and when the phosphine monitoring data set meets a fifth preset condition, judging that no abnormity exists in the grain monitoring area.

Preferably, in step 3, an alarm instruction is generated and an alarm device is controlled to perform alarm operation based on the alarm instruction, and the method includes:

when the dynamic environment temperature and humidity set does not meet a first preset condition, determining first abnormal data in the dynamic environment temperature and humidity set, generating a first abnormal report according to the first abnormal data, generating a first alarm instruction according to the first abnormal report, and controlling an alarm device to perform a first alarm operation based on the first alarm instruction;

when the carbon dioxide monitoring data set does not meet a second preset condition, determining second abnormal data in the carbon dioxide monitoring data set, generating a second abnormal report according to the second abnormal data, generating a second alarm instruction according to the second abnormal report, and controlling an alarm device to perform a second alarm operation based on the second alarm instruction;

when the oxygen monitoring set does not meet a third preset condition, third abnormal data in the oxygen monitoring set is determined, a third abnormal report is generated according to the third abnormal data, meanwhile, a third alarm instruction is generated according to the third abnormal report, and an alarm device is controlled to perform a third alarm operation based on the third alarm instruction;

when the nitrogen monitoring set does not meet a fourth preset condition, determining fourth abnormal data in the nitrogen monitoring set, generating a fourth abnormal report according to the fourth abnormal data, generating a fourth alarm instruction according to the fourth abnormal report, and controlling an alarm device to perform a fourth alarm operation based on the fourth alarm instruction;

and when the phosphine monitoring data set meets a fifth preset condition, determining fifth abnormal data in the phosphine monitoring data set, generating a fifth abnormal report according to the fifth abnormal data, simultaneously generating a fifth alarm instruction according to the fifth abnormal report, and controlling an alarm device to perform a fifth alarm operation based on the fifth alarm instruction.

Preferably, in step 1, an integrated multi-parameter monitoring control method for monitoring grain conditions is performed, wherein a grain monitoring area is obtained, a monitoring route is determined, meanwhile, a control instruction is generated based on the monitoring route, and a target monitoring device is controlled to move to the grain monitoring area according to the control instruction, and the method comprises the following steps:

acquiring a target image in the granary, determining the regional distribution characteristics in the granary based on the target image, and performing equal regional division on the interior of the grain based on the regional distribution characteristics;

determining grid coordinates of different grain monitoring areas based on the division result, determining a grain monitoring area to be monitored based on the grid coordinates, extracting a first position of the grain monitoring area to be detected based on the grid coordinates, and meanwhile, positioning a target monitoring device and a target obstacle in the granary to obtain a second position of the target monitoring device and a third position of the target obstacle;

obtaining a plurality of first driving routes from the first position to the second position based on the first position, the second position, the third position and the grid coordinate, extracting route parameters of the first driving routes, and screening the first driving routes based on the route parameters and the driving speed of the target monitoring device to obtain a monitoring route, wherein the third position is avoided in the first driving routes;

generating a control instruction based on the monitoring line, controlling the target monitoring device to run to a grain monitoring area to be monitored based on the control instruction, and extracting area characteristics of the grain monitoring area;

setting position points to be monitored in a grain monitoring area to be monitored based on the area characteristics, and establishing a second driving route of a target monitoring device in the grain monitoring area to be monitored based on the distribution characteristics of the position points to be monitored in the grain monitoring area to be monitored, wherein the number of the position points to be monitored is at least two;

and controlling the target monitoring device to monitor the grains at each position to be monitored in the grain monitoring area to be monitored based on the second running route.

Preferably, the integrated multi-parameter monitoring control method for grain condition monitoring includes, in step 2, when condition monitoring is performed on target grains in a grain monitoring area, the method includes:

three-dimensional scanning is carried out on the target granary to obtain the structural parameters of the target granary and the storage parameters of grains in the target granary, and a first three-dimensional simulation model and a second three-dimensional simulation model are respectively constructed based on the structural parameters and the storage parameters;

determining structural feature points of the first three-dimensional simulation model and the second three-dimensional simulation model based on the three-dimensional scanning result, and splicing the first three-dimensional simulation model and the second three-dimensional simulation model based on the structural feature points;

determining the longitudinal depth of grain stored in the target granary based on the splicing result, determining the monitoring requirement on the grain based on the longitudinal depth, and determining the longitudinal insertion depth of the target monitoring device in grain monitoring based on the monitoring requirement;

carrying out step division on the longitudinal insertion depth, and determining the monitoring time of the target monitoring device staying at each step depth according to the monitoring requirement based on the division result;

generating a device control instruction based on the longitudinal insertion depth and the monitoring time of the residence of each step depth, and controlling a target monitoring device to carry out multi-position monitoring on the grains in the target granary based on the device control instruction;

