A 3D vision machine learning object recognition robot

Abstract

The present invention belongs to the field of robot technology, and specifically is a target recognition robot of 3D vision machine learning. The target recognition robot of 3D vision machine learning of the present invention comprises: a chassis; wheels; a conversion device and a 3D face recognition device. Through the mutual cooperation between the wheels and the chassis, the inspection robot can move freely in an industrial park or an industrial park. At the same time, an existing power control system and a battery can be arranged in the chassis and connected to the wheels to control the steering and start and stop of the wheels. During the inspection of the inspection robot in the park, the surrounding environment is identified. When the present invention is in an indoor environment, the function can be switched to disinfect the room. At the same time, the 3D face recognition device on the upper end of the conversion device can screen the staff in the park, and alarm the unregistered persons who enter the park, and transmit the information to the security room.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular is a target recognition robot for 3D visual machine learning. Background Art

[0002] As a key technology of intelligent manufacturing facing the future, robots have the advantages of strong controllability and high flexibility, and are widely used in the fields of collaborative handling and object grasping. With the increasing demands of people in production and life, people have made further research on how robots can improve work efficiency and serve human life.

[0003] As people's needs continue to increase, 3D visual target recognition robots with learning functions have gradually been used in patrol robots in industries or industrial parks. Due to the high population density in the parks, a disinfection function is added to the patrol robots. As the patrol robots move in the park, the workload of manual disinfection can be reduced, which is an effective disinfection measure. Therefore, the patrol robots are required to have recognition functions for different indoor and outdoor areas.

[0004] In view of this, in order to overcome the above-mentioned technical problems, the present invention designs and develops a target recognition robot based on 3D vision machine learning to solve the above-mentioned technical problems. Summary of the invention

[0005] The technical problem to be solved by the present invention is: a 3D vision machine learning target recognition robot provided by the present invention solves the problem of inspection robots in industrial or industrial parks identifying indoor and outdoor areas of the park and identifying and recording unregistered outsiders.

[0006] The present invention provides a 3D visual machine learning target recognition robot, comprising:

[0007] Chassis; the chassis is a rectangular body;

[0008] Wheels; wheels are rotatably connected to the side walls at both ends of the outer surface of the chassis;

[0009] A conversion disinfection device; the conversion disinfection device is fixedly connected to the upper end of the chassis; the conversion disinfection device is used to switch functions according to different park environments;

[0010] 3D face recognition device; the upper end of the conversion and disinfection device is fixedly connected to the 3D face recognition device; the 3D face recognition device is provided with a depth camera inside;

[0011] A central control system is arranged inside the chassis and is electrically connected to the depth camera.

[0012] Preferably, the conversion disinfection device comprises:

[0013] Fixed rod; there are three fixed rods; the three fixed rods are evenly fixedly connected to the upper surface of the chassis along the circumferential direction;

[0014] A spray barrel; a spray barrel is arranged in the middle of the three fixing rods; the spray barrel is cylindrical; the lower surface of the spray barrel is rotatably connected to the upper surface of the chassis through a bearing;

[0015] Spray head; at least one spray head is fixedly connected to the outer surface of the spray barrel;

[0016] Placement groove; the inner surfaces of the three fixing rods are provided with placement grooves on the same plane corresponding to the nozzle;

[0017] Motor; the lower end of the 3D face recognition device is fixedly connected to a motor;

[0018] Gear No. 1; the lower end of the motor is fixedly connected to gear No. 1 via a transmission shaft;

[0019] The second gear; the outer surface of the first gear is meshed with the second gear;

[0020] A stabilizing rod; the upper surface of the second gear is fixedly connected with a stabilizing rod; the other end of the stabilizing rod is fixedly connected to the lower surface of the 3D face recognition device;

[0021] Annular rack; the upper end of the spray barrel is fixedly connected with an annular rack; the second gear is meshed with the annular rack;

[0022] A stirring rod; a stirring rod is fixedly connected to the middle position of the lower surface of the first gear; the stirring rod passes through the upper end of the spray barrel; the stirring rod passes through the outer surface of the spray barrel and is fixedly connected to a sealing gasket; the free end of the stirring rod is rotatably connected to the lower end of the inner surface of the spray barrel through a bearing;

[0023] Stirrer blades; at least one stirrer blade is fixedly connected to the outer surface of the stirring rod.

