Medicated bath robot based on AI perception and identification

Abstract

The invention discloses a medicated bath robot based on AI perception recognition, and relates to the technical field of dairy cow medicated bath, the medicated bath robot comprises a box body, the top end of the box body is fixedly connected with an operation panel, the top end of the box body is fixedly connected with a mechanical arm, the outer wall of the mechanical arm is fixedly connected with a mechanical arm connecting device, and the outer wall of the mechanical arm connecting device is fixedly connected with a brush device; according to the invention, when the medicated bath part is cleaned and massaged through the AI and the mechanical arm, data such as historical nipple size, size, shape, necrosis, inflammation and the like and real-time cow milking state analysis are combined, so that possible abnormal cow activity behaviors during milking are predicted, the motion range of breasts and nipples is analyzed, and flexible processing is performed in advance; according to the method, the medicated bath part can be well treated, so that the residual medicine is prevented from influencing the skin health of the dairy cow, meanwhile, the medicine is prevented from entering cow milk, in addition, different medicated bath treatment schemes can be arranged according to the actual condition of the dairy cow by utilizing AI, and unnecessary resource waste is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of dairy cow medicated bathing, and in particular to a medicated bathing robot based on AI perception and recognition. Background Art

[0002] During the period of raising dairy cows, bacterial infection is the most important cause of mastitis in dairy cows. Pathogens usually include bacteria (such as Staphylococcus aureus, Escherichia coli and Streptococcus), viruses, fungi and mycoplasma, etc. In order to prevent dairy cows from developing symptoms such as mastitis, the nipples are usually disinfected and sterilized and cared for before and after milking by taking a medicated bath to reduce the infection of udder bacteria in dairy cows.

[0003] At present, most of the medicated bath care for dairy cows' nipples is done manually, and artificial medicated bathing requires workers to repeat the same action for a long time, which will lead to high labor intensity and easy operational errors due to fatigue during subsequent operations. At the same time, it is difficult to ensure that the medicated bath liquid covers each nipple completely uniformly through manual operation, and it is not easy to fully disinfect and protect the nipples, which increases the risk of nipple infection. Moreover, the medicated bath liquid after the medicated bath is also prone to being not wiped clean and leaving residues, which can easily affect the quality and safety and hygiene of milk during subsequent milking. For this reason, the present invention proposes a medicated bath robot based on AI perception and recognition. Summary of the invention

[0004] The purpose of the present invention is to make up for the deficiencies of the prior art and provide a medicinal bath robot based on AI perception and recognition.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a medicinal bath robot based on AI perception and recognition, comprising a box body, an operation panel is fixedly connected to the top of the box body, a mechanical arm is fixedly connected to the top of the box body, a mechanical arm connecting device is fixedly connected to the outer wall of the mechanical arm, and a brush device is fixedly connected to the outer wall of the mechanical arm connecting device, the top of the mechanical arm is fixedly connected to the top mounting frame, and the top of the top mounting frame is fixedly connected to the storage frame, a high-definition camera is provided inside the storage frame, and a pushing and extending mechanism and a refraction auxiliary mechanism are respectively provided on the outer walls of the high-definition camera, and the pushing and extending mechanism and the refraction auxiliary mechanism are both located inside the storage frame.

[0006] As a preferred solution of the present invention, the brush device includes a water outlet pipe, a first spring, a soft brush, a coupling, a shaft tube, a tension spring, an adjustment switch, a mounting connection block, a shield, a connecting pipe, a shaft motor compartment and a brush device connector, the bottom ends of the water outlet pipe and the connecting pipe are fixedly connected to the top end of the brush device connector, the coupling is rotatably connected to the inner wall of the brush device connector, one end of the two pairs of the first springs are fixedly connected to the inner wall of the brush device connector, and the other ends of the two pairs of the first springs are fixedly connected to the inner top end of the coupling, a pair of soft brushes are fixedly connected to the inner wall of the coupling, and one end of the coupling is fixedly connected to a pair of shaft tubes. A pair of through holes are drilled at the top of the brush device connector, and the end of the shaft tube away from the coupling passes through the through holes and is fixedly connected to one end of the shaft motor magazine, the top of the shaft motor magazine is fixedly connected to the bottom end of the brush device connector, the bottom end of the mounting connection block is fixedly connected to the top of the brush device connector, and a pair of adjusting switches are fixedly connected to the inner wall of the mounting connection block, the outer wall of the mounting connection block is fixedly connected to the inner wall of the protective cover, the top of the mounting connection block is fixedly connected to the bottom end of the robotic arm connecting device, one end of the tension spring is fixedly connected to the top of the brush device connector, and the other end of the tension spring is fixedly connected to one end of the mounting connection block.