transmitting the basic environment data of the grains monitored by the target monitoring device to the management terminal based on the monitoring result, and analyzing the received basic environment data of different positions based on the management terminal to obtain a basic environment distribution map of the grains in the target granary;

acquiring a reference storage condition of the grain, respectively matching the basic environment data of different positions with the reference storage condition, determining the position of the abnormal basic environment, and marking the position of the abnormal basic environment in the basic environment distribution map;

meanwhile, training the reference storage condition, and constructing an environment regulation strategy formulation model based on the training result;

and inputting the marked basic environment distribution map and the basic environment data of the abnormal basic environment position into the established environment regulation strategy formulation model for analysis to obtain an environment regulation strategy for the abnormal basic environment position, and regulating the basic environment data of the abnormal basic environment position based on the environment regulation strategy.

Preferably, the integrated multi-parameter monitoring control method for grain condition monitoring is used for establishing an environment regulation strategy formulation model based on a training result, and comprises the following steps:

acquiring an obtained environment regulation strategy formulation model, historical basic environment data and a corresponding historical environment regulation strategy, and inputting the historical basic environment data into the environment regulation strategy formulation model for analysis to obtain a verification environment regulation strategy;

comparing the historical environment adjustment strategy with the verification environment adjustment strategy;

if the historical environment adjusting strategy is different from the verification environment adjusting strategy, judging that the established environment adjusting strategy formulation model is unqualified, and determining the difference parameter of the historical environment adjusting strategy and the verification environment adjusting strategy;

determining a target vulnerability in the environment regulation strategy formulation model based on the difference parameters, adjusting configuration parameters of the target vulnerability based on the difference parameters, and verifying the environment regulation strategy formulation model again after adjustment until the historical environment regulation strategy is the same as the verified environment regulation strategy;

otherwise, judging that the established environment regulation strategy formulation model is qualified.

Preferably, an integrated multi-parameter monitoring control method for grain condition monitoring further comprises:

when a grain monitoring area is monitored, a plurality of monitoring points are set in the grain monitoring area, and the monitoring points are pre-monitored based on a probe of a detection sensor to obtain pre-monitoring data corresponding to each monitoring point;

calculating a data mean value of the pre-monitoring data based on the pre-monitoring data corresponding to each monitoring point, and meanwhile calculating a monitoring estimation value of the grain monitoring area based on the data mean value of the pre-monitoring data;

and setting an amplitude threshold value based on the monitoring estimation value, setting an evaluation interval according to the amplitude threshold value and the monitoring estimation value, setting a plurality of monitoring points in the grain monitoring area according to the evaluation interval for evaluation, and determining the monitorable points.

Preferably, the integrated multi-parameter monitoring control method for monitoring grain conditions sets a plurality of monitoring points in a grain monitoring area according to an evaluation interval to evaluate and determine the monitorable points, and comprises the following steps:

comparing each pre-monitoring data obtained by pre-monitoring each monitoring point by a probe of the detection sensor with an evaluation interval;

when the pre-monitoring data is in the evaluation interval, the monitoring points corresponding to the pre-monitoring data are used as monitorable points;

otherwise, taking the monitoring point corresponding to the pre-monitoring data as a non-monitoring point;

when monitoring the grain monitoring area, monitoring can be carried out on the basis of the monitoring points of the probe of the detection sensor in the grain monitoring area.

The invention provides an integrated multi-parameter monitoring control system for grain condition monitoring, which comprises:

the monitoring route confirming module is used for acquiring a grain monitoring area, determining a monitoring route, generating a control instruction based on the monitoring route, and controlling the target monitoring device to move to the grain monitoring area according to the control instruction;

the monitoring module is used for determining a monitoring sequence for carrying out multi-parameter monitoring on target grains in a grain monitoring area, determining a target monitoring condition of each parameter and carrying out condition monitoring on the target grains in the grain monitoring area based on the monitoring sequence and the monitoring conditions;

and the alarm module is used for finishing the current condition monitoring process when the monitoring result of the grain monitoring area does not meet the target monitoring condition, generating an alarm instruction and controlling the alarm device to carry out alarm operation based on the alarm instruction.

Compared with the prior art, the invention has the following beneficial effects:

through confirming the grain monitoring area, realize effectively formulating the monitoring route to be convenient for control target monitoring devices moves and carries out condition monitoring to the grain monitoring area to target grain, and when the parameter of monitoring unsatisfied target monitoring condition, in time carry out corresponding warning operation, ensured the rate of accuracy of knowing the grain condition through many parameter monitoring, also improved convenience and efficiency to the grain monitoring.

