All-terrain intelligent acquisition vehicle and acquisition method based on machine vision

Abstract

The invention provides an all-terrain intelligent acquisition vehicle based on machine vision and an acquisition method, and relates to the field of computer vision. Comprising a six-degree-of-freedom mechanical arm, a machine vision module, a control module, a chassis, a collection box fixedly arranged on the upper surface of the chassis and a wheel module fixedly arranged on the lower surface of the chassis. The machine vision module is used for shooting and identifying a target block, generating a target block topographic map and acquiring an acquisition target in real time; the control module plans a vehicle driving path and controls acquisition according to the topographic map; the wheel module comprises four tire assemblies and two power assemblies, and the control module adjusts the wheel type, the transverse and longitudinal distance between tires, the gravity center height and the wheel number according to the road condition of the selected vehicle running path. The machine vision module is arranged on the collecting vehicle, terrain surveying and collecting target searching are achieved, the collecting vehicle is designed to be a multifunctional vehicle with the adjustable tire distance, the adjustable gravity center, the adjustable wheel number and the replaceable tire types, and all-terrain collecting of one vehicle is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of computer vision, and in particular to an all-terrain intelligent data collection vehicle and a data collection method based on machine vision. Background Art

[0002] Machine vision uses machines to simulate human visual functions to perform various measurement and judgment tasks. It can improve the flexibility and degree of automation of production. It is a branch of artificial intelligence technology that has developed rapidly in recent years. It is currently widely used in manufacturing, retail, healthcare, transportation and other fields.

[0003] Currently, most agricultural collection processes require manpower to conduct site surveys in advance and make collection plans based on the site type, including selecting suitable collection vehicles, configuring multiple models of collection vehicles, and manual surveys, which all require costs; therefore, if there is an all-terrain collection vehicle equipped with a machine vision system, it can theoretically automatically adjust the vehicle according to the detected terrain to adapt to the ground environment to complete the collection work, without the need for advance site surveys and the configuration of multiple different models of collection vehicles. Summary of the invention

[0004] The purpose of the present invention is to provide an all-terrain intelligent data collection vehicle and a data collection method based on machine vision. By configuring a machine vision module on the vehicle body to conduct terrain survey on the collection area and then adjusting the tire position, center of gravity height, etc. of the vehicle, one data collection vehicle can meet the all-terrain data collection needs and significantly improve work efficiency.

[0005] To achieve the above object, the present invention proposes the following technical solutions:

[0006] In the first aspect, an all-terrain intelligent collection vehicle based on machine vision is proposed, including a machine vision module, a six-degree-of-freedom mechanical arm, a collection box, a chassis and wheel module, and a control module;

[0007] The collection box is fixedly mounted on the upper surface of the chassis and is configured as a top opening structure that is retractable in the vertical direction; the six-degree-of-freedom robotic arm is fixedly mounted in the collection box, and the free end of the hand extends out from the top opening of the collection box;

[0008] The machine vision module is fixedly mounted on the free end of the hand of the six-degree-of-freedom robotic arm, and the machine vision module and the six-degree-of-freedom robotic arm are controlled and connected to the control module; the machine vision module is used to shoot and identify the target block to generate a target block topographic map, so that the control module plans the vehicle driving path according to the target block topographic map; wherein the target block is the set shooting range of the machine vision module, and the area of ​​the target block does not exceed the area of ​​the acquisition area; and the machine vision module is used to obtain the acquisition target of the driving direction of the acquisition vehicle in real time during the vehicle driving process, so that the control module controls the six-degree-of-freedom robotic arm to collect;

[0009] The wheel module is arranged below the chassis and includes four tire assemblies and two power assemblies;

[0010] The tire assembly at least comprises a tire mechanism, a shaft transmission mechanism, and a power steering mechanism for connecting the tire mechanism and the shaft transmission mechanism, wherein the shaft transmission mechanism has the freedom to extend and retract along its axial direction on a plane;

[0011] The tire mechanism at least comprises a pair of coaxially arranged first tires and a first telescopic portion;

[0012] Define the direction of the first tire close to the first telescopic portion as the first side, and the direction away from the first telescopic portion as the second side, then a first connecting shaft is provided through the central axis of the first tire, the end of the first connecting shaft protruding from the first side is provided as a threaded shaft segment, the end of the first connecting shaft protruding from the second side is provided as a first sleeve shaft segment with a threaded inner wall, and the threaded shaft segment of the first tire coaxially fixed in the tire mechanism is adapted and fixedly connected with the first sleeve shaft segment of the adjacent first tire;

[0013] The first telescopic part is configured as a first telescopic drive shaft, and its telescopic direction is perpendicular to the telescopic direction of the shaft transmission mechanism; the end of the first telescopic part close to the first tire is configured as a second sleeve shaft section with internal threads adapted to the first connecting shaft threaded shaft section of the first tire, and the second sleeve shaft section is adapted and fixedly connected to the first connecting shaft threaded shaft section of the first tire; the end of the first telescopic part away from the first tire is fixedly connected to a first transmission gear and then fixedly connected to the power steering mechanism, and the first transmission gear is coaxial with the first telescopic part;

[0014] The shaft transmission mechanism comprises a telescopic power transmission shaft, a rolling bearing seat and a second driven bevel gear; the rolling bearing seat is sleeved on the telescopic power transmission shaft, and is used to fix the shaft transmission mechanism to the chassis; one end of the telescopic power transmission shaft is fixedly connected to an end of the power steering mechanism away from the first telescopic portion, and the other end is fixedly connected to the axis of the second driven bevel gear;

[0015] The power steering mechanism is configured as a three-section power steering knuckle mechanism formed by sequentially connecting cross shafts, including an input knuckle, a transition knuckle and an output knuckle, wherein the input knuckle is fixedly connected to the telescopic power transmission shaft, and the output knuckle is fixedly connected to the first telescopic drive shaft; the power steering mechanism is used to make the transmission direction of the telescopic power transmission shaft turn 90°;

[0016] The second driven bevel gear is connected to the power assembly by power, and the power assembly is started to drive the second driven bevel gear, thereby driving the retractable power transmission shaft, the power steering mechanism, the first retractable part and the first tire to rotate;

[0017] The two power assemblies are symmetrically arranged below the chassis, respectively controlling the front and rear tires of the all-terrain intelligent collection vehicle on the same side, and any power assembly includes a motor, a motor mounting seat, a driving bevel gear assembly, a gear transmission shaft and a second driving bevel gear that are controlled and connected to the control module, and the driving bevel gear assembly includes a first driving bevel gear and a first driven bevel gear; the motor is fixedly connected to the chassis via the motor mounting seat, the motor shaft is fixedly connected to the first driving bevel gear in the vertical direction, the first driven bevel gear is axially fixedly connected to one end of the gear transmission shaft, and the other end of the gear transmission shaft is fixedly connected to the second driving bevel gear; the second driving bevel gear is respectively driven and meshed with the second driven bevel gear of the central shaft transmission mechanism of the front and rear tire assemblies of the all-terrain intelligent collection vehicle on the same side, and the transmission directions of the two second driven bevel gears are opposite; the driving bevel gear assembly is used to convert the transmission of the motor in the vertical direction into the transmission in the horizontal direction;

[0018] The power assembly is started under the control of the control module, driving the active bevel gear combination and the second active bevel gear transmission, driving the second driven bevel gear of the central axis transmission mechanism of the front and rear tire assemblies on the same side of the all-terrain intelligent collection vehicle to rotate in the opposite direction, and then driving the first tire of the front and rear tire assemblies on the same side of the all-terrain intelligent collection vehicle to rotate in the same direction through the retractable power transmission shaft, the power steering mechanism, and the first retractable drive shaft.