[0024] Preferably, the cross-sections of the three fixing rods are all fan-shaped.

[0025] Preferably, rubber blocks are fixedly connected to the upper and lower ends of both sides of the three placement grooves; and the outer surfaces of the upper and lower corresponding rubber blocks are directly connected.

[0026] Preferably, a feed port is provided at the upper end of the outer surface of the spray barrel.

[0027] Preferably, the height of the three fixing rods is higher than the height of the spray barrel.

[0028] Preferably, the outer surfaces of the three fixing rods are fixedly connected with solar panels; and the three solar panels are electrically connected to the battery.

[0029] Preferably, outer surfaces of the three fixing rods are fixedly connected with light strips; and the light strips are electrically connected to the battery.

[0030] Preferably, the front ends of the plurality of agitator blades are all curved.

[0031] Preferably, the plurality of spray heads are fixedly connected to the lower end of the side wall of the spray barrel.

[0032] The beneficial effects of the present invention are as follows:

[0033] The present invention provides a 3D vision machine learning target recognition robot, which can move freely in an industrial park or industrial park through the cooperation between wheels and chassis. At the same time, an existing power control system and a battery can be arranged in the chassis and connected to the wheels to control the steering and start and stop of the wheels, so that the inspection robot can move freely indoors and outdoors in the park. During the inspection of the inspection robot in the park, disinfectant can be sprayed indoors. At the same time, the 3D face recognition device on the top of the disinfection device can screen the staff in the park, and alarm the unregistered persons who enter the park, and transmit the information to the security room. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The present invention will be further described below in conjunction with the accompanying drawings.

[0035] Figure 1 It is the main figure of the present invention;

[0036] Figure 2 is a cross-sectional view of the conversion assembly of the present invention;

[0037] Figure 3 is a schematic structural diagram of the agitator blade of the present invention;

[0038] In the figure: chassis 1, wheels 2, conversion and disinfection device 3, fixing rod 301, spray barrel 302, nozzle 303, placement slot 304, motor 305, gear No. 1 306, gear No. 2 307, stabilizing rod 308, annular rack 309, stirring rod 310, stirring blade 311, 3D face recognition system 4, rubber block 5, feed port 6, solar panel 7, light strip 8. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0041] The embodiment of the present invention solves the problem of inspection robots in industries or industrial parks spraying disinfectants indoors and recording unregistered outsiders by providing a 3D vision machine learning target recognition robot.

[0042] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0043] The present invention provides a 3D visual machine learning target recognition robot, comprising:

[0044] Chassis 1; the chassis 1 is a rectangular body;

[0045] Wheels 2; both side walls of the outer surface of the chassis 1 are rotatably connected to wheels 2;

[0046] A conversion disinfection device 3; the conversion disinfection device 3 is fixedly connected to the upper end of the chassis 1; the conversion disinfection device 3 is used to switch functions according to different park environments;

[0047] 3D face recognition device 4; the upper end of the conversion and disinfection device 3 is fixedly connected with the 3D face recognition device 4; the 3D face recognition device is provided with a depth camera inside;

[0048] The chassis 1 is provided with a central control system inside and is electrically connected to the depth camera.

[0049] In the present invention, the inspection robot can move freely in an industrial park or industrial park through the cooperation between the wheels 2 and the chassis 1. At the same time, an existing power control system and a battery can be arranged in the chassis 1 and connected to the wheels 2, so as to control the steering and start and stop of the wheels 2, so that the inspection robot can move freely indoors and outdoors in the park; and during the inspection process, the depth camera can capture the surrounding environment video and transmit the video data to the central control system; the central control system can analyze the video data, record and save the surface damage defects of the surrounding environment facilities such as road signs and roads, and provide them for maintenance personnel to review;

[0050] At the same time, when the inspection robot is patrolling in the park, the central control system analyzes the video data and finds that the inspection robot is indoors, so it can control the conversion disinfection device 3 to disinfect the room. When the inspection robot is outdoors, the central control system controls the conversion disinfection device 3 to close, and the 3D face recognition device 4 on the top of the conversion disinfection device 3 can screen the staff in the park. At the same time, the 3D face recognition device 4 is installed with an existing storage chip, and the information of the staff in the park can be captured by the depth camera and input into the storage chip in the 3D face recognition device 4. When the inspection robot is working outdoors in the park, the faces of the people in the park are scanned and recognized. When unregistered people enter the park, the inspection robot records and saves the faces of the unregistered people, and transmits the location information and personnel information to the security room for alarm processing. At the same time, the storage chip enables the inspection robot to memorize and learn different roads in the park, as well as different indoor and outdoor environments and roads, and store the data in the storage chip.