The method comprises the steps of obtaining a target image inside the granary, accurately and effectively determining the regional distribution characteristics inside the granary according to the target image, secondly, dividing the inside of the granary according to the determined regional distribution characteristics, and accurately and effectively determining the target monitoring device, the grain monitoring region to be monitored and the position of a target obstacle according to the dividing result, thereby accurately and effectively constructing a first driving route, finally, screening the first driving route according to the route parameters and the driving speed of the target monitoring device, and formulating a second driving route in the grain monitoring region according to the screening result, so that the parameters of grains at different positions in the grain monitoring region can be accurately and effectively obtained, and the accuracy and the effectiveness of grain monitoring are guaranteed.

The method comprises the steps of carrying out three-dimensional scanning on a target granary and grains stored in the target granary, respectively constructing corresponding three-dimensional models according to scanning results, splicing constructed unit models, accurately and effectively confirming the longitudinal insertion depth of the grains, determining each submerged distance and the staying time length of a target monitoring device according to the longitudinal insertion depth, finally, accurately and effectively acquiring parameters corresponding to the grains at different positions, analyzing the obtained parameters, adjusting environmental parameters of positions with abnormal basic environmental data in the target granary, guaranteeing storage conditions of the target granary for the grains, and simultaneously improving the accurate and reliable understanding of the grain conditions of the grains in the target granary through multiple parameters.

The grain monitoring system has the advantages that the monitoring points are set in the grain monitoring area, the monitoring points are pre-monitored based on the detection sensor probe, pre-monitoring data are determined, the data mean value of the pre-monitoring data is calculated, the monitoring estimation value of the grain monitoring area is accurately calculated, the monitorable points can be accurately evaluated through the monitoring estimation value of the grain monitoring area, and therefore the accuracy and effectiveness of the detection sensor probe in monitoring the grain monitoring area are improved.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

FIG. 1 is a flow chart of an integrated multi-parameter monitoring control method for grain condition monitoring in an embodiment of the present invention;

FIG. 2 is a flow chart of step 2 in the integrated multi-parameter monitoring control method for grain condition monitoring according to the embodiment of the present invention;

fig. 3 is a schematic structural diagram of the target monitoring device during left-side steering in the embodiment of the present invention;

FIG. 4 is a schematic diagram of a right-side steering of the target monitoring apparatus according to an embodiment of the present disclosure;

fig. 5 is an obstacle avoidance control diagram of the target device in the embodiment of the present invention;

FIG. 6 is a schematic view of the target monitoring device inserted into a measured target grain bin in an embodiment of the present invention;

FIG. 7 is a structural diagram of an integrated multi-parameter monitoring control system for grain condition monitoring in an embodiment of the present invention;

FIG. 8 is a block diagram of a sensor module in an integrated multi-parameter monitoring control system for grain condition monitoring according to an embodiment of the present invention;

FIG. 9 is a diagram of a data processing system in an embodiment of the present invention;

fig. 10 is a diagram of a data uploading system according to an embodiment of the present invention.

Detailed Description

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it should be understood that they are presented herein only to illustrate and explain the present invention and not to limit the present invention. Example 1

The embodiment provides an integrated multi-parameter monitoring control method for grain condition monitoring, as shown in fig. 1, including:

step 2: determining a monitoring sequence for carrying out multi-parameter monitoring on target grains in a grain monitoring area, determining a target monitoring condition of each parameter, and simultaneously carrying out condition monitoring on the target grains in the grain monitoring area based on the monitoring sequence and the monitoring conditions;

In this embodiment, the monitoring sequence of the multi-parameter monitoring is as follows: temperature and humidity monitoring, carbon dioxide monitoring, oxygen monitoring, nitrogen monitoring and phosphine monitoring.

In this embodiment, the grain monitoring area may be a position where grain condition monitoring is performed on grains stored in the grain bin, and is at least one area in the grain bin.

In this embodiment, the monitoring route is a route used for representing the walking of the target monitoring device moving from the current position to the grain monitoring area.

In this embodiment, the target monitoring device is a device for monitoring the grain condition of the grains stored in the granary, and is movable.

In this embodiment, the multi-parameter monitoring can be to the humiture of grain, carbon dioxide, oxygen, nitrogen gas and phosphine monitor, and the order of multi-parameter monitoring is set for in advance for the parameter monitoring order to the limited grain, and when there is a certain link in the middle and does not have corresponding sensor, can jump to next link automatically.

In this embodiment, the target monitoring condition is a criterion for characterizing each parameter, that is, the grain must meet the target monitoring condition to ensure that the grain is stored perfectly.

In this embodiment, the target grain may be grain stored in a grain monitoring area, that is, grain that needs to be monitored currently.

In this embodiment, the condition monitoring refers to that when target grains in a grain monitoring area are monitored according to a monitoring sequence of multi-parameter monitoring, obtained parameters are sequentially compared with corresponding target monitoring conditions, and when parameters which do not meet the target monitoring conditions exist, monitoring is stopped.