[0019] Furthermore, the tire mechanism also includes a plurality of gear combinations and tire combinations corresponding to the number of gear combinations, and the gear combinations cooperate with the tire combinations to expand the number of tires of the all-terrain intelligent collection vehicle;

[0020] The gear assembly comprises a gear assembly frame fixed to the chassis, and two mutually meshing second transmission gears and a third transmission gear fixed to the axis by the gear assembly frame; the second transmission gear is meshed with the first transmission gear, and the first transmission gear, the second transmission gear and the third transmission gear are located on the same plane;

[0021] The tire assembly comprises a pair of coaxially arranged second tires and a second telescopic portion, wherein the second tire is fixedly connected to the third transmission gear via the second telescopic portion;

[0022] The direction of the second tire close to the second telescopic portion is defined as the third side, and the direction away from the second telescopic portion is defined as the fourth side. A second connecting shaft is provided through the central axis of the second tire. The structure of the second connecting shaft is the same as that of the first connecting shaft. The two coaxially fixed second tires are adapted and fixedly connected to the first sleeve shaft section through the threaded shaft section of the second connecting shaft.

[0023] The second telescopic part is configured as a second telescopic driving shaft, and its telescopic direction is the same as and synchronized with the telescopic direction of the first telescopic driving shaft; one end of the second telescopic part close to the second tire is configured as a third sleeve shaft segment with an internal thread that is adapted to the threaded shaft segment of the second connecting shaft, and the third sleeve shaft segment is adapted and fixedly connected to the threaded shaft segment of the second connecting shaft; one end of the second telescopic part away from the second tire is fixedly connected to the axis center of the third transmission gear.

[0024] Furthermore, a first fixing hole is penetrated and symmetrically arranged on the outer wall of the first sleeve shaft section of the first connecting shaft, and a second fixing hole is arranged on the threaded shaft section of the first connecting shaft at a position corresponding to the first fixing hole after the threaded shaft section of the first connecting shaft is matched with the first sleeve shaft section, and the first fixing hole and the second fixing hole are used for fastening the threaded shaft section with the first sleeve shaft section by fixing bolts after the threaded shaft section is matched with the first sleeve shaft section.

[0025] Furthermore, any of the first tires is evenly spaced along the circumference of the wheel hub and is evenly provided with a plurality of brake mechanisms;

[0026] The brake mechanism includes a telescopic rod, a heat dissipation bracket, a brake pad, a clamping piece and a locking piece;

[0027] The telescopic rod is a hydraulic rod controllably connected to the control module, one end of which is fixed to the inner hub of the first tire, and the other end of which is fixed to the heat dissipation bracket;

[0028] The heat dissipation bracket is a hollow structure, including a heat dissipation tube array, and an arc-shaped baffle arranged around a part of the side edge of the heat dissipation tube array, and grooves are respectively arranged at both ends of a spare side of the heat dissipation tube array where the arc-shaped baffle is not arranged, and the groove wall corresponding to the outer side wall of the spare side is a special-shaped structure; the heat dissipation tube array includes a plurality of heat dissipation tubes arranged in an array, and the two ends of each heat dissipation tube pass through the corresponding position of the arc-shaped baffle; the side of the arc-shaped baffle close to the outer hub protrudes from the heat dissipation tube array, and a slide groove is arranged on the inner side wall of an opposite side of the arc-shaped baffle; wherein each of the heat dissipation tubes is used for the flow of coolant;

[0029] The brake pad is arranged on the heat dissipation bracket in a pull-out manner along the slide groove, and its bottom surface abuts against the heat dissipation tube array;

[0030] The clamping member includes a clamping strip and buckles arranged at both ends of the clamping strip; the clamping strip is arranged on the spare side of the heat dissipation tube array and abuts against the brake pad; the buckles are clamped in the corresponding grooves;

[0031] The locking member is inserted into the groove along the special-shaped structure, and comprises a main body, an elastic member, a club, a sleeve and a button; wherein the sleeve is inserted into the main body; the elastic member is sleeved on the club; the club is inserted into the sleeve, and its rod end protrudes from the main body; the button is sleeved on the rod end of the club;

[0032] When pressure is applied to the brake pedal of the all-terrain intelligent data collection vehicle, the control module introduces hydraulic oil into the telescopic rod to drive the telescopic rod in the first tire to extend, and drives the corresponding brake pad inside to abut against the inner wheel hub to generate friction to slow down the first tire until it stops rotating.

[0033] Furthermore, any of the first tires is also provided with a heat dissipation mechanism cooperating with the brake mechanism;

[0034] The heat dissipation mechanism includes a temperature sensing tube, a coil spring tube, a transmission rod and a regulating valve;

[0035] One end of the temperature sensing tube is fixed to the bottom of the heat dissipation bracket, and the other end is fixed to the inner end of the disc spring tube; the regulating valve includes a first liquid collecting chamber, a second liquid collecting chamber, a liquid inlet, a liquid outlet and an opening plate; the upper surface and the lower surface of the opening plate are respectively movably fitted with the openings of the first liquid collecting chamber and the second liquid collecting chamber to control the opening of the regulating valve to be positively correlated with the temperature of the brake pad; the liquid inlet is arranged on the first liquid collecting chamber, and the liquid outlet is arranged on the second liquid collecting chamber; one end of the transmission rod is fixed to the outer end of the disc spring tube, and the other end is fixed to the opening plate; wherein the temperature sensing tube and the disc spring tube contain temperature-sensitive substances, and the disc spring tube has the property of thermal expansion and contraction;

[0036] When the brake pad abuts against the inner wheel hub and rubs against it, the brake pad heats up, and its temperature is transmitted to the heat dissipation bracket, the temperature sensing tube and the coil spring tube in sequence through heat conduction, so that the coil spring tube expands outward; the coil spring tube pushes the transmission rod to move to control the sliding of the opening plate to adjust the flow rate of the coolant in the heat dissipation tube; after the vehicle brakes, the pressure applied to the brake pedal is removed, the temperature of the brake pad drops, and the coil spring tube gradually retracts inward and pushes the transmission rod to move to control the opening of the regulating valve to zero.

[0037] Furthermore, the chassis includes a first bottom plate and a second bottom plate which are parallel and spaced apart from top to bottom, and the first bottom plate and the second bottom plate are supported and fixedly connected by a number of evenly distributed shock-absorbing elastic elements; the collection box is arranged on the upper surface of the first bottom plate, and the rolling bearing seat and the motor mounting seat are fixedly connected to the lower surface of the second bottom plate.

[0038] Furthermore, the rolling bearing seat of any of the shaft transmission mechanisms is provided with a third telescopic portion on the upper surface thereof which is controllably connected to the control module, and a supporting portion on the lower surface thereof, wherein the third telescopic portion has the freedom to telescope in the vertical direction, and the supporting portion is used to provide a mounting position for the jack;

[0039] The collection box is also provided with a tilt sensor, and the tilt sensor signal is connected to the control module, for sensing the tilt angle and tilt direction of the bottom surface of the collection box compared to the horizontal plane and sending the signal to the control module, so that the control module controls the movement of the third telescopic part according to the tilt angle and tilt direction to adjust the collection box to a horizontal state.

[0040] Furthermore, each of the first telescopic part, the shaft transmission mechanism and the third telescopic part is controllably connected to the control module, and the control module controls them to telescope and adjust along a set direction respectively.

[0041] Furthermore, the shaft transmission mechanism of any tire assembly and the exterior of the two power assemblies are both covered with a dustproof shell, and the dustproof shell is fixedly connected to the chassis.