[0051] As a specific embodiment of the present invention, the conversion disinfection device 3 includes:

[0052] Fixed rods 301; there are three fixed rods 301; the three fixed rods 301 are evenly fixedly connected to the upper surface of the chassis 1 along the circumferential direction.

[0053] Spraying barrel 302; a spraying barrel 302 is provided in the middle of the three fixing rods 301; the spraying barrel 302 is cylindrical; the lower surface of the spraying barrel 302 is rotatably connected to the upper surface of the chassis 1 through a bearing;

[0054] Spray head 303; at least one spray head 303 is fixedly connected to the outer surface of the spray barrel 302;

[0055] Placement groove 304; The inner surface of the three fixing rods 301 and the same plane corresponding to the nozzle 303 are all provided with a placement groove 304;

[0056] Motor 305; The lower end of the 3D face recognition device 4 is fixedly connected to the motor 305;

[0057] The first gear 306; the lower end of the motor 305 is fixedly connected to the first gear 306 via a transmission shaft;

[0058] The second gear 307; the outer surface of the first gear 306 is meshed with the second gear 307;

[0059] Stabilizing rod 308; the upper surface of the second gear 307 is fixedly connected with the stabilizing rod 308; the other end of the stabilizing rod 308 is fixedly connected to the lower surface of the 3D face recognition device 4;

[0060] Annular rack 309; the upper end of the spray barrel 302 is fixedly connected with an annular rack 309; the second gear 307 is meshed with the annular rack 309;

[0061] A stirring rod 310; the stirring rod 310 is fixedly connected to the middle position of the lower surface of the first gear 306; the stirring rod 310 passes through the upper end of the spray barrel 302; the stirring rod 310 passes through the outer surface of the spray barrel 302 and is fixedly connected to a sealing gasket; the free end of the stirring rod 310 is rotatably connected to the lower end of the inner surface of the spray barrel 302 through a bearing;

[0062] Stirring blades 311 : At least one stirring blade 311 is fixedly connected to the outer surface of the stirring rod 310 .

[0063] By adopting the above technical solution, when the inspection robot enters the room during the inspection in the industrial park or industrial park, the motor 305 controls the transmission rod to drive the No. 1 gear 306 to rotate, and then the No. 1 gear 306 drives the No. 2 gear 307 and the annular rack 309 to rotate, and then the spray barrel 302 drives the nozzle 303 on its outer surface to rotate until the nozzle 303 rotates out of the placement groove 304, and then starts to spray the disinfectant. The nozzle 303 is made of an automatic atomizing nozzle 303, and an electric valve is installed behind each nozzle 303. A controller is installed in the chassis 1, and the controller is used Control the switch of the electric valve. When it is necessary to spray disinfectant indoors, the controller controls the electric valve to open. The disinfectant flows to the nozzle 303 by its own gravity, so that the disinfectant is sprayed out from the nozzle 303. At the same time, a micro air pump is installed at the upper end of the spray barrel 302. The micro air pump is also electrically connected to the controller. The controller controls the start and stop of the micro air pump. The micro air pump takes air into the spray barrel 302. Because the density of gas is smaller than that of liquid, the air entering the spray barrel 302 floats above the disinfectant. At the same time, under the action of air pressure, the disinfectant is further driven to spray out from the nozzle 303.

[0064] The spray barrel 302 is set to be cylindrical because the volume of the cylinder is the largest under the same material, so it can load more disinfectant than other shapes, so that the inspection robot can spray the disinfectant in a single area.

