Multi-mode fusion sensing specialized robot with self-cleaning function

Abstract

The invention discloses a multi-mode fusion sensing specialized robot with a self-cleaning function, belongs to the technical field of agricultural robots, and aims to solve the problems that when a lens of a camera is polluted in the inspection process, manual cleaning operation is needed, and time and labor are wasted. A mounting platform is arranged in the movable base, an electric control cabinet is arranged on the surface of the mounting platform, an image acquisition module is mounted at the top end of the lifting frame, and a cleaning structure capable of cleaning a lens of the image acquisition module is further mounted at the top end of the lifting frame; the surface of the mounting platform is provided with the cleaning structure capable of cleaning the lens of the image acquisition module, so that after dirt on the surface of the camera is detected, cleaning operation can be automatically carried out without manual cleaning, rapid and accurate dirt cleaning operation is achieved, inspection operation can be rapidly recovered as a whole, and the inspection efficiency is improved. And the use requirements of people are met.

Description

Technical Field

[0001] The invention discloses a special robot with multi-mode fusion sensing and a self-cleaning function, belonging to the technical field of agricultural robots, and in particular to the technical field of agricultural inspection robots. Background Art

[0002] The use of orchard inspection robots has enhanced the safety of orchards. Manual inspections have certain safety risks, especially at night or in remote areas, where there may be risks of theft, injury, etc. Inspection robots can replace manual inspections and reduce safety risks for personnel. At the same time, the robots are equipped with intelligent recognition and analysis technology, which can automatically detect abnormal situations and promptly alarm, further improving the safety of the orchard.

[0003] Image information plays a vital role in the inspection process of orchards. However, during the inspection process, there are a large number of branches, leaves, insects and debris inside the orchard, so the camera lens is very easy to be contaminated, which has a certain impact on the captured image. When encountering the above situation, most of the current methods are to manually remove the dirt on the surface of the camera. Although the cleaning operation can be carried out, it takes a certain amount of time for both the person to reach the location of the machine and the machine to reach the area where the person is, which has a certain impact on the efficiency of the inspection. In order to solve the above problems, we proposed a special robot with multi-mode fusion sensing with self-cleaning function. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the existing defects and provide a special robot with multi-mode fusion sensing and self-cleaning function, thereby solving the problem that when the camera lens is contaminated during the inspection process, manual cleaning operations are required, which is time-consuming and labor-intensive.

[0005] To achieve the above object, the present invention provides the following technical solutions: A special robot with multi-mode fusion sensing and self-cleaning function comprises a mobile base, an installation platform is arranged inside the mobile base, an electric control cabinet is arranged on the surface of the installation platform, a lifting frame is installed on the surface of the installation platform on the side of the electric control cabinet, an image acquisition module is installed on the top of the lifting frame, and a cleaning structure capable of cleaning the lens of the image acquisition module is also installed on the top of the lifting frame.

[0006] As a preferred technical solution of the present invention, an audible and visual alarm, a light intensity sensor 1, a humidity sensor, a temperature sensor and a light intensity sensor 2 are installed on the top of the electric control cabinet, and a laser radar, an ultrasonic sensor, an inertial navigation module, a wireless transmission module and a data processing module are arranged inside the electric control cabinet.

[0007] As a preferred technical solution of the present invention, a battery pack is installed inside the mounting platform, a mounting hole is opened inside the mounting platform on the side of the battery pack, the inside of the mounting hole is connected to a soil sensor through an electric push rod 1, and the bottom end of the electric push rod 1 is arranged below the bottom end of the mounting platform.

[0008] As a preferred technical solution of the present invention, the lifting frame includes two electric push rods installed on the surface of the mounting platform, a mounting plate is installed on the top of the two electric push rods, and a folding cover is provided between the mounting plate and the mounting platform.

[0009] As a preferred technical solution of the present invention, the image acquisition module includes a mounting block, a servo motor is installed at the bottom end of the mounting plate, the output shaft of the servo motor passes through and extends to the top of the mounting plate and is connected to the mounting block, a high-definition camera is installed on one side of the mounting block, and a deep binocular vision camera is installed on the other side of the mounting block.

[0010] As a preferred technical solution of the present invention, the cleaning structure includes a mounting tube installed in the mounting platform, the top end of the mounting tube passes through and extends to the top of the mounting plate and is connected to a pipe rack, a nozzle is installed at the position of the tube rack corresponding to the image acquisition module lens, and a guide plate is provided at the position below the nozzle corresponding to the surface of the mounting plate.

[0011] As a preferred technical solution of the present invention, the bottom end of the mounting pipe is arranged inside the mounting platform, the mounting pipe on one side inside the mounting platform is connected to a water tank via a connecting pipe 1, a booster pump for pressurizing the interior of the water tank is arranged at the top, a solenoid valve 1 is arranged on the connecting pipe 1, and the mounting pipe on the other side inside the mounting platform is connected to a hot air blower via a connecting pipe 2, and a solenoid valve 2 is installed on the connecting pipe 2.

[0012] Compared with the prior art, the beneficial effect of the present invention is that a cleaning structure capable of cleaning the lens of the image acquisition module is provided on the surface of the mounting platform, so that after detecting the presence of dirt on the surface of the camera, the cleaning operation can be automatically performed without manual cleaning, thereby achieving fast and accurate cleaning operations, enabling the overall inspection operation to be quickly resumed, meeting people's usage needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 It is a schematic diagram of the three-dimensional side structure of the present invention; Figure 3 It is a schematic diagram of the first cross-sectional structure of the present invention; Figure 4It is a schematic diagram of the second cross-sectional structure of the present invention; 1-mobile base; 2-installation platform; 3-electric control cabinet; 31-sound and light alarm; 32-light intensity sensor 1; 33-humidity sensor; 34-temperature sensor; 35-light intensity sensor 2; 36-laser radar; 37-ultrasonic sensor; 38-inertial navigation module; 39-wireless transmission module; 310-data processing module; 311-battery pack; 312-installation hole; 313-electric push rod 1; 314-soil sensor; 4-lifting Rack; 41-electric push rod 2; 42-mounting plate; 43-folding cover; 5-image acquisition module; 51-servo motor; 52-mounting block; 53-high-definition camera; 54-deep binocular vision camera; 6-cleaning structure; 61-mounting pipe; 62-pipe rack; 63-sprinkler; 64-connecting pipe 1; 65-water tank; 66-boosting pump; 67-solenoid valve 1; 68-connecting pipe 2; 69-hot air blower; 610-solenoid valve 2; 612-electronic pressure relief valve. DETAILED DESCRIPTION

[0014] 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.

[0015] See also Figure 1-4 , the present invention provides a technical solution: A special robot with multi-mode fusion sensing and self-cleaning function comprises a mobile base 1, a mounting platform 2 is arranged inside the mobile base 1, an electric control cabinet 3 is arranged on the surface of the mounting platform 2, a lifting frame 4 is installed on the surface of the mounting platform 2 on the side of the electric control cabinet 3, an image acquisition module 5 is installed on the top of the lifting frame 4, and a cleaning structure 6 capable of cleaning the lens of the image acquisition module 5 is also installed on the top of the lifting frame 4. Under normal circumstances, the image taken by the camera should have clear edges and rich details. When there is dirt on the camera, the image will become blurred. The image clarity can be evaluated by calculating the gradient amplitude of the image or the response of the Laplace operator. For example, after the captured image is grayed, its Laplace transform is calculated. If the high-frequency component of the transformed image is significantly reduced, that is, the Laplace response value is lower than the set threshold, it is likely that the