[0007] As a preferred solution of the present invention, a pressure sensor is fixedly connected to the outer wall of the water outlet pipe, and the water outlet pipe and the pressure sensor are both located at the bottom of the soft brush.

[0008] As a preferred solution of the present invention, the outer wall of the high-definition camera is sleeved with a light reflecting sheet, and a light reflecting layer is provided at one end of the light reflecting sheet, the outer wall of the light reflecting sheet is sleeved with a hollow cylinder, the inner wall of the storage frame is opened with a circular opening, and the outer wall of the hollow cylinder is in contact with the inner wall of the circular opening.

[0009] As a preferred solution of the present invention, the pushing and extending mechanism includes an electric telescopic rod, a squeezing ball, a connecting rod, a round-headed convex rod, an L-shaped plate, a second spring and a sealing block. The ends of the electric telescopic rod and the connecting rod that are close to each other are fixedly connected to the outer wall of the squeezing ball, the other end of the connecting rod is fixedly connected to one end of the high-definition camera, the ends of a pair of L-shaped plates that are away from each other are fixedly connected to the inner wall of the storage frame, the ends of a pair of L-shaped plates that are close to each other are both provided with circular holes, the ends of a pair of round-headed convex rods that are away from each other respectively pass through a pair of circular holes and are fixedly connected to the ends of a pair of sealing blocks that are close to each other, the outer wall of the storage frame is provided with a pair of rectangular openings, and the outer wall of the sealing block is fixedly connected to the inner wall of the rectangular openings.

[0010] As a preferred scheme of the present invention, the refraction auxiliary mechanism includes a built-in cylinder, a piston plate, an extrusion rod, a movable straight plate, a connecting hose and an elastic transparent film, one end of a pair of the built-in cylinders are fixedly connected to the inner wall of the storage frame, the outer wall of the piston plate is slidably connected to the inner wall of the built-in cylinder, and one end of the piston plate is fixedly connected to one end of the extrusion rod, the inner wall of the built-in cylinder is drilled with a through hole, the other end of the extrusion rod passes through the through hole and is fixedly connected to one end of the movable straight plate, the close ends of a pair of the movable straight plates are fixedly connected to the outer wall of the high-definition camera, one end of the connecting hose is fixedly connected to the outer wall of the built-in cylinder, and the other end of the connecting hose is fixedly connected to the outer wall of the hollow cylinder, the inner wall of the hollow cylinder is drilled with a plurality of air guide ports, and the outer wall of the elastic transparent film is fixedly connected to the inner wall of the air guide port, and a refractive layer is provided on the surface of the elastic transparent film.

[0011] As a preferred solution of the present invention, a fill light is fixedly connected to one end of the hollow cylinder away from the high-definition camera, a photosensor is fixedly connected to the outer wall of the high-definition camera, and the fill light is electrically connected to the photosensor.

[0012] As a preferred solution of the present invention, a filter is fixedly connected to the inner wall of the hollow cylinder, and the filter is arranged in a ring shape.

[0013] Compared with the existing technology, the medicated bath robot based on AI perception and recognition has the following beneficial effects: 1. The present invention uses AI and a robotic arm to clean and massage the medicated bath area while combining historical nipple size, size, shape, necrosis, inflammation and other data and real-time cow milking status analysis to predict possible abnormal cow activity during milking, analyze the range of motion of the udder and nipple and perform flexible treatment in advance to ensure that the medicated bath area can be well treated, thereby preventing residual drugs from affecting the health of the cow's skin and preventing them from entering the milk. In addition, AI can also be used to arrange different medicated bath treatment plans according to the actual situation of the cow to avoid unnecessary waste of resources.