[0065] Considering that the time for personnel inspection in the outdoor environment is relatively long, and the disinfectant in the spray barrel 302 is diluted with water, the disinfectant in the spray barrel 302 will be stratified after being left still. After the inspection robot enters the room, the motor 305 can drive the stirring rod 310 and the stirring blade 311 to stir the disinfectant in the spray barrel 302 through the first gear 306 during the rotation process, so that the disinfectant is less stratified, thereby improving the working efficiency of the present invention;

[0066] The annular rack 309 has the largest diameter, followed by the No. 2 gear 307, which is in the middle, and the No. 1 gear 306 has the smallest diameter. With this arrangement, the annular rack 309 rotates one-third of a circle, and the No. 1 gear 306 rotates several circles through the transmission of the No. 2 gear 307, so that the disinfectant in the spray barrel 302 can be stirred during the process of the nozzle 303 completely rotating out of the placement slot 304. At the same time, the spray barrel 302 generates some centrifugal force during the rotation process, so as to cooperate with the agitator blades 311 to stir the disinfectant in the spray barrel 302, and the stabilizing rod 308 can ensure that the No. 2 gear 307 can work smoothly during the gear transmission process;

[0067] At the same time, when the disinfectant is mixed at the beginning, the disinfectant and diluent in different proportions can be poured into the spray barrel 302, and the motor 305 can be used to make the spray barrel 302 rotate multiple times following the annular rack 309, so as to preliminarily stir, mix and dilute the disinfectant inside the spray barrel 302;

[0068] When the inspection robot moves outside the park, the motor 305 starts, and then the spray barrel 302 drives the nozzle 303 on its outer surface to rotate until the nozzle 303 is completely rotated into the placement groove 304, thereby reducing the blockage of the nozzle 303 caused by floating objects such as dust from the outside.

[0069] As a specific implementation of the present invention, the cross sections of the three fixing rods 301 are all fan-shaped.

[0070] The cross section of the fixing rod 301 is set to a fan-shaped structure, so that the arc formed by the inner side of the outer surface of the three fixing rods 301 fits with the outer surface of the spray barrel 302, so that the spray barrel 302 will not be hindered during the rotation process.

[0071] As a specific implementation of the present invention, the upper and lower ends of both sides of the three placement grooves 304 are fixedly connected with rubber blocks 5; the outer surfaces of the upper and lower rubber blocks 5 corresponding to each other are directly connected.

[0072] By adopting the above technical solution, when the spray barrel 302 drives the nozzle 303 on its outer surface to rotate and enter the placement groove 304, it can pass through the corresponding rubber blocks 5 in pairs. Since the material of the rubber blocks 5 is relatively soft, it will not cause any obstruction to the nozzle 303. After the nozzle 303 completely enters the placement groove 304, the two opposite rubber blocks 5 can also effectively seal the notch of the placement groove 304, thereby preventing external dust and other pollutants from entering the placement groove 304 and causing blockage and pollution to the nozzle 303.

[0073] As a specific embodiment of the present invention, a feed port 6 is provided on the upper end of the outer surface of the spray barrel 302 .

[0074] In order to ensure that the disinfectant in the spray barrel 302 can be replenished, a feed port 6 is provided at the upper end of the spray barrel 302, so that the disinfectant in the spray barrel 302 can be replenished when the disinfectant in the spray barrel 302 is used up. After the replenishment is completed, the feed port 6 can be blocked by a rubber plug. At the same time, the rubber plug can have a good sealing effect. Before the disinfectant needs to be replenished, the rubber plug can be pulled out to discharge the gas flushed into the spray barrel 302 by the micro air pump.

[0075] As a specific implementation of the present invention, the height of the three fixing rods 301 is higher than the height of the spray barrel 302 .

[0076] In the present invention, the height of the three fixing rods 301 is set higher than the height of the spray barrel 302, so as to leave enough installation space for the annular rack 309 to work, and also make it convenient for the staff to replenish the disinfectant in the spray barrel 302 through the feed port 6.

[0077] As a specific implementation of the present invention, the outer surfaces of the three fixing rods 301 are fixedly connected with solar panels 7; and the three solar panels 7 are electrically connected to the battery.

[0078] The solar panel 7 converts the solar radiation energy into electrical energy and stores it in the battery.

[0079] As a specific implementation of the present invention, the outer surfaces of the three fixing rods 301 are fixedly connected with light strips 8; the light strips 8 are electrically connected to the battery.

[0080] A luminous light strip 8 is added to the outer surface of the fixed rod 301 to protect the present invention from being discovered by people in a dark basement in the park or when working at night, thereby preventing people from driving motor vehicles or non-motor vehicles and colliding with the present invention due to negligence. During the brighter sky period during the day, the luminous light is turned off.

[0081] As a specific implementation of the present invention, the front ends of the plurality of agitator blades 311 are all curved.

[0082] According to the above technical solution, the contact area between the agitator blade 311 and the disinfectant is increased, thereby being more conducive to stirring.