In this embodiment, the alarm command is used to control the alarm device to perform an alarm operation on the currently abnormal parameter.

In the embodiment, the calibration of the multi-parameter monitoring system is needed before measurement, the accuracy of the sensor is ensured, the tracing source of all the sensors is measured by a standard device approved by the national authority of the China measurement institute, the internal data modeling form is utilized, tens of thousands of actual measurement data bases are measured in batches, the grid list calculation is carried out, the whole sensor probe calibration is carried out in the environment with stable and high reliability in operation, and the accuracy of the sensor can be ensured in the whole process.

In the embodiment, the probe of the detection sensor is realized by different measurement principles, such as a humidity probe, and the capacitance value of the environment humidity change is changed along with the measurement by adopting a capacitance measurement mode with high accuracy and high sensitivity; the temperature probe is made of rare precious metal materials, and the resistance value feedback is different along with different temperatures in a resistance measurement mode; the gas probes such as carbon dioxide, oxygen, hydrogen sulfide and the like reflect the absorption of molecules through an infrared optical principle, and an electrochemical measurement principle is superposed, so that the gas measurement is more accurate.

The beneficial effects of the above technical scheme are: through confirming the grain monitoring area, realize effectively formulating the monitoring route to be convenient for control target monitoring devices moves and carries out condition monitoring to the grain monitoring area to target grain, and when the parameter of monitoring unsatisfied target monitoring condition, in time carry out corresponding warning operation, ensured the rate of accuracy of knowing the grain condition through many parameter monitoring, also improved convenience and efficiency to the grain monitoring. Example 2

On the basis of embodiment 1, this embodiment provides an integrated multi-parameter monitoring control method for grain condition monitoring, as shown in fig. 2, in step 2, condition monitoring is performed on grains in a grain monitoring area based on a monitoring sequence and a monitoring condition, including:

when the carbon dioxide monitoring data set meets a second preset condition, triggering a third control instruction to control the oxygen sensor module to carry out third monitoring on the grain monitoring area, obtaining an oxygen monitoring data set based on a third monitoring result, and meanwhile, judging whether the oxygen monitoring set meets the third preset condition or not;

In this embodiment, the first control instruction is used to control the temperature and humidity sensor to perform a first monitoring on the grains in the grain monitoring area, where the first monitoring is to monitor the temperature and humidity of the grains in the grain monitoring area.

In this embodiment, the dynamic environment temperature and humidity set may be a plurality of sets of temperature and humidity data obtained after performing temperature and humidity acquisition on grains in a grain monitoring area for a plurality of times.

In this embodiment, the first preset condition is set in advance, and is used for representing a minimum temperature and humidity value that the grain must reach in the storage process.

In this embodiment, the second control instruction is used to control the carbon dioxide sensor to perform a second monitoring on the grain in the grain monitoring area, where the second monitoring is a condition of carbon dioxide content in an environment where the grain in the grain monitoring area is located.

In this embodiment, the carbon dioxide monitoring data set may be a plurality of sets of carbon dioxide content data obtained by monitoring the carbon dioxide content of the grain in the grain monitoring area for a plurality of times.

In this embodiment, the second predetermined condition is set in advance to represent the minimum carbon dioxide content that the grain must reach during storage.

In this embodiment, the third control instruction is used to control the oxygen sensor to perform a third monitoring on the grain in the grain monitoring area, where the third monitoring is an oxygen content condition of an environment where the grain in the grain monitoring area is located.

In this embodiment, the oxygen monitoring data set may be a plurality of sets of oxygen content data obtained by performing multiple oxygen content monitoring on the grains in the grain monitoring area.

In this embodiment, the third predetermined condition is set in advance to represent the minimum oxygen content that the grain must reach during storage.

In this embodiment, the fourth control instruction is used to control the nitrogen sensor to perform fourth monitoring on the grain in the grain monitoring area, where the fourth monitoring is a nitrogen content condition of an environment where the grain in the grain monitoring area is located.

In this embodiment, the nitrogen monitoring data set may be a plurality of sets of nitrogen content data obtained by performing nitrogen content monitoring on the grain in the grain monitoring area for a plurality of times.

In this embodiment, the fourth preset condition is preset in advance, and is used for representing the minimum nitrogen content value that the grain must reach during the storage process.

In this embodiment, the fifth control instruction is used to control the phosphine sensor to perform a fifth monitoring on the grain in the grain monitoring area, where the fifth monitoring is a condition of phosphine content in an environment where the grain in the grain monitoring area is located.

In this embodiment, the phosphine monitoring data set may be a plurality of sets of phosphine content data obtained by monitoring the phosphine content of the grain in the grain monitoring area for a plurality of times.

In this embodiment, the fifth preset condition is preset in advance, and is used for representing the minimum phosphine content that the grain must reach during the storage process.