[0042] In the second aspect, the collection method of the all-terrain intelligent collection vehicle based on machine vision comprises the following steps:

[0043] 1) After the vehicle drives to the initial position, the machine vision module is started to shoot and identify the target block, and a topographic map of the target block is generated and sent to the control module; wherein the target block is the set shooting range of the machine vision module, and the area of ​​the target block does not exceed the area of ​​the acquisition area;

[0044] 2) The control module plans several vehicle driving paths according to the target block topographic map, and marks the road condition parameters for any vehicle driving path; wherein the road condition parameters include road width, road flatness, curve radius, slope, and lateral gradient;

[0045] 3) determining a target vehicle driving path, the control module generating vehicle configuration optimization data according to the road condition parameters of the path, and adjusting the vehicle configuration according to the vehicle configuration optimization data; wherein the vehicle configuration includes wheel type, lateral distance and longitudinal distance between tires, center of gravity height, and number of wheels;

[0046] 4) The vehicle travels along the driving path of the target vehicle, and the collection target of the driving direction of the collection vehicle obtained in real time by the machine vision module is sent to the control module, and then the control module controls the six-degree-of-freedom robotic arm to collect.

[0047] It can be seen from the above technical solutions that the technical solutions of the present invention have the following beneficial effects:

[0048] The present invention discloses an all-terrain intelligent data collection vehicle and a data collection method based on machine vision, wherein the data collection vehicle comprises a six-degree-of-freedom mechanical arm and a machine vision module thereon, a chassis, a data collection box fixed on the upper surface of the chassis, a wheel module arranged on the lower surface of the chassis, and a control module; the six-degree-of-freedom mechanical arm is fixed in the data collection box, and the free end of its hand extends out of the data collection box; when working, the machine vision module first shoots and identifies the target block to generate a topographic map of the target block to the control module, so that the control module plans the vehicle's driving path; and the machine vision module is used to obtain the collection target in the driving direction of the data collection vehicle in real time during the vehicle's driving process, so that the control module controls the six-degree-of-freedom mechanical arm to collect; the wheel module comprises four tire assemblies and two power assemblies, and the control module adjusts the wheel type, the lateral distance and the longitudinal distance between the tires, the center of gravity height, and the number of wheels according to the road condition parameters of the vehicle's driving path selected for driving. On the one hand, the present invention configures a machine vision module on the collection vehicle to achieve the technical effects of surveying terrain and finding collection targets; on the other hand, by designing the tire assembly and two power assemblies of the collection vehicle, it is designed to be a multifunctional vehicle with adjustable tire spacing, center of gravity and number of wheels, and replaceable tire types, so that one collection vehicle can perform collection tasks on all terrains, which not only significantly improves the collection efficiency but also greatly reduces the production cost.

[0049] The present invention also provides a brake mechanism to ensure reliable braking during the braking process of the collection vehicle after overloading, and provides a clamping piece and a locking piece to improve the installation reliability of the pull-out brake pad; a heat dissipation mechanism based on the liquid cooling principle is provided, which cooperates with the heat dissipation bracket to ensure that the temperature of the brake pad rises slowly during the braking process, reducing the impact on the performance of the brake pad and ensuring the service life of the brake pad. In addition, an inclination sensor is provided to assist the collection vehicle in keeping the collection box stable during driving and prevent the collection target in the collection box from spilling.

[0050] It should be appreciated that all combinations of the foregoing concepts, as well as additional concepts described in greater detail below, may be considered to be part of the inventive subject matter of the present disclosure, provided such concepts are not mutually inconsistent.

[0051] The foregoing and other aspects, embodiments and features of the present invention can be more fully understood from the following description in conjunction with the accompanying drawings. Other additional aspects of the present invention, such as the features and / or beneficial effects of the exemplary embodiments, will be apparent from the following description or learned from the practice of the specific embodiments according to the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The accompanying drawings are not drawn to scale according to actual reference objects. In the accompanying drawings, each identical or nearly identical component shown in various figures may be represented by the same reference numeral. For the sake of clarity, not every component is labeled in each figure. Now, embodiments of various aspects of the present invention will be described by way of example and with reference to the accompanying drawings, in which:

[0053] Figure 1 This is a structural schematic diagram of the all-terrain intelligent data collection vehicle of the present invention;

[0054] Figure 2 This is a schematic diagram of the chassis and wheel module of the all-terrain intelligent data collection vehicle of the present invention;

[0055] Figure 3 This is a schematic diagram of the tire mechanism of the all-terrain intelligent data collection vehicle of the present invention;

[0056] Figure 4 This is a schematic diagram of the first side of the first tire of the all-terrain intelligent data collection vehicle of the present invention;

[0057] Figure 5 This is a schematic diagram of the second side of the first tire of the all-terrain intelligent data collection vehicle of the present invention;

[0058] Figure 6 This is a schematic diagram of the single-side tire transmission of the all-terrain intelligent data collection vehicle of the present invention;

[0059] Figure 7 This is a schematic diagram of the overall transmission of the bottom tire module of the all-terrain intelligent data collection vehicle of the present invention;

[0060] Figure 8 This is a schematic diagram of the interior of the first tire hub of the all-terrain intelligent data collection vehicle of the present invention;

[0061] Fig. 9 Schematic diagram of the heat dissipation bracket of the brake mechanism of the all-terrain intelligent data collection vehicle of the present invention

[0062] Fig.10 This is a schematic diagram of the brake pads of the brake mechanism of the all-terrain intelligent data collection vehicle of the present invention;

[0063] Fig.11 This is a schematic diagram of the clamping parts of the brake mechanism of the all-terrain intelligent data collection vehicle of the present invention;

[0064] Fig.12 This is a schematic diagram of a locking member of a brake mechanism of an all-terrain intelligent data collection vehicle of the present invention;

[0065] Fig.13 This is a schematic diagram of the regulating valve of the brake mechanism of the all-terrain intelligent data collection vehicle of the present invention;

[0066] Fig.14This is a flow chart of the collection method of the all-terrain intelligent collection vehicle of the present invention.

[0067] In the figure, the specific meaning of each mark is as follows:

[0068] 1-machine vision module, 2-six-degree-of-freedom robot arm, 3-collection box, 4-chassis, 4.1-first bottom plate, 4.2-second bottom plate; 4.3-third telescopic part; 5-wheel module; 5.1-tire mechanism, 5.1.1-first tire, 5.1.2-threaded shaft section, 5.1.3-first sleeve shaft section, 5.1.4-first telescopic part, 5.1.5-first transmission gear; 5.2-shaft transmission mechanism, 5.2.1 telescopic power transmission shaft, 5. 2.2-rolling bearing seat, 5.2.3-second driven bevel gear; 5.3-power steering mechanism, 5.3.1-input section, 5.3.2-transition section, 5.3.3-output section; 5.4-gear assembly, 5.4.1-second transmission gear, 5.4.2-third transmission gear; 5.5-tire assembly; 5.6-power assembly, 5.6.1-motor, 5.6.2-motor mounting seat, 5.6.3-first driving bevel gear, 5.6.4-third A driven bevel gear, 5.6.5-gear transmission shaft, 5.6.6-second active bevel gear; 6-control module; 7-dustproof housing; 8-shock-absorbing elastic element; 9-brake mechanism, 9.1-telescopic rod; 9.2-heat dissipation bracket, 9.2.1-heat dissipation pipe array, 9.2.2-arc baffle, 9.2.3-groove, 9.2.4-slide; 9.3-brake pad; 9.4-clip part, 9.4.1-clip strip, 9.4.2-clip buckle; 9.5-lock Stopper, 9.5.1-main body, 9.5.2-elastic part, 9.5.3-ball rod, 9.5.4-sleeve, 9.5.5-button; 10-heat dissipation mechanism; 10.1-temperature sensing tube, 10.2-coil spring tube, 10.3-transmission rod, 10.4-regulating valve; 10.4.1-first liquid collecting chamber, 10.4.2-second liquid collecting chamber, 10.4.3-liquid inlet, 10.4.4-liquid outlet, 10.4.5-opening plate; 10.5-mounting frame. DETAILED DESCRIPTION

[0069] In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings of the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all of the embodiments. Based on the described embodiment 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. Unless otherwise defined, the technical terms or scientific terms used herein should be the common meanings understood by people with ordinary skills in the field to which the present invention belongs.