[0083] As a specific implementation of the present invention, the plurality of spray heads 303 are all fixedly connected to the lower end of the side wall of the spray barrel 302 .

[0084] The nozzle 303 is arranged at the lower end of the spray barrel 302 , so that the disinfectant in the spray barrel 302 can be fully sprayed out from the spray barrel 302 through the nozzle 303 , thereby reducing the residual disinfectant in the spray barrel 302 .

[0085] Working principle: In the present invention, the inspection robot can move freely in an industrial park or industrial park through the cooperation between the wheels 2 and the chassis 1. At the same time, an existing power control system and a battery can be arranged in the chassis 1 and connected with the wheels 2 to control the steering and start and stop of the wheels 2, so that the inspection robot can move freely indoors and outdoors in the park;

[0086] During the inspection process in the industrial park or industrial park, when the inspection robot enters the room, the motor 305 controls the transmission rod to drive the No. 1 gear 306 to rotate, and then the No. 1 gear 306 drives the No. 2 gear 307 and the annular rack 309 to rotate, and then the spray barrel 302 drives the nozzle 303 on its outer surface to rotate until the nozzle 303 rotates out of the placement groove 304, and then starts to spray the disinfectant. The nozzle 303 is made of an automatic atomizing nozzle 303, and an electric valve is installed behind each nozzle 303. A controller is installed in the chassis 1, and the controller is used to control the switch of the electric valve. When the disinfectant needs to be sprayed indoors, the controller controls the electric valve to open, and the disinfectant is sprayed by its own gravity. , so that the disinfectant flows to the nozzle 303, so that the disinfectant is sprayed out from the nozzle 303. At the same time, a micro air pump is installed at the upper end of the spray barrel 302. The micro air pump is also electrically connected to the controller. The controller controls the start and stop of the micro air pump. The micro air pump takes air into the spray barrel 302. Because the density of the gas is smaller than that of the liquid, the air entering the spray barrel 302 floats above the disinfectant. At the same time, under the action of air pressure, the disinfectant is further driven to spray out from the nozzle 303. The spray barrel 302 is set to a cylindrical shape because the volume of the cylinder is the largest under the same material. Compared with other shapes, more disinfectants can be loaded, so that the area where the inspection robot sprays the disinfectant at a time is increased. Considering that the present invention is carried out outdoors for personnel The inspection time is relatively long, and the disinfectant in the spray barrel 302 is a disinfectant diluted with water. At this time, the disinfectant in the spray barrel 302 will produce stratification after standing still. After the inspection robot enters the room, the motor 305 can drive the stirring rod 310 and the stirring blade 311 to stir the disinfectant in the spray barrel 302 through the No. 1 gear 306 during the rotation process, so that the disinfectant reduces the stratification phenomenon, thereby improving the working efficiency of the present invention. The annular rack 309 has the largest diameter, followed by the No. 2 gear 307 with a diameter in the middle, and the No. 1 gear 306 has the smallest diameter. Through such an arrangement, the annular rack 309 rotates one-third of a circle, and the No. 1 gear 306 rotates several circles through the transmission of the No. 2 gear 307. In this way, the disinfectant in the spray barrel 302 can be stirred during the process of the nozzle 303 completely rotating out of the placement groove 304. At the same time, the spray barrel 302 will generate some centrifugal force during the rotation process, so as to cooperate with the agitator blade 311 to stir the disinfectant in the spray barrel 302, and the stabilizing rod 308 can ensure that the second gear 307 can work smoothly during the gear transmission process. At the same time, when the disinfectant is mixed at the beginning, the disinfectant and the diluent in different proportions required can be poured into the spray barrel 302, and the motor 305 can be used to make the spray barrel 302 follow the annular rack 309 to rotate for multiple circles, so as to preliminarily stir, mix and dilute the disinfectant in the spray barrel 302;

[0087] When the inspection robot moves outside the park, the motor 305 is started, and then the spray barrel 302 drives the nozzle 303 on its outer surface to rotate until the nozzle 303 is completely rotated into the placement groove 304, thereby reducing the blockage of the nozzle 303 caused by floating objects such as dust from the outside;

[0088] The 3D face recognition device 4 at the top of the conversion and disinfection device 3 can screen the staff in the park. At the same time, the 3D face recognition device 4 is equipped with an existing storage chip, and the information of the staff in the park can be input into the storage chip in the 3D face recognition device 4. When the inspection robot works outdoors in the park, the faces of the people in the park are scanned and recognized. When unregistered people enter the park, the inspection robot records and saves the faces of the unregistered people, and transmits the location information and personnel information to the security room for alarm processing. At the same time, the storage chip enables the inspection robot to memorize and learn different roads in the park, as well as different indoor and outdoor environments and roads, and store the data in the storage chip.