The beneficial effects of the above technical scheme are: the grain monitoring method has the advantages that the grain monitoring is carried out on the grain in the grain monitoring area, accurate and effective analysis on different parameters is realized, so that the condition monitoring process is conveniently and timely withdrawn when the corresponding preset conditions are not met by the parameters, the accuracy of understanding grain conditions through multi-parameter monitoring is guaranteed, and the convenience and the efficiency of grain monitoring are also improved. Example 3

On the basis of embodiment 1, this embodiment provides an integration multi-parameter monitoring control method for grain condition monitoring, and in step 3, an alarm instruction is generated, and an alarm device is controlled to perform alarm operation based on the alarm instruction, including:

In this embodiment, the first abnormal data may be temperature and humidity data that do not satisfy the first preset condition in the dynamic environment temperature and humidity set, that is, temperature and humidity data whose values are higher or lower than those defined by the first preset condition in the dynamic environment temperature and humidity set.

In this embodiment, the first exception report may be an exception report generated according to the first exception data, and is a report used for recording temperature and humidity data of an exception.

In this embodiment, the first alarm instruction may be generated according to the first abnormality report, and is used to control the alarm device to perform a first alarm operation, where the first alarm operation is to alarm for temperature and humidity abnormality.

In this embodiment, the second abnormal data may be carbon dioxide monitoring data that does not satisfy the second preset condition in the carbon dioxide monitoring data set, that is, carbon dioxide monitoring data whose value in the carbon dioxide monitoring data set is higher or lower than a value defined by the second preset condition.

In this embodiment, the second anomaly report may be an anomaly report generated from the second anomaly data, which is a report of capnography data used to record anomalies.

In this embodiment, the second alarm instruction may be generated according to a second abnormality report, and is used to control the alarm device to perform a second alarm operation, where the second alarm operation is to alarm for carbon dioxide abnormality.

In this embodiment, the third anomaly data may be oxygen monitoring data that does not satisfy the third preset condition in the oxygen monitoring data set, that is, oxygen monitoring data whose value is higher or lower than a value defined by the third preset condition in the oxygen monitoring data set.

In this embodiment, the third exception report may be an exception report generated based on the third exception data, and may be a report for recording abnormal oxygen monitoring data.

In this embodiment, the third alarm command may be generated according to a third abnormal report, and is used to control the alarm device to perform a third alarm operation, where the third alarm operation is to alarm for an oxygen abnormality.

In this embodiment, the fourth abnormal data may be nitrogen monitoring data that does not satisfy the fourth preset condition in the nitrogen monitoring data set, that is, nitrogen monitoring data whose value is higher or lower than a value defined by the fourth preset condition in the nitrogen monitoring data set.

In this embodiment, the fourth anomaly report may be an anomaly report generated from the fourth anomaly data, which is a report of nitrogen monitoring data for recording anomalies.

In this embodiment, the fourth alarm instruction may be generated according to a fourth abnormality report, and is used to control the alarm device to perform a fourth alarm operation, where the fourth alarm operation is to alarm for nitrogen abnormality.

In this embodiment, the fifth abnormal data may be phosphine monitoring data that does not satisfy the fifth preset condition in the phosphine monitoring data set, that is, phosphine monitoring data whose value is higher or lower than that defined by the fifth preset condition in the phosphine monitoring data set.

In this embodiment, the fifth anomaly report may be an anomaly report generated from the fifth anomaly data, which is a report for recording anomalous phosphine monitoring data.

In this embodiment, the fifth alarm instruction may be generated according to a fifth abnormality report, and is used to control the alarm device to perform a fifth alarm operation, where the fifth alarm operation is to alarm for a phosphine abnormality.

The beneficial effects of the above technical scheme are: the different parameters are compared with the corresponding preset conditions, when the parameters do not meet the corresponding preset conditions, abnormal data in the different parameters are determined, corresponding abnormal reports are generated according to the abnormal data, and corresponding alarm instructions are generated according to the abnormal reports, so that the alarm device is controlled to perform corresponding alarm operation according to the alarm instructions, the alarm device is convenient to perform corresponding alarm operation in time when the abnormality is found, and the accuracy and timeliness of monitoring the grain condition are improved. Example 4

On the basis of embodiment 1, this embodiment provides an integrated multi-parameter monitoring control method for grain condition monitoring, and in step 1, acquire a grain monitoring area, and determine a monitoring route, and simultaneously, generate a control instruction based on the monitoring route, and control a target monitoring device to move to the grain monitoring area according to the control instruction, including:

obtaining a plurality of first driving routes from the first position to the second position based on the first position, the second position, the third position and grid coordinates, extracting route parameters of the first driving routes, and screening the first driving routes based on the route parameters and the driving speed of the target monitoring device to obtain monitoring routes, wherein the third position is avoided in the first driving routes;

and controlling the target monitoring device to monitor the grain at each position to be monitored in the grain monitoring area to be monitored based on the second driving route.