[0070] The words "first", "second" and similar words used in the patent application specification and claims of the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, unless the context clearly indicates otherwise, the singular form of "a", "an" or "the" and other similar words do not indicate a quantitative limitation, but indicate the existence of at least one. "Include" or "comprise" and other similar words mean that the elements or objects appearing before "include" or "comprise" include the features, wholes, steps, operations, elements and / or components listed after "include" or "comprise", and do not exclude the existence or addition of one or more other features, wholes, steps, operations, elements, components and / or their collections. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0071] Based on the current agricultural collection scenario, due to the terrain differences in the collection area, it is necessary to survey in advance and then select a suitable collection vehicle. Farmers not only have to configure multiple collection vehicles, which consumes high costs and has low collection efficiency; therefore, the present invention aims to propose an all-terrain intelligent collection vehicle and collection method based on machine vision. By configuring a machine vision module on the vehicle and designing the vehicle as a multi-functional vehicle with adjustable tire spacing, center of gravity and number of wheels, and replaceable tire types, one collection vehicle can perform collection tasks on all terrains.

[0072] The following is a further detailed introduction to the all-terrain intelligent data collection vehicle and data collection method based on machine vision disclosed in the present invention in conjunction with the accompanying drawings.

[0073] Combination Figure 1 and Figure 2 As shown, the all-terrain intelligent collection vehicle based on machine vision includes a machine vision module 1, a six-degree-of-freedom mechanical arm 2, a collection box 3, a chassis 4 and a wheel module 5, and a control module 6;

[0074] As shown in the figure, the collection box 3 is fixed on the upper surface of the chassis 4 and is set as a top opening structure that can be retracted in the vertical direction. In this embodiment, the retractable function is realized by the control module 6 controlling the hydraulic pump; the six-degree-of-freedom mechanical arm 2 is fixed in the collection box 3, and its hand free end extends from the top opening of the collection box 3. The control module 6 completes the collection by controlling the six-degree-of-freedom mechanical arm 2 to rotate freely;

[0075] The machine vision module 1 is fixedly mounted on the free end of the hand of the six-degree-of-freedom robotic arm 2, and the machine vision module 1 and the six-degree-of-freedom robotic arm 2 are controlled and connected to the control module 6; the machine vision module 1 is used to shoot and identify the target block to generate a target block topographic map, so that the control module 6 plans the vehicle driving path according to the target block topographic map; wherein, the target block is the set shooting range of the machine vision module, and the area of ​​the target block does not exceed the area of ​​the acquisition area; and the machine vision module 1 is used to obtain the acquisition target of the driving direction of the acquisition vehicle in real time during the vehicle driving process, such as quickly shooting and acquiring video frames of the vehicle driving process at a set frequency, using a target recognition algorithm to identify the acquisition target in the video frame, and acquiring and sending the position information of the acquisition target to the control module 6, and then the control module 6 controls the six-degree-of-freedom robotic arm 2 to collect according to the position information.

[0076] The wheel module 5 is arranged below the chassis 4 and includes four tire assemblies and two power assemblies 5.6;

[0077] Combination Figure 3 As shown, the tire assembly at least comprises a tire mechanism 5.1, a shaft transmission mechanism 5.2, and a power steering mechanism 5.3 for connecting the tire mechanism 5.1 and the shaft transmission mechanism 5.2, wherein the shaft transmission mechanism 5.2 has the freedom to extend and retract along its axial direction on a plane;

[0078] Combination Figures 4 to 6 As shown, the tire mechanism 5.1 at least comprises a pair of coaxially arranged first tires 5.1.1 and first telescopic parts 5.1.4; the direction of the first tire 5.1.1 close to the first telescopic part 5.1.4 is defined as the first side, and the direction away from the first telescopic part 5.1.4 is defined as the second side, then a first connecting shaft is provided through the central axis of the first tire 5.1.1, the end of the first connecting shaft protruding from the first side is provided as a threaded shaft section 5.1.2, and the end of the first connecting shaft protruding from the second side is provided as a first sleeve shaft section 5.1.3 with threads provided on the inner wall, and the threaded shaft section 5.1.2 of the first tire 5.1.1 coaxially fixed in the tire mechanism 5.1 is adapted and fixedly connected with the first sleeve shaft section 5.1.3 of the adjacent first tire 5.1.1;

[0079] The first telescopic part 5.1.4 is set as a first telescopic driving shaft, and its telescopic direction is perpendicular to the telescopic direction of the shaft transmission mechanism 5.2; the end of the first telescopic part 5.1.4 close to the first tire 5.1.1 is set as a second sleeve shaft section with internal threads adapted to the threaded shaft section 5.1.2 of the first connecting shaft of the first tire 5.1.1, and the second sleeve shaft section is adapted and fixedly connected to the threaded shaft section 5.1.2 of the first connecting shaft of the first tire 5.1.1; the first telescopic part 5.1.4 is fixedly connected to a first transmission gear 5.1.5 at one end away from the first tire 5.1.1 and then to the power steering mechanism 5.3, and the first transmission gear 5.1.5 is coaxial with the first telescopic part 5.1.4; the matching mode of the threaded shaft section 5.1.2 and the first sleeve shaft section 5.1.3 and the second sleeve shaft section not only realizes installation, but also facilitates the addition of tires; in addition, based on the existence of the first telescopic part 5.1.4, the spacing between the left and right pairs of first tires 5.1.1 in front and rear of the vehicle can be quickly adjusted.

[0080] In this embodiment, in order to improve the installation strength of the threaded shaft section 5.1.2 and the first sleeve shaft section 5.1.3, a first fixing hole is symmetrically arranged through the outer wall of the first sleeve shaft section 5.1.3 of the first connecting shaft, and a second fixing hole is arranged on the threaded shaft section 5.1.2 of the first connecting shaft at a position corresponding to the first fixing hole after the first sleeve shaft section 5.1.3 is matched. The first fixing hole and the second fixing hole are used for fastening the threaded shaft section 5.1.2 and the first sleeve shaft section 5.1.3 with fixing bolts after they are matched. To avoid the loss of the fixing screws, the fixing screws are fixed in the first fixing holes before the first tire 5.1.1 is installed.

[0081] The shaft transmission mechanism 5.2 is control-connected to the control module 6, and comprises a telescopic power transmission shaft 5.2.1, a rolling bearing seat 5.2.2, and a second driven bevel gear 5.2.3; the rolling bearing seat 5.2.2 is sleeved on the telescopic power transmission shaft 5.2.1, and the telescopic power transmission shaft 5.2.1 can move freely in the rolling bearing seat 5.2.2, and is used to fix the shaft transmission mechanism 5.2 to the chassis 4; one end of the telescopic power transmission shaft 5.2.1 is fixedly connected to one end of the power steering mechanism 5.3 away from the first telescopic part 5.1.4, and the other end is fixedly connected to the axis of the second driven bevel gear 5.2.3;

[0082] In order to further improve the adjustability of the tire mechanism 5.1, in the embodiment, a third telescopic portion 4.3 controlled and connected to the control module 6 is provided on the upper surface of the rolling bearing seat 5.2.2 of any of the shaft transmission mechanisms 5.2, and a supporting portion is provided on the lower surface; the third telescopic portion 4.3 is connected to the chassis 4 at one end away from the rolling bearing seat 5.2.2, and has the freedom to telescope in the vertical direction, so as to realize the height adjustment of the center of gravity of the collection vehicle; the supporting portion is used to provide a mounting position for a jack, which is used for replacing the first tire 5.1.1 or repairing the vehicle.