[0014] 2. The present invention can drive the high-definition camera to extend and adjust through the push and extension mechanism to facilitate shooting. At the same time, it cooperates with the fill light and the light-sensitive sensor to perform fill light processing when the light intensity is insufficient, thereby improving the shooting visibility, thereby improving the clarity and contrast of the image, making the photographed object clearer and more visible. In the process of shooting with the high-definition camera, the two ends of the storage frame are pushed to be connected, which is convenient for air flow, accelerates the heat dissipation of the high-definition camera, enhances the heat dissipation effect, and reduces heat interference.

[0015] 3. The present invention, through the provision of a refraction auxiliary mechanism and a light reflection sheet, can reflect and refract the divergent light emitted and received by the high-definition camera, thereby causing the light to converge and reduce divergence. At the same time, it cooperates with the filter to filter the light scattered at the edge, reducing unnecessary stray light, thereby reducing the shadows at the edge of the image contour, further improving the contrast and clarity of the image, and facilitating subsequent image recognition and analysis.

[0016] Other advantages, objectives and features of the present invention will be set forth in part in the following description and, in part, will be apparent to those skilled in the art based on an examination of the following or may be taught from the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention; Figure 2 It is a schematic diagram of the structure of the brush device in the present invention; Figure 3 For the present invention Figure 2 The enlarged structural diagram at A in the middle; Figure 4 It is a partial three-dimensional structural schematic diagram of the storage frame, the pushing and extending mechanism and the refraction auxiliary mechanism in the present invention; Figure 5 It is a schematic diagram of the split structure of the storage frame in the present invention; Figure 6 It is a schematic diagram of the three-dimensional structure of the pushing and extending mechanism in the present invention; Figure 7 It is a schematic diagram of a partial auxiliary structure of the refraction auxiliary mechanism in the present invention; Figure 8 It is a schematic diagram of the disassembled structure of the fill light, the hollow cylinder and the light reflecting sheet in the present invention.

[0018] In the figure: 1, box; 2, operation panel; 3, mechanical arm; 4, mechanical arm connecting device; 5, brush device; 501, water outlet pipe; 502, first spring; 503, soft brush; 504, coupling; 505, shaft tube; 506, tension spring; 507, adjustment switch; 508, installation connection block; 509, shield; 5010, connecting pipe; 5011, shaft motor compartment; 5012, brush device connector; 6, pressure sensor; 7, top mounting frame; 8, storage frame; 9, high-definition camera; 10, hollow round Cylinder; 11. Light reflecting sheet; 12. Pushing and extending mechanism; 1201. Electric telescopic rod; 1202. Squeezing ball; 1203. Connecting rod; 1204. Round-headed convex rod; 1205. L-shaped plate; 1206. Second spring; 1207. Sealing block; 13. Refraction auxiliary mechanism; 1301. Built-in cylinder; 1302. Piston plate; 1303. Squeezing rod; 1304. Moving straight plate; 1305. Connecting hose; 1306. Elastic transparent film; 14. Fill light; 15. Filter; 16. Photosensor. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0020] like Figure 1-Figure 8 As shown, the present invention provides a technical solution: a medicinal bath robot based on AI perception and recognition, comprising a box body 1, an operation panel 2 is fixedly connected to the top of the box body 1, a mechanical arm 3 is fixedly connected to the top of the box body 1, a mechanical arm connecting device 4 is fixedly connected to the outer wall of the mechanical arm 3, and a brush device 5 is fixedly connected to the outer wall of the mechanical arm connecting device 4, the top of the mechanical arm 3 is fixedly connected to the top mounting frame 7, and the top of the top mounting frame 7 is fixedly connected to the storage frame 8, a high-definition camera 9 is arranged inside the storage frame 8, and a pushing and extending mechanism 12 and a refraction auxiliary mechanism 13 are respectively arranged on the outer wall of the high-definition camera 9, and the pushing and extending mechanism 12 and the refraction auxiliary mechanism 13 are both located inside the storage frame 8.