In this embodiment, the target image may be an image for recording the environment in which different locations inside the grain bin are located.

In this embodiment, the region distribution characteristics may represent the distribution conditions of different regions inside the granary in the granary interior 18636, specifically, the positions of the different regions and the states of grains present in the regions.

In this embodiment, the equal-region division may be the same size between each region.

In this embodiment, the first position may be a position that characterizes a grain monitoring area to be monitored in the grain warehouse. The second location may be a current location of the target monitoring device in the grain bin. The third location may be a specific location of the target obstacle in the grain bin.

In this embodiment, the target obstacle may be an obstacle existing inside the granary, and may specifically be a pillar or the like.

In this embodiment, the first travel route defines a path from the first location to the second location, and is not exclusive.

In this embodiment, the route parameter may be the length of the first travel route, the number of turns, and the like.

In this embodiment, the screening of the first travel route based on the route parameters and the travel speed of the object monitoring device may be a screening of the first travel route according to a travel duration of the object monitoring device on the first travel route.

In this embodiment, the region characteristic may be an area of the grain monitoring region, a shape of the region, and the like.

In this embodiment, the position point to be monitored may be a position at which the storage condition of the grain in the grain bin is specifically monitored.

In this embodiment, the second driving route may be a driving route of the target monitoring device in the grain monitoring area and is to pass through all the position points to be monitored.

In this embodiment, when the object monitoring device moves on the first travel route or the second travel route, the object monitoring device performs left-side steering as shown in fig. 3, and when the object monitoring device performs right-side steering as shown in fig. 4.

In the embodiment, when the third position is avoided, the target monitoring device is provided with the waterproof camera and the gyroscope, when the system detects, the advancing route can be pushed forwards according to the route set by the gyroscope, when an obstacle is encountered, the camera can be opened, the obstacle is identified, the avoiding mode is opened (the camera rotates in a certain direction), and the measurement is continued by bypassing the obstacle. The measurement can also be carried out by combining remote control and a camera, the front wheel fluctuates forwards, the steering gear rotates towards the left side, and the rear spiral type auxiliary propulsion is carried out to effectively avoid the obstacle and advance, as shown in figure 5.

The beneficial effects of the above technical scheme are: through obtaining the inside target image of granary, realize carrying out accurate effectual determination to the regional distribution characteristic inside the granary according to the target image, secondly, divide granary inside according to the regional distribution characteristic of confirming, and according to dividing the result to the target monitoring device, wait to detect the grain monitoring area of monitoring and the position of target barrier and carry out accurate effectual determination respectively, thereby realize carrying out accurate effectual structure to the first route of traveling, finally, filter the first route of traveling according to route parameter and target monitoring device's speed of traveling, and according to the screening result formulate the second route of traveling in the grain monitoring area, realize carrying out accurate effectual acquisition to the parameter of the grain of different positions in the grain monitoring area, guaranteed accuracy and the validity to grain monitoring. Example 5

On the basis of embodiment 1, this embodiment provides an integrated multi-parameter monitoring control method for grain condition monitoring, and in step 2, when condition monitoring is performed on target grains in a grain monitoring area, the method includes:

In this embodiment, the target grain bin is set in advance and is a grain bin for storing grains.

In this embodiment, the structural parameters may be the length, width and height of the target grain bin.

In this embodiment, the storage parameter may be the height and the existing form of the grain stored inside the target grain bin.

In this embodiment, the first three-dimensional model may be a three-dimensional simulation model corresponding to the target grain bin, which is constructed according to the structural parameters.

In this embodiment, the second three-dimensional simulation model may be a three-dimensional simulation model of grain stored inside the target grain bin constructed according to the storage parameters.

In this embodiment, the structural feature points may be co-located points between the first three-dimensional simulation model and the second three-dimensional simulation model, thereby facilitating the superimposition of the first three-dimensional simulation model and the second three-dimensional simulation model.

In this embodiment, the longitudinal depth may be a depth that characterizes grain stored inside the target grain bin.

In this embodiment, the monitoring requirement may be to characterize the monitoring strength and the monitoring severity of the grain stored in the target grain bin.

In this embodiment, the longitudinal insertion depth is used to represent the depth that the target monitoring device needs to be inserted into the target granary during operation, so that the grain condition of the grains stored in the target granary is monitored.

In this embodiment, the step division may be to divide the longitudinal insertion depth into different depth levels, thereby realizing monitoring of grains at different depths by the target monitoring device.

In this embodiment, the device control command is a command generated according to the longitudinal insertion depth and the monitoring time of the residence at each step depth, and is used to control the target monitoring device to monitor the grain.