[0083] The power steering mechanism 5.3 is configured as a three-stage power steering knuckle mechanism formed by connecting a cross shaft in sequence, including an input section 5.3.1, a transition section 5.3.2 and an output section 5.3.3, wherein the input section 5.3.1 is fixedly connected to the telescopic power transmission shaft 5.2.1, and the output section 5.3.3 is fixedly connected to the first telescopic drive shaft; the power steering mechanism 5.3 is used to make the transmission direction of the telescopic power transmission shaft 5.2.1 turn 90°, and the three-stage power steering knuckle mechanism is such that the rotation direction of the input shaft is consistent with the rotation direction of the output shaft, and they are both inward or outward at the same time.

[0084] The second driven bevel gear 5.2.3 is connected to the power assembly 5.6, and the power assembly 5.6 starts to drive the second driven bevel gear 5.2.3, and then drives the telescopic power transmission shaft 5.2.1, the power steering mechanism 5.3, the first telescopic part 5.1.4 and the first tire 5.1.1 to rotate.

[0085] Further integration Figure 6 and Figure 7 As shown, the two power components 5.6 are symmetrically arranged below the chassis 4, respectively controlling the front and rear tires of the all-terrain intelligent collection vehicle on the same side, and any power component 5.6 includes a motor 5.6.1 connected to the control module 6, a motor mounting seat 5.6.2, an active bevel gear combination, a gear transmission shaft 5.6.5 and a second active bevel gear 5.6.6, and the active bevel gear combination includes a first active bevel gear 5.6.3 and a first driven bevel gear 5.6.4; when installed, the motor 5.6.1 is fixedly connected to the control module 6 via the motor mounting seat 5.6.2. The chassis 4, the motor shaft is fixedly connected to the first active bevel gear 5.6.3 in the vertical direction, the first driven bevel gear 5.6.4 is axially fixedly connected to one end of the gear transmission shaft 5.6.5, and the other end of the gear transmission shaft 5.6.5 is fixedly connected to the second active bevel gear 5.6.6; the second active bevel gear 5.6.6 is respectively driven and meshed with the second driven bevel gear 5.2.3 of the central shaft transmission mechanism of the front and rear tire assemblies on the same side of the all-terrain intelligent collection vehicle, and the transmission directions of the two second driven bevel gears 5.2.3 are opposite, such as Figure 5As shown; the active bevel gear assembly is used to convert the transmission of the motor 5.6.1 in the vertical direction into the transmission in the horizontal direction;

[0086] When the wheel module 5 is working, the power assembly 5.6 is started under the control of the control module 6, driving the active bevel gear combination and the second active bevel gear 5.6.5 to drive, driving the second driven bevel gear 5.2.3 of the central axis transmission mechanism 5.2 of the front and rear tire assemblies on the same side of the all-terrain intelligent data collection vehicle to rotate in opposite directions, and then driving the first tire 5.1.1 in the front and rear tire assemblies on the same side of the all-terrain intelligent data collection vehicle to rotate in the same direction through the retractable power transmission shaft 5.2.1, the power steering mechanism 5.3, and the first retractable drive shaft.

[0087] Further integration Figure 3 and Figure 7 As shown, when the weight of the collection target is too large, it is necessary to increase the carrying capacity of the collection vehicle to improve the use efficiency of the vehicle. In this embodiment, the vehicle carrying capacity is increased by increasing the number of tires; specifically, the tire mechanism 5.1 also includes a plurality of gear combinations 5.4 and tire combinations 5.5 corresponding to the number of gear combinations 5.4, and the gear combinations 5.4 and the tire combinations 5.5 cooperate to expand the number of tires of the all-terrain intelligent collection vehicle;

[0088] The gear assembly 5.4 comprises a gear assembly frame fixed to the chassis 4, and two mutually meshing second transmission gears 5.4.1 and third transmission gears 5.4.2 are fixed to the axis by the gear assembly frame; the second transmission gear 5.4.1 is meshed with the first transmission gear 5.1.5, and the first transmission gear 5.1.5, the second transmission gear 5.4.1 and the third transmission gear 5.4.2 are located on the same plane;

[0089] The tire assembly 5.5 includes a pair of coaxially arranged second tires and second telescopic parts, and the second tire is fixedly connected to the third transmission gear 5.4.2 through the second telescopic part; the tire assembly 5.5 has the same installation structure as the tire mechanism 5.1, that is, the direction of the second tire close to the second telescopic part is defined as the third side, and the direction away from the second telescopic part is defined as the fourth side, then the second tire center axis is penetrated by a second connecting shaft, the structure of the second connecting shaft is the same as the structure of the first connecting shaft, and the two coaxially fixed second tires are adapted and fixedly connected to the first sleeve shaft section through the threaded shaft section of the second connecting shaft; the second telescopic part is set as a second telescopic drive shaft, and its telescopic direction is the same and synchronous with the telescopic direction of the first telescopic drive shaft; the end of the second telescopic part close to the second tire is set as a third sleeve shaft section with internal threads adapted to the threaded shaft section of the second connecting shaft, and the third sleeve shaft section is adapted and fixedly connected to the threaded shaft section of the second connecting shaft; the end of the second telescopic part away from the second tire is fixedly connected to the axis of the third transmission gear 5.4.2. Similarly, more tires can be added by cooperating with the gear assembly 5.4 and the tire assembly 5.5.

[0090] In addition, in order to protect the wheel module 5 and reduce the dust blocking the transmission shaft to affect the service life of the transmission shaft, the shaft transmission mechanism 5.2 of any tire assembly and the two power assemblies 5.6 are both covered with a dustproof shell 7, and the dustproof shell 7 is fixedly connected to the chassis 4. In the embodiment, the dustproof shell 7 is made of high-hardness alloy, which is further fixed to the shaft transmission mechanism 5.2 and the two power assemblies 5.6, and the connection of the shell is strengthened with reinforcing ribs, which protects the wheel module 5 while improving the structural strength of the collection vehicle.

[0091] Combination Figures 8 to 12 As shown in the figure, the tire mechanism 5.1 of the present invention adopts a brake mechanism 9 and a heat dissipation mechanism 10 inside to ensure the stability and reliability of its braking performance.

[0092] Specifically, a plurality of brake mechanisms 9 are evenly spaced around the wheel hub of any first tire 5.1.1, and in the embodiment, there are no less than 3 of them, including a telescopic rod 9.1, a heat dissipation bracket 9.2, a brake pad 9.3, a clamping member 9.4 and a locking member 9.5; the telescopic rod 9.1 is a hydraulic rod controlled and connected to the control module 6, one end of which is fixed to the inner wheel hub of the first tire 5.1.1, and the other end is fixed to the heat dissipation bracket 9.2. Fig. 9As shown, the heat dissipation bracket 9.2 is a hollow structure, including a heat dissipation tube array 9.2.1, and an arc-shaped baffle 9.2.2 arranged around a part of the side of the heat dissipation tube array 9.2.1, and grooves 9.2.3 are respectively arranged at both ends of a spare side of the heat dissipation tube array 9.2.1 where the arc-shaped baffle 9.2.2 is not arranged, and the groove wall corresponding to the outer side wall of the spare side of the groove 9.2.3 is a special-shaped structure; specifically, the heat dissipation tube array 9.2.1 includes a plurality of heat dissipation tubes arranged in an array, and the two ends of each heat dissipation tube pass through the corresponding position of the arc-shaped baffle. The side of the arc-shaped baffle 9.2.2 close to the outer hub protrudes from the heat dissipation tube array 9.2.1, and a slide groove 9.2.4 is arranged on the inner side wall of the opposite side of the arc-shaped baffle 9.2.2; wherein each heat dissipation tube is used for the flow of coolant, and the heat dissipation tubes between each brake mechanism 9 are connected. The coolant may be ethylene glycol. In addition, in order to ensure the heat dissipation of the heat dissipation bracket 9.2, its material is set to be aluminum alloy.