[0089] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A 3D visual machine learning target recognition robot, characterized in that: include: Chassis (1); the chassis (1) is a rectangular body; Wheels (2); the side walls at both ends of the outer surface of the chassis (1) are rotatably connected to the wheels (2); A conversion disinfection device (3); the conversion disinfection device (3) is fixedly connected to the upper end of the chassis (1); the conversion disinfection device (3) is used to switch functions according to different park environments; 3D face recognition device (4); the upper end of the conversion and disinfection device (3) is fixedly connected to the 3D face recognition device (4); a depth camera is arranged inside the 3D face recognition device; The chassis (1) is provided with a central control system inside and is electrically connected to the depth camera; The conversion disinfection device (3) comprises: Fixed rods (301); there are three fixed rods (301); the three fixed rods (301) are evenly fixedly connected to the upper surface of the chassis (1) along the circumferential direction; A spray barrel (302); a spray barrel (302) is arranged between the three fixing rods (301); the spray barrel (302) is cylindrical; the lower surface of the spray barrel (302) is rotatably connected to the upper surface of the chassis (1) via a bearing; Spray head (303); at least one spray head (303) is fixedly connected to the outer surface of the spray barrel (302); A placement groove (304); the inner surfaces of the three fixing rods (301) are provided with a placement groove (304) on the same plane corresponding to the nozzle (303); Motor (305); The lower end of the 3D face recognition device (4) is fixedly connected to the motor (305); A first gear (306); the lower end of the motor (305) is fixedly connected to the first gear (306) via a transmission shaft; A second gear (307); the outer surface of the first gear (306) is meshed with the second gear (307); A stabilizing rod (308); the upper surface of the second gear (307) is fixedly connected with the stabilizing rod (308); the other end of the stabilizing rod (308) is fixedly connected to the lower surface of the 3D face recognition device (4); annular rack (309); the upper end of the spray barrel (302) is fixedly connected with an annular rack (309); the second gear (307) is meshed with the annular rack (309); A stirring rod (310); the stirring rod (310) is fixedly connected to the middle position of the lower surface of the first gear (306); the stirring rod (310) passes through the upper end of the spray barrel (302); the stirring rod (310) passes through the outer surface of the spray barrel (302) and is fixedly connected to a sealing gasket; the free end of the stirring rod (310) is rotatably connected to the lower end of the inner surface of the spray barrel (302) through a bearing; Stirring blades (311); at least one stirring blade (311) is fixedly connected to the outer surface of the stirring rod (310).

2. A 3D vision machine learning target recognition robot according to claim 1, characterized in that: The cross sections of the three fixing rods (301) are all fan-shaped.

3. The 3D vision machine learning target recognition robot according to claim 1, characterized in that: The upper and lower ends of both sides of the three placement grooves (304) are fixedly connected with rubber blocks (5); the outer surfaces of the upper and lower rubber blocks (5) corresponding to each other are directly connected.

4. The 3D vision machine learning target recognition robot according to claim 1, characterized in that: A feed inlet (6) is provided at the upper end of the outer surface of the spray barrel (302).

5. The 3D vision machine learning target recognition robot according to claim 1, characterized in that: The heights of the three fixing rods (301) are higher than the height of the spraying barrel (302).

6. The 3D vision machine learning target recognition robot according to claim 1, characterized in that: The outer surfaces of the three fixing rods (301) are all fixedly connected with solar panels (7); and the three solar panels (7) are electrically connected to the storage battery.

7. The 3D vision machine learning target recognition robot according to claim 1, characterized in that: The outer surfaces of the three fixing rods (301) are all fixedly connected with light strips (8); the light strips (8) are electrically connected to the battery.

8. The 3D vision machine learning target recognition robot according to claim 1, characterized in that: The front ends of the plurality of agitator blades (311) are all curved.

9. The 3D vision machine learning target recognition robot according to claim 1, characterized in that: The plurality of spray heads (303) are all fixedly connected to the lower end of the side wall of the spray barrel (302).

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