In this embodiment, the multi-position monitoring may be implemented by monitoring parameters corresponding to grains at different positions in the target granary through the target monitoring device.

In this embodiment, the basic environmental data may be different parameters of the grain monitored by the target monitoring device, specifically, temperature and humidity, carbon dioxide, oxygen, nitrogen, phosphine, and the like.

In this embodiment, the base environment distribution map may be base environment data corresponding to grains at different positions inside the target granary.

In this embodiment, the reference storage condition may be a storage condition that is required to be satisfied during the storage of the grain, and may be, for example, a temperature of 10 degrees celsius.

In this embodiment, the abnormal base environment location is a grain storage location where base environment data representing grain at different locations within the target grain bin differs from a reference storage condition.

In this embodiment, the environment adjustment strategy making model is constructed by training the reference storage condition, and is used for making a corresponding environment parameter adjustment strategy when the storage condition of the food is abnormal.

In this embodiment, a schematic view of the target monitoring device inserted into the target grain bin to be tested is shown in fig. 6.

The beneficial effects of the above technical scheme are: the method comprises the steps of three-dimensionally scanning a target granary and grains stored in the target granary, respectively constructing corresponding three-dimensional models according to scanning results, splicing constructed unit models, accurately and effectively confirming the longitudinal insertion depth of the grains, determining each submergence distance and the residence time length of a target monitoring device according to the longitudinal insertion depth, finally accurately and effectively acquiring parameters corresponding to the grains at different positions, analyzing the obtained parameters, adjusting environmental parameters of the positions with abnormal basic environmental data in the target granary, guaranteeing storage conditions of the target granary for the grains, and simultaneously improving accurate and reliable understanding of grain conditions of the grains in the target granary through multiple parameters. Example 6

On the basis of embodiment 5, this embodiment provides an integrated multi-parameter monitoring control method for grain condition monitoring, and an environmental conditioning strategy formulation model is constructed based on training results, including:

obtaining an obtained environment regulation strategy formulation model, historical basic environment data and a corresponding historical environment regulation strategy, inputting the historical basic environment data into the environment regulation strategy formulation model for analysis, and obtaining a verification environment regulation strategy;

In this embodiment, the historical basic environment data and the corresponding historical environment adjustment policy are set in advance and verified.

In this embodiment, the verification of the environment adjustment policy may be to input the historical basic environment data into the environment adjustment policy making model to analyze, and then obtain a final environment adjustment policy given by the model.

In this embodiment, the difference parameter may be a difference between the historical environmental conditioning policy and the verification environmental conditioning policy.

In this embodiment, the target vulnerability may be a flaw in the environmental conditioning policy formulation model.

The beneficial effects of the above technical scheme are: the method has the advantages that accurate and effective verification of the established environment regulation strategy making model is achieved by acquiring historical basic environment data and the corresponding historical environment regulation strategy, and when the environment regulation strategy making model is unqualified, the environment regulation strategy making model is effectively optimized according to the obtained verification environment regulation strategy and the difference parameters of the historical environment regulation strategy, so that the reliability of the finally obtained environment regulation strategy is ensured, the accuracy of grasping the grain condition is improved, and the completeness of grain storage is ensured. Example 7

On the basis of the embodiment 1, the method further comprises the following steps:

calculating a data mean value of the pre-monitoring data based on the pre-monitoring data corresponding to each monitoring point;

；

wherein the content of the first and second substances,

a data mean representing pre-monitoring data;

representing the total data number of the pre-monitoring data;

representing the current pre-monitoring data;

is shown as

Pre-monitoring data;

calculating a monitoring estimation value of a grain monitoring area based on a data mean value of the pre-monitoring data;

；

wherein the content of the first and second substances,

representing a monitoring estimation value of a grain monitoring area;

representing a variance of the pre-monitoring data;

error factors are represented, and the value range is (0.01, 0.02);

setting an amplitude threshold value based on the monitoring estimation value, and setting an evaluation interval according to the amplitude threshold value and the monitoring estimation value;

when the grain monitoring area is monitored, the grain monitoring area is monitored based on the monitoring points of the probe of the detection sensor in the grain monitoring area.

In this embodiment, the amplitude threshold may be the maximum amplitude of the fluctuation above and below the monitoring evaluation value, for example, if the monitoring evaluation value is 10, the amplitude threshold is 2, and the evaluation interval is (8, 12)

In this embodiment, the monitorable point may be a point of acquisition by the probe sensor probe at the time of monitoring.

In this embodiment, the unmonitorable points may be points where the monitoring effect is useless.

In this embodiment, the number of the pre-monitoring data corresponds to the number of the monitoring points one to one.