[0093] The brake pad 9.3 is arranged on the heat dissipation bracket 9.2 in a pull-out manner along the slide groove 9.2.4, and its bottom surface is in contact with the heat dissipation tube array 9.2.1. Fig.10 and Fig.11 The clamping member 9.4 comprises a clamping strip 4.1 and buckles 4.2 arranged at both ends of the clamping strip 4.1; the clamping strip 4.1 is arranged at the free side of the heat pipe array 9.2.1 and abuts against the brake pad 9.3; the buckles 4.2 are clamped in the corresponding grooves 9.2.3. The locking member 9.5 is inserted into the groove 9.2.3 along the special-shaped structure, and includes a main body 9.5.1, an elastic member 9.5.2, a ball rod 9.5.3, a sleeve 9.5.4 and a button 9.5.5; specifically, the sleeve 9.5.4 is passed through the main body 9.5.1; the elastic member 9.5.2 is sleeved on the ball rod 9.5.3; the ball rod 9.5.3 is passed through the sleeve 9.5.4, and its rod end protrudes from the main body 9.5.1; the button 9.5.5 is sleeved on the rod end of the ball rod 9.5.3; in this embodiment, the elastic member 9.5.2 is specifically a spring.

[0094] When pressure is applied to the brake pedal of the all-terrain intelligent data collection vehicle, the control module 6 introduces hydraulic oil into the telescopic rod 9.1 to drive the telescopic rod 9.1 in the first tire 5.1.1 to extend, and drives the corresponding brake pad 9.3 inside to abut against the inner wheel hub to generate friction to slow down the first tire 5.1.1 until it stops rotating.

[0095] Further integration Figure 8As shown, the number of heat dissipation mechanisms 10 on the first tire 5.1.1 corresponds to the number of brake mechanisms 9 and cooperates with each other, including a temperature sensing tube 10.1, a coil spring tube 10.2, a transmission rod 10.3 and a regulating valve 10.4; one end of the temperature sensing tube 10.1 is fixed to the bottom of the heat dissipation bracket 9.2, and the other end is fixed to the inner end of the coil spring tube 10.2; after assembly, the temperature sensing tube 10.1 and the coil spring tube 10.2 are filled with temperature-sensitive substances, such as hydrogen, helium or alcohol; the coil spring tube 10.2 has the property of thermal expansion and contraction. One end of the transmission rod 10.3 is fixed to the outer end of the coil spring tube 10.2, and the other end is fixed to the regulating valve 10.4; as shown Fig.13 As shown, the regulating valve 10.4 comprises a first liquid collecting chamber 10.4.1, a second liquid collecting chamber 10.4.2, a liquid inlet 10.4.3, a liquid outlet 10.4.4 and an opening plate 10.4.5; the upper surface and the lower surface of the opening plate 10.4.5 are movably fitted with the openings of the first liquid collecting chamber 10.4.1 and the second liquid collecting chamber 10.4.2 respectively so as to control the opening of the regulating valve 10.4 to be positively correlated with the temperature of the brake pad 9.3 under the coordinated action of the disc spring tube 10.2 and the transmission rod 10.3; the liquid inlet 10.4.3 is arranged on the first liquid collecting chamber 10.4.1, and the liquid outlet 10.4.4 is arranged on the second liquid collecting chamber 9.1. In this embodiment, in order to achieve the interrelated transmission effect of the coil spring tube 10.2 and the regulating valve 10.4, a mounting frame 10.5 fixed to the inner hub of the first tire 5.1.1 is used to set the coil spring tube 10.2 at one end and the regulating valve 10.4 at the other end.

[0096] When the brake pad 9.3 abuts against the inner wheel hub and rubs against it, the brake pad 9.3 heats up, and its temperature is transmitted to the heat dissipation bracket 9.2, the temperature sensing tube 10.1 and the coil spring tube 10.2 in sequence through heat conduction, so that the coil spring tube 10.2 expands outward; the coil spring tube 10.2 pushes the transmission rod 10.3 to move, so as to control the sliding of the opening plate 10.4.5 to adjust the flow rate of the coolant in the heat dissipation tube; after the vehicle brakes, the pressure applied to the brake pedal is removed, the temperature of the brake pad 9.3 drops, and the coil spring tube 10.2 gradually retracts inward and pushes the transmission rod 10.3 to move, so as to control the opening of the regulating valve 10.4 to be zero.

[0097] Further integration Figure 2As shown, the chassis 4 of the collection vehicle in this case includes a first bottom plate 4.1 and a second bottom plate 4.2 which are arranged parallel and spaced from top to bottom. The first bottom plate 4.1 and the second bottom plate 4.2 are supported and connected by a number of evenly arranged shock-absorbing elastic elements 8, such as commercially available shock absorbers; the collection box 4 is arranged on the upper surface of the first bottom plate 4.1, and the rolling bearing seat 5.2.2 and the motor mounting seat 5.6.2 are fixed to the lower surface of the second bottom plate 4.2. In order to improve the stability of the chassis 4, the first bottom plate 4.1 and the second bottom plate 4.2 are fixed by a fixing column in the middle; optionally, the chassis 4 can be designed with different structures according to the size of the collection vehicle.

[0098] The topography faced by collection tasks in different regions is significantly different. For example, some areas are relatively flat, some areas are uneven or require climbing. When a large number of collection targets are placed in the collection box 3, the collection box will tilt when the vehicle passes through the slope, and there is a risk of spilling the contents. Therefore, the present invention also provides an inclination sensor on the collection box 3, and the inclination sensor signal is connected to the control module 6, which is used to sense the inclination and inclination direction of the bottom surface of the collection box 3 compared to the horizontal plane and send it to the control module 6, so that the control module 6 controls the third telescopic part 4.3 to adjust the collection box 3 to a horizontal state according to the inclination and inclination direction, thereby reducing the spilling of collection targets and improving collection efficiency.

[0099] As an optional embodiment, the first tire 5.1.1 of the tire mechanism 5.1 in this case can be replaced with a crawler; when the tire mechanism 5.1 is a crawler, it is Figure 3 The two sets of wheel combinations shown are simply replaced by four first tires 5.1.1 with tracks having three tires. The first transmission gear 5.1.4 drives the driving wheel of the track, and the third transmission gear 5.4.2 connects the driven wheel alternately with the driving wheel to complete the track installation.

[0100] As another optional embodiment, the collection vehicle in this case is equipped with two power sources, gasoline-driven or electric-driven, and the electricity is converted after the solar panels equipped on the outer wall of the collection box 3 absorb solar energy; in specific implementation, the electricity converted by the solar panels first powers the control module 6, and the excess electricity is stored in the battery for standby use.

[0101] Combination Fig.14 As shown, another embodiment of the present invention discloses a collection method of the all-terrain intelligent collection vehicle based on machine vision, comprising the following steps:

[0102] Step S1, after the vehicle travels to the initial position, the machine vision module 1 is started to shoot and identify the target block, and a topographic map of the target block is generated and sent to the control module 6; wherein, the target block is the set shooting range of the machine vision module, and the area of ​​the target block does not exceed the area of ​​the acquisition area; step S2, the control module 6 plans several vehicle driving paths according to the topographic map of the target block, and marks the road condition parameters for any vehicle driving path; wherein the road condition parameters include road width, road flatness, curve radius, slope, and lateral gradient; step S3, determine a target vehicle driving path, the control module 6 generates vehicle configuration optimization data according to the road condition parameters of the path, and adjusts the vehicle configuration according to the vehicle configuration optimization data; wherein the vehicle configuration includes wheel type, lateral distance and longitudinal distance between tires, center of gravity height, and number of wheels, and the wheel type and number of wheels are adjusted manually; step S4, the vehicle travels according to the target vehicle driving path, and the acquisition target of the driving direction of the acquisition vehicle obtained in real time by the machine vision module 1 is sent to the control module 6, and then the control module 6 controls the six-degree-of-freedom mechanical arm to collect.

[0103] Optionally, the acquisition method also includes step 5) when the vehicle arrives at a preset parking point, the machine vision module 1 re-shoots and identifies the target block, generates a topographic map of the target block, and then feeds it back to the control module 6, so that the control module 6 re-plans the vehicle's driving path, and then adjusts the vehicle configuration according to the re-selected target vehicle driving path.

[0104] The present invention configures a machine vision module on the collection vehicle, and designs the tire assembly and two power assemblies of the collection vehicle to be a multifunctional vehicle with adjustable tire spacing, adjustable center of gravity, adjustable number of wheels, and replaceable tire type. This achieves the technical effect of using a collection vehicle to autonomously conduct terrain surveys, search for collection targets, and collect data, which is more convenient to use than the existing technology.

[0105] Although the present invention has been disclosed as above with preferred embodiments, it is not intended to limit the present invention. A person with ordinary knowledge in the technical field to which the present invention belongs may make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be determined by the definition of the claims.

Claims

1. An all-terrain intelligent data collection vehicle based on machine vision, characterized in that: It includes a machine vision module, a six-degree-of-freedom robotic arm, a collection box, a chassis and wheel module, and a control module; The collection box is fixedly mounted on the upper surface of the chassis and is configured as a top opening structure that is retractable in the vertical direction; the six-degree-of-freedom robotic arm is fixedly mounted in the collection box, and the free end of the hand extends out from the top opening of the collection box; The machine vision module is fixedly mounted on the free end of the hand of the six-degree-of-freedom robotic arm, and the machine vision module and the six-degree-of-freedom robotic arm are controlled and connected to the control module; the machine vision module is used to shoot and identify the target block to generate a target block topographic map, so that the control module plans the vehicle driving path according to the target block topographic map; wherein the target block is the set shooting range of the machine vision module, and the area of ​​the target block does not exceed the area of ​​the acquisition area; and the machine vision module is used to obtain the acquisition target of the driving direction of the acquisition vehicle in real time during the vehicle driving process, so that the control module controls the six-degree-of-freedom robotic arm to collect; The wheel module is arranged below the chassis and includes four tire assemblies and two power assemblies; The tire assembly at least comprises a tire mechanism, a shaft transmission mechanism, and a power steering mechanism for connecting the tire mechanism and the shaft transmission mechanism, wherein the shaft transmission mechanism has the freedom to extend and retract along its axial direction on a plane; The tire mechanism at least comprises a pair of coaxially arranged first tires and a first telescopic portion; Define the direction of the first tire close to the first telescopic portion as the first side, and the direction away from the first telescopic portion as the second side, then a first connecting shaft is provided through the central axis of the first tire, the end of the first connecting shaft protruding from the first side is provided as a threaded shaft segment, the end of the first connecting shaft protruding from the second side is provided as a first sleeve shaft segment with a threaded inner wall, and the threaded shaft segment of the first tire coaxially fixed in the tire mechanism is adapted and fixedly connected with the first sleeve shaft segment of the adjacent first tire; The first telescopic part is configured as a first telescopic drive shaft, and its telescopic direction is perpendicular to the telescopic direction of the shaft transmission mechanism; the end of the first telescopic part close to the first tire is configured as a second sleeve shaft section with internal threads adapted to the first connecting shaft threaded shaft section of the first tire, and the second sleeve shaft section is adapted and fixedly connected to the first connecting shaft threaded shaft section of the first tire; the end of the first telescopic part away from the first tire is fixedly connected to a first transmission gear and then fixedly connected to the power steering mechanism, and the first transmission gear is coaxial with the first telescopic part; The shaft transmission mechanism comprises a telescopic power transmission shaft, a rolling bearing seat and a second driven bevel gear; the rolling bearing seat is sleeved on the telescopic power transmission shaft, and is used to fix the shaft transmission mechanism to the chassis; one end of the telescopic power transmission shaft is fixedly connected to an end of the power steering mechanism away from the first telescopic portion, and the other end is fixedly connected to the axis of the second driven bevel gear; The power steering mechanism is configured as a three-section power steering knuckle mechanism formed by sequentially connecting cross shafts, including an input knuckle, a transition knuckle and an output knuckle, wherein the input knuckle is fixedly connected to the telescopic power transmission shaft, and the output knuckle is fixedly connected to the first telescopic drive shaft; the power steering mechanism is used to make the transmission direction of the telescopic power transmission shaft turn 90°; The second driven bevel gear is connected to the power assembly by power, and the power assembly is started to drive the second driven bevel gear, thereby driving the retractable power transmission shaft, the power steering mechanism, the first retractable part and the first tire to rotate; The two power assemblies are symmetrically arranged below the chassis, respectively controlling the front and rear tires of the all-terrain intelligent collection vehicle on the same side, and any power assembly includes a motor, a motor mounting seat, a driving bevel gear assembly, a gear transmission shaft and a second driving bevel gear that are controlled and connected to the control module, and the driving bevel gear assembly includes a first driving bevel gear and a first driven bevel gear; the motor is fixedly connected to the chassis via the motor mounting seat, the motor shaft is fixedly connected to the first driving bevel gear in the vertical direction, the first driven bevel gear is axially fixedly connected to one end of the gear transmission shaft, and the other end of the gear transmission shaft is fixedly connected to the second driving bevel gear; the second driving bevel gear is respectively driven and meshed with the second driven bevel gear of the central shaft transmission mechanism of the front and rear tire assemblies of the all-terrain intelligent collection vehicle on the same side, and the transmission directions of the two second driven bevel gears are opposite; the driving bevel gear assembly is used to convert the transmission of the motor in the vertical direction into the transmission in the horizontal direction; The power assembly is started under the control of the control module, driving the active bevel gear combination and the second active bevel gear transmission, driving the second driven bevel gear of the central axis transmission mechanism of the front and rear tire assemblies on the same side of the all-terrain intelligent collection vehicle to rotate in the opposite direction, and then driving the first tire of the front and rear tire assemblies on the same side of the all-terrain intelligent collection vehicle to rotate in the same direction through the retractable power transmission shaft, the power steering mechanism, and the first retractable drive shaft.

2. The all-terrain intelligent data collection vehicle based on machine vision according to claim 1 is characterized in that: The tire mechanism also includes a plurality of gear combinations and tire combinations corresponding to the number of gear combinations, and the gear combinations cooperate with the tire combinations to expand the number of tires of the all-terrain intelligent collection vehicle; The gear assembly comprises a gear assembly frame fixed to the chassis, and two mutually meshing second transmission gears and a third transmission gear fixed to the axis by the gear assembly frame; the second transmission gear is meshed with the first transmission gear, and the first transmission gear, the second transmission gear and the third transmission gear are located on the same plane; The tire assembly comprises a pair of coaxially arranged second tires and a second telescopic portion, wherein the second tire is fixedly connected to the third transmission gear via the second telescopic portion; The direction of the second tire close to the second telescopic portion is defined as the third side, and the direction away from the second telescopic portion is defined as the fourth side. A second connecting shaft is provided through the central axis of the second tire. The structure of the second connecting shaft is the same as that of the first connecting shaft. The two coaxially fixed second tires are adapted and fixedly connected to the first sleeve shaft section through the threaded shaft section of the second connecting shaft. The second telescopic part is configured as a second telescopic driving shaft, and its telescopic direction is the same as and synchronized with the telescopic direction of the first telescopic driving shaft; one end of the second telescopic part close to the second tire is configured as a third sleeve shaft segment with an internal thread that is adapted to the threaded shaft segment of the second connecting shaft, and the third sleeve shaft segment is adapted and fixedly connected to the threaded shaft segment of the second connecting shaft; one end of the second telescopic part away from the second tire is fixedly connected to the axis center of the third transmission gear.

3. The all-terrain intelligent data collection vehicle based on machine vision according to claim 1 is characterized in that: A first fixing hole is penetrated and symmetrically arranged on the outer wall of the first sleeve shaft section of the first connecting shaft. After the threaded shaft section of the first connecting shaft is matched with the first sleeve shaft section, a second fixing hole is arranged on it at a position corresponding to the first fixing hole. The first fixing hole and the second fixing hole are used for fastening the threaded shaft section with the first sleeve shaft section by fixing bolts after they are matched.

4. The all-terrain intelligent data collection vehicle based on machine vision according to claim 1 is characterized in that: Any of the first tires is evenly spaced along the circumference of the wheel hub and is evenly provided with a plurality of brake mechanisms; The brake mechanism includes a telescopic rod, a heat dissipation bracket, a brake pad, a clamping piece and a locking piece; The telescopic rod is a hydraulic rod controllably connected to the control module, one end of which is fixed to the inner hub of the first tire, and the other end of which is fixed to the heat dissipation bracket; The heat dissipation bracket is a hollow structure, including a heat dissipation tube array, and an arc-shaped baffle arranged around a part of the side edge of the heat dissipation tube array, and grooves are respectively arranged at both ends of a spare side of the heat dissipation tube array where the arc-shaped baffle is not arranged, and the groove wall corresponding to the outer side wall of the spare side is a special-shaped structure; the heat dissipation tube array includes a plurality of heat dissipation tubes arranged in an array, and the two ends of each heat dissipation tube pass through the corresponding position of the arc-shaped baffle; the side of the arc-shaped baffle close to the outer hub protrudes from the heat dissipation tube array, and a slide groove is arranged on the inner side wall of an opposite side of the arc-shaped baffle; wherein each of the heat dissipation tubes is used for the flow of coolant; The brake pad is arranged on the heat dissipation bracket in a pull-out manner along the slide groove, and its bottom surface abuts against the heat dissipation tube array; The clamping member includes a clamping strip and buckles arranged at both ends of the clamping strip; the clamping strip is arranged on the spare side of the heat dissipation tube array and abuts against the brake pad; the buckles are clamped in the corresponding grooves; The locking member is inserted into the groove along the special-shaped structure, and comprises a main body, an elastic member, a club, a sleeve and a button; wherein the sleeve is inserted into the main body; the elastic member is sleeved on the club; the club is inserted into the sleeve, and its rod end protrudes from the main body; the button is sleeved on the rod end of the club; When pressure is applied to the brake pedal of the all-terrain intelligent data collection vehicle, the control module introduces hydraulic oil into the telescopic rod to drive the telescopic rod in the first tire to extend, and drives the corresponding brake pad inside to abut against the inner wheel hub to generate friction to slow down the first tire until it stops rotating.

5. The all-terrain intelligent data collection vehicle based on machine vision according to claim 4 is characterized in that: Any of the first tires is also provided with a heat dissipation mechanism cooperating with the brake mechanism; The heat dissipation mechanism includes a temperature sensing tube, a coil spring tube, a transmission rod and a regulating valve; One end of the temperature sensing tube is fixed to the bottom of the heat dissipation bracket, and the other end is fixed to the inner end of the disc spring tube; the regulating valve includes a first liquid collecting chamber, a second liquid collecting chamber, a liquid inlet, a liquid outlet and an opening plate; the upper surface and the lower surface of the opening plate are respectively movably fitted with the openings of the first liquid collecting chamber and the second liquid collecting chamber to control the opening of the regulating valve to be positively correlated with the temperature of the brake pad; the liquid inlet is arranged on the first liquid collecting chamber, and the liquid outlet is arranged on the second liquid collecting chamber; one end of the transmission rod is fixed to the outer end of the disc spring tube, and the other end is fixed to the opening plate; wherein the temperature sensing tube and the disc spring tube contain temperature-sensitive substances, and the disc spring tube has the property of thermal expansion and contraction; When the brake pad abuts against the inner wheel hub and rubs against it, the brake pad heats up, and its temperature is transmitted to the heat dissipation bracket, the temperature sensing tube and the coil spring tube in sequence through heat conduction, so that the coil spring tube expands outward; the coil spring tube pushes the transmission rod to move to control the sliding of the opening plate to adjust the flow rate of the coolant in the heat dissipation tube; after the vehicle brakes, the pressure applied to the brake pedal is removed, the temperature of the brake pad drops, and the coil spring tube gradually retracts inward and pushes the transmission rod to move to control the opening of the regulating valve to zero.

6. The all-terrain intelligent data collection vehicle based on machine vision according to claim 1 is characterized in that: The chassis includes a first bottom plate and a second bottom plate which are parallel and spaced apart from top to bottom, and the first bottom plate and the second bottom plate are supported and fixedly connected by a plurality of evenly distributed shock-absorbing elastic elements; the collection box is arranged on the upper surface of the first bottom plate, and the rolling bearing seat and the motor mounting seat are fixedly connected to the lower surface of the second bottom plate.

7. The all-terrain intelligent data collection vehicle based on machine vision according to claim 1 is characterized in that: The rolling bearing seat of any of the shaft transmission mechanisms is provided with a third telescopic portion on the upper surface thereof which is controllably connected to the control module, and a supporting portion on the lower surface thereof, wherein the third telescopic portion has the freedom to telescope in the vertical direction, and the supporting portion is used to provide a mounting position for the jack; The collection box is also provided with a tilt sensor, and the tilt sensor signal is connected to the control module, for sensing the tilt angle and tilt direction of the bottom surface of the collection box compared to the horizontal plane and sending the signal to the control module, so that the control module controls the movement of the third telescopic part according to the tilt angle and tilt direction to adjust the collection box to a horizontal state.

8. The all-terrain intelligent data collection vehicle based on machine vision according to claim 7 is characterized in that: Each of the first telescopic part, the shaft transmission mechanism and the third telescopic part is controllably connected to the control module, and the control module controls them to telescope and adjust along a set direction respectively.

9. The all-terrain intelligent data collection vehicle based on machine vision according to claim 1, characterized in that: The shaft transmission mechanism of any tire assembly and the exteriors of the two power assemblies are both covered with dustproof shells, and the dustproof shells are fixedly connected to the chassis.

10. A collection method of an all-terrain intelligent collection vehicle based on machine vision according to any one of claims 1 to 9, characterized in that: The steps include: 1) After the vehicle drives to the initial position, the machine vision module is started to shoot and identify the target block, and a topographic map of the target block is generated and sent to the control module; wherein the target block is the set shooting range of the machine vision module, and the area of ​​the target block does not exceed the area of ​​the acquisition area; 2) The control module plans several vehicle driving paths according to the target block topographic map, and marks the road condition parameters for any vehicle driving path; wherein the road condition parameters include road width, road flatness, curve radius, slope, and lateral gradient; 3) determining a target vehicle driving path, the control module generating vehicle configuration optimization data according to the road condition parameters of the path, and adjusting the vehicle configuration according to the vehicle configuration optimization data; wherein the vehicle configuration includes wheel type, lateral distance and longitudinal distance between tires, center of gravity height, and number of wheels; 4) The vehicle travels along the driving path of the target vehicle, and the collection target of the driving direction of the collection vehicle obtained in real time by the machine vision module is sent to the control module, and then the control module controls the six-degree-of-freedom robotic arm to collect.

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