[0021] According to the overall structure of the device, a high-definition camera 9 is used to shoot the cow's udder structure and nipple position in real time, and the captured images are processed in combination with an intelligent algorithm. In the process of processing the images captured by the high-definition camera 9, the autoencoder in the deep learning algorithm can reduce the noise of the captured images and extract useful features from the images. Then, based on the network architecture of the convolutional neural network, the image processing software is used in conjunction with hardware such as the processor and the image processor to identify and detect the target, so as to analyze the parts that need to be bathed, automatically adjust the cleaning strength and massage frequency of the robotic arm 3, and precisely control the robotic arm 3 to fully clean, disinfect, and stimulate the milk secretion reflex of the cow's nipples, and cooperate with professional process massage movements to stimulate blood circulation and help the cows relieve the pain caused by the cleaning process. At the same time, the strength and angle of the robotic arm 3 can be adjusted according to real-time data to adapt to the needs of the cow's body shape, position and nipple status, ensuring that the whole process is gentle and comfortable. During the medicated bath, the cow's udder is continuously monitored through AI, and the abnormal changes in the movement position are identified through the high-definition camera 9 and the deep learning algorithm. Then, combined with historical data and real-time analysis, the possible movement patterns and activity range of cows and goats on the rotary milking machine are predicted and flexible processing is performed in advance. In addition, the pasture management software big data analysis can be used to formulate a care plan for the nipple shape characteristics of each cow, set different flushing temperatures, cleaning times, massage strengths and frequencies, to ensure that cows can get the best care at different physiological stages and avoid unnecessary waste of resources during the cleaning process.

[0022] like Figure 1 and Figure 2As shown, the brush device 5 includes a water outlet pipe 501, a first spring 502, a soft brush 503, a coupling 504, a shaft tube 505, a tension spring 506, an adjustment switch 507, an installation connection block 508, a shield 509, a connecting pipe 5010, a shaft motor compartment 5011 and a brush device connector 5012. The bottom ends of the water outlet pipe 501 and the connecting pipe 5010 are fixedly connected to the top of the brush device connector 5012, the coupling 504 is rotatably connected to the inner wall of the brush device connector 5012, one end of the two pairs of first springs 502 are fixedly connected to the inner wall of the brush device connector 5012, and the other ends of the two pairs of first springs 502 are fixedly connected to the inner top of the coupling 504, a pair of soft brushes 503 are fixedly connected to the inner wall of the coupling 504, and one end of the coupling 504 is fixedly connected There is a pair of shaft tubes 505, a pair of through holes are drilled at the top of the brush device connector 5012, and the end of the shaft tube 505 away from the coupling 504 passes through the through hole and is fixedly connected to one end of the shaft motor compartment 5011, the top of the shaft motor compartment 5011 is fixedly connected to the bottom end of the brush device connector 5012, the bottom end of the mounting connection block 508 is fixedly connected to the top of the brush device connector 5012, and a pair of adjusting switches 507 are fixedly connected to the inner wall of the mounting connection block 508, the outer wall of the mounting connection block 508 is fixedly connected to the inner wall of the protective cover 509, the top of the mounting connection block 508 is fixedly connected to the bottom end of the robot arm connecting device 4, one end of the tension spring 506 is fixedly connected to the top of the brush device connector 5012, and the other end of the tension spring 506 is fixedly connected to one end of the mounting connection block 508.

[0023] By setting the brush device 5, the robot arm 3 drives the brush device 5 to approach the nipple and udder of the cow through the robot arm connecting device 4, and drives the pair of soft brushes 503 to contact the nipple and udder of the cow through the deflection of the coupling 504, and then drives the medicinal bath liquid to spray upward through the water outlet pipe 501, and at the same time, the pair of soft brushes 503 rotates to clean and massage the nipple and udder of the cow.

[0024] like Figure 1 , Figure 2 and Figure 3 As shown, the outer wall of the water outlet pipe 501 is fixedly connected with a pressure sensor 6 , and the water outlet pipe 501 and the pressure sensor 6 are both located at the bottom of the soft brush 503 .

[0025] By setting the pressure sensor 6, the spraying force and flow rate of the bathing liquid can be monitored in real time, so that under the operation control of the operation panel 2, the bathing liquid can be sprayed onto the cows with appropriate force and flow rate to achieve the best bathing effect.

[0026] like Figure 4 , Figure 5 , Figure 6 , Figure 7and Figure 8 As shown, the outer wall of the high-definition camera 9 is sleeved with a light reflecting sheet 11, and a light reflecting layer is provided at one end of the light reflecting sheet 11, the outer wall of the light reflecting sheet 11 is sleeved with a hollow cylinder 10, the inner wall of the storage frame 8 is opened with a circular opening, and the outer wall of the hollow cylinder 10 is in contact with the inner wall of the circular opening.

[0027] By providing the light reflecting sheet 11, the light reflecting layer is utilized to reflect the light diverging backward from the high-definition camera 9, so that the light is re-emitted forward, thereby reducing light dispersion.

[0028] like Figure 4 , Figure 5 and Figure 6 As shown, the pushing and extending mechanism 12 includes an electric telescopic rod 1201, a squeezing ball 1202, a connecting rod 1203, a round-headed protruding rod 1204, an L-shaped plate 1205, a second spring 1206 and a sealing block 1207. The ends of the electric telescopic rod 1201 and the connecting rod 1203 that are close to each other are fixedly connected to the outer wall of the squeezing ball 1202, and the other end of the connecting rod 1203 is fixedly connected to one end of the high-definition camera 9. The ends of a pair of L-shaped plates 1205 that are away from each other are fixedly connected to the inner wall of the storage frame 8. The ends of a pair of L-shaped plates 1205 that are close to each other are both opened with circular holes. The ends of a pair of round-headed protruding rods 1204 that are away from each other pass through a pair of circular holes respectively and are fixedly connected to the ends of a pair of sealing blocks 1207 that are close to each other. The outer wall of the storage frame 8 is opened with a pair of rectangular openings, and the outer wall of the sealing block 1207 is fixedly connected to the inner wall of the rectangular openings.

[0029] By pushing the setting of the extension mechanism 12, the electric telescopic rod 1201 can drive the high-definition camera 9 to extend outward and adjust its shooting distance. At the same time, during the shooting process of the high-definition camera 9, the squeezing ball 1202 squeezes a pair of round-headed protruding rods 1204 and the sealing block 1207 to move apart, pushing the two ends of the storage frame 8 to be connected, facilitating the flow of air and accelerating the dissipation of heat on the high-definition camera 9.

[0030] like Figure 4 , Figure 5 , Figure 7 and Figure 8As shown, the refraction auxiliary mechanism 13 includes a built-in cylinder 1301, a piston plate 1302, a squeeze rod 1303, a movable straight plate 1304, a connecting hose 1305 and an elastic transparent film 1306. One end of a pair of built-in cylinders 1301 are fixedly connected to the inner wall of the storage frame 8, the outer wall of the piston plate 1302 is slidably connected to the inner wall of the built-in cylinder 1301, and one end of the piston plate 1302 is fixedly connected to one end of the squeeze rod 1303. The inner wall of the built-in cylinder 1301 is perforated, and the other end of the squeeze rod 1303 passes through the perforation and is connected to the movable straight plate 1304. 4, one end of a pair of movable straight plates 1304 close to each other are fixedly connected to the outer wall of the high-definition camera 9, one end of a connecting hose 1305 is fixedly connected to the outer wall of the built-in cylinder 1301, and the other end of the connecting hose 1305 is fixedly connected to the outer wall of the hollow cylinder 10, a plurality of air guide ports are drilled on the inner wall of the hollow cylinder 10, and the outer wall of the elastic transparent film 1306 is fixedly connected to the inner wall of the air guide port, a refractive layer is provided on the surface of the elastic transparent film 1306, and a filter 15 is fixedly connected to the inner wall of the hollow cylinder 10, and the filter 15 is arranged in a ring shape.

[0031] Through the setting of the refraction auxiliary mechanism 13, multiple elastic transparent films 1306 expand and bulge under the filling of gas, and refract the divergent light in the light emitted and received by the high-definition camera 9 for multiple times, so that the divergent light is converged with the parallel light again, which plays a focusing role, reduces the divergence of light, and improves the imaging quality. In addition, the filter 15 can filter the stray light of the light received in the edge area, remove the stray light that is not needed by the high-definition camera 9, reduce stray light interference, reduce the shadow and blur at the edge of the image contour, and effectively improve the contrast and clarity of the image, so as to facilitate subsequent image recognition and analysis.

[0032] like Figure 4 , Figure 6 , Figure 7 and Figure 8 As shown, a fill light 14 is fixedly connected to one end of the hollow cylinder 10 away from the high-definition camera 9 , a photosensitive sensor 16 is fixedly connected to the outer wall of the high-definition camera 9 , and the fill light 14 is electrically connected to the photosensitive sensor 16 .

[0033] By setting the photosensitive sensor 16, the light intensity around the high-definition camera 9 can be monitored in real time. When it is detected that the light intensity is insufficient and interferes with the shooting of the high-definition camera 9, it is fed back to the fill light 14 to perform fill light brightening to improve visibility and make the photographed object clearer.

[0034] Working principle: First, the electric telescopic rod 1201 drives the high-definition camera 9 to extend outward and adjust its shooting distance. After adjusting to a suitable position, the high-definition camera 9 emits light for shooting. When the light is insufficient, the fill light 14 lights up to brighten the fill light. At the same time, the light reflector 11 reflects the backlight of the high-definition camera 9 to re-shoot it forward, and multiple elastic transparent films 1306 expand and bulge under the filling of gas, and refract the emitted scattered light multiple times through the refraction layer to converge it with the parallel light. Then the emitted light is reflected by the cow and incident on the high-definition camera 9 again under the refraction and filtering action of the filter 15, prompting the high-definition camera 9 to shoot the medicated bath range, udder structure and nipple condition of the cow, and analyze the image in combination with the intelligent algorithm to determine the nipple position and shape state such as inward, outward, small nipple, thick nipple, blind nipple, etc. At the same time, the robot arm 3 drives the brush device 5 to approach the nipple and udder of the cow through the robot arm connecting device 4, and drives a pair of soft brushes 503 to contact the nipple and udder of the cow through the deflection of the coupling 504, and then drives the medicinal bath liquid to spray upward through the water outlet pipe 501. At the same time, the pair of soft brushes 503 rotate, and use the analysis of the algorithm to accurately adjust the cleaning force and massage frequency of the robot arm 3 to fully bathe and massage the cow's nipples. AI is used to adjust the operating force in real time according to the milking status, stress status, restlessness, posture changes, etc. of the cow, monitor the status of the cow's nipples, identify abnormal changes in the nipple skin and nipple holes through the high-definition camera 9 and the deep learning algorithm, judge possible nipple health problems, and formulate corresponding care plans based on the actual situation of the cow. By accurately controlling the water flow and the amount of medicine used, resources are avoided and the environment is protected.

[0035] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A medicinal bath robot based on AI perception and recognition, comprising a box (1), characterized in that: The top of the box (1) is fixedly connected to an operation panel (2), the top of the box (1) is fixedly connected to a mechanical arm (3), the outer wall of the mechanical arm (3) is fixedly connected to a mechanical arm connecting device (4), and the outer wall of the mechanical arm connecting device (4) is fixedly connected to a brush device (5), the top of the mechanical arm (3) is fixedly connected to a top mounting frame (7), and the top of the top mounting frame (7) is fixedly connected to a storage frame (8), a high-definition camera (9) is provided inside the storage frame (8), and a pushing and extending mechanism (12) and a refraction auxiliary mechanism (13) are respectively provided on the outer wall of the high-definition camera (9), and the pushing and extending mechanism (12) and the refraction auxiliary mechanism (13) are both located inside the storage frame (8).

2. The medicated bath robot based on AI perception and recognition according to claim 1 is characterized in that: The brush device (5) comprises a water outlet pipe (501), a first spring (502), a soft brush (503), a coupling (504), a shaft pipe (505), a tension spring (506), an adjustment switch (507), a mounting connection block (508), a protective cover (509), a connecting pipe (5010), a shaft motor compartment (5011) and a brush device connector (5012). The bottom ends of the water outlet pipe (501) and the connecting pipe (5010) are connected to the brush device connector (5012). The coupling (504) is rotatably connected to the top of the brush device connector (5012), one end of the two pairs of first springs (502) are fixedly connected to the inner wall of the brush device connector (5012), and the other ends of the two pairs of first springs (502) are fixedly connected to the inner top of the coupling (504), a pair of soft brushes (503) are fixedly connected to the inner wall of the coupling (504), and one end of the coupling (504) is fixedly connected to the inner wall of the brush device connector (5012). A pair of shaft tubes (505) are fixedly connected, a pair of through holes are drilled at the top of the brush device connector (5012), and one end of the shaft tube (505) away from the coupling (504) passes through the through holes and is fixedly connected to one end of the shaft motor compartment (5011), the top of the shaft motor compartment (5011) is fixedly connected to the bottom of the brush device connector (5012), and the bottom end of the mounting connection block (508) is fixedly connected to the top of the brush device connector (5012). A pair of regulating switches (507) are fixedly connected to the inner wall of the mounting connection block (508); the outer wall of the mounting connection block (508) is fixedly connected to the inner wall of the protective cover (509); the top end of the mounting connection block (508) is fixedly connected to the bottom end of the robot arm connection device (4); one end of the tension spring (506) is fixedly connected to the top end of the brush device connector (5012); and the other end of the tension spring (506) is fixedly connected to one end of the mounting connection block (508).

3. The medicated bath robot based on AI perception and recognition according to claim 2 is characterized in that: The outer wall of the water outlet pipe (501) is fixedly connected to a pressure sensor (6), and the water outlet pipe (501) and the pressure sensor (6) are both located at the bottom of the soft brush (503).

4. The medicated bath robot based on AI perception and recognition according to claim 1 is characterized in that: The outer wall of the high-definition camera (9) is sleeved with a light reflecting sheet (11), and one end of the light reflecting sheet (11) is provided with a light reflecting layer. The outer wall of the light reflecting sheet (11) is sleeved with a hollow cylinder (10). The inner wall of the storage frame (8) is provided with a circular opening, and the outer wall of the hollow cylinder (10) is in contact with the inner wall of the circular opening.

5. The medicated bath robot based on AI perception and recognition according to claim 1 is characterized in that: The pushing and extending mechanism (12) comprises an electric telescopic rod (1201), a squeezing ball (1202), a connecting rod (1203), a round-headed convex rod (1204), an L-shaped plate (1205), a second spring (1206) and a sealing block (1207); the ends of the electric telescopic rod (1201) and the connecting rod (1203) that are close to each other are fixedly connected to the outer wall of the squeezing ball (1202); the other end of the connecting rod (1203) is fixedly connected to one end of the high-definition camera (9). The ends of the pair of L-shaped plates (1205) that are separated from each other are fixedly connected to the inner wall of the storage frame (8); the ends of the pair of L-shaped plates (1205) that are close to each other are each provided with a circular hole; the ends of the pair of round-head protruding rods (1204) that are separated from each other respectively pass through the pair of circular holes and are fixedly connected to the ends of the pair of sealing blocks (1207) that are close to each other; the outer wall of the storage frame (8) is provided with a pair of rectangular openings, and the outer wall of the sealing block (1207) is fixedly connected to the inner wall of the rectangular openings.

6. The medicated bath robot based on AI perception and recognition according to claim 1 is characterized in that: The refraction auxiliary mechanism (13) comprises a built-in cylinder (1301), a piston plate (1302), an extrusion rod (1303), a movable straight plate (1304), a connecting hose (1305) and an elastic transparent film (1306); one end of a pair of built-in cylinders (1301) are fixedly connected to the inner wall of the storage frame (8); the outer wall of the piston plate (1302) is slidably connected to the inner wall of the built-in cylinder (1301); one end of the piston plate (1302) is fixedly connected to one end of the extrusion rod (1303); the inner wall of the built-in cylinder (1301) is perforated; the extrusion rod (1304) is 3) passes through the through hole and is fixedly connected to one end of the movable straight plate (1304); the ends of a pair of movable straight plates (1304) that are close to each other are fixedly connected to the outer wall of the high-definition camera (9); one end of the connecting hose (1305) is fixedly connected to the outer wall of the built-in cylinder (1301); and the other end of the connecting hose (1305) is fixedly connected to the outer wall of the hollow cylinder (10); a plurality of air guide ports are formed on the inner wall of the hollow cylinder (10); and the outer wall of the elastic transparent film (1306) is fixedly connected to the inner wall of the air guide port; and a refractive layer is provided on the surface of the elastic transparent film (1306).

7. The medicated bath robot based on AI perception and recognition according to claim 6 is characterized in that: A fill light (14) is fixedly connected to one end of the hollow cylinder (10) away from the high-definition camera (9), a light sensor (16) is fixedly connected to the outer wall of the high-definition camera (9), and the fill light (14) is electrically connected to the light sensor (16).

8. The medicated bath robot based on AI perception and recognition according to claim 7 is characterized in that: The inner wall of the hollow cylinder (10) is fixedly connected with a filter (15), and the filter (15) is arranged in a ring shape.

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