The beneficial effects of the above technical scheme are: the grain monitoring method has the advantages that the monitoring points are set in the grain monitoring area, the monitoring points are monitored in advance based on the detection sensor probe, so that the pre-monitoring data are determined, the data mean value of the pre-monitoring data is calculated, the monitoring estimation value of the grain monitoring area is accurately calculated, the monitorable points can be accurately evaluated through the monitoring estimation value of the grain monitoring area, and the accuracy and effectiveness of the detection sensor probe in monitoring the grain monitoring area are improved. Example 8

An integrated multi-parameter monitoring control system for grain condition monitoring, as shown in fig. 7, comprises:

the monitoring module is used for determining a monitoring sequence for carrying out multi-parameter monitoring on target grains in the grain monitoring area, determining a target monitoring condition of each parameter, and meanwhile, carrying out condition monitoring on the target grains in the grain monitoring area based on the monitoring sequence and the monitoring condition;

In this embodiment, in the condition monitoring of the target grain in the grain monitoring area, the sensor module is included, as shown in fig. 8, and when the monitored data is processed and uploaded, as shown in fig. 9 to 10

The beneficial effects of the above technical scheme are: through confirming the grain monitoring area, realize effectively formulating the monitoring route to be convenient for control target monitoring devices moves and carries out condition monitoring to the grain monitoring area to target grain, and when the parameter of monitoring unsatisfied target monitoring condition, in time carry out corresponding warning operation, ensured the rate of accuracy of knowing the grain condition through many parameter monitoring, also improved convenience and efficiency to the grain monitoring.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims

1. An integrated multi-parameter monitoring control method for grain condition monitoring is characterized by comprising the following steps:

and step 3: and when the monitoring result of the grain monitoring area does not meet the target monitoring condition, ending the current condition monitoring process, generating an alarm instruction, and controlling an alarm device to alarm based on the alarm instruction.

2. The integrated multi-parameter monitoring and controlling method for grain condition monitoring according to claim 1, wherein in the step 2, the method comprises the following steps:

3. The integrated multi-parameter monitoring and controlling method for grain condition monitoring according to claim 1, wherein in the step 2, the condition monitoring of the grains in the grain monitoring area based on the monitoring sequence and the monitoring conditions comprises:

and when the phosphine monitoring data set meets a fifth preset condition, judging that the grain monitoring area is abnormal.

4. The integrated multi-parameter monitoring and controlling method for grain condition monitoring according to claim 1, wherein in the step 3, an alarm instruction is generated, and an alarm device is controlled to perform alarm operation based on the alarm instruction, and the method comprises the following steps:

when the nitrogen monitoring set does not meet a fourth preset condition, determining fourth abnormal data in the nitrogen monitoring set, generating a fourth abnormal report according to the fourth abnormal data, generating a fourth alarm instruction according to the fourth abnormal report, and controlling an alarm device to perform four alarm operations based on the fourth alarm instruction;

5. The integrated multi-parameter monitoring and controlling method for grain condition monitoring according to claim 1, wherein in the step 1, a grain monitoring area is obtained, a monitoring route is determined, meanwhile, a control instruction is generated based on the monitoring route, and a target monitoring device is controlled to move to the grain monitoring area according to the control instruction, and the method comprises the following steps:

6. The integrated multi-parameter monitoring and controlling method for grain condition monitoring according to claim 1, wherein in the step 2, when condition monitoring is performed on target grains in a grain monitoring area, the method comprises the following steps:

transmitting the basic environment data of the grains monitored by the target monitoring device to the management terminal based on the monitoring result, and analyzing the received basic environment data at different positions based on the management terminal to obtain a basic environment distribution map of the grains in the target granary;

7. The integrated multi-parameter monitoring control method for grain condition monitoring as claimed in claim 6, wherein the establishment of the environmental conditioning strategy formulation model based on the training results comprises:

8. The integrated multi-parameter monitoring and controlling method for grain condition monitoring according to claim 1, further comprising:

when a grain monitoring area is monitored, setting a plurality of monitoring points in the grain monitoring area, and pre-monitoring the monitoring points based on a probe of a detection sensor to obtain pre-monitoring data corresponding to each monitoring point;

calculating a data mean value of the pre-monitoring data based on the pre-monitoring data corresponding to each monitoring point, and meanwhile, calculating a monitoring estimation value of a grain monitoring area based on the data mean value of the pre-monitoring data;

9. The integrated multi-parameter monitoring control method for grain condition monitoring according to claim 8, wherein a plurality of monitoring points are set in a grain monitoring area according to an evaluation interval to evaluate and determine a monitorable point, comprising:

10. The utility model provides a be used for a integration multi-parameter monitoring control system that is used for grain condition to monitor which characterized in that includes:

the monitoring route confirming module is used for acquiring the grain monitoring area, determining a monitoring route, generating a control instruction based on the monitoring route, and controlling the target monitoring device to move to the grain monitoring area according to the control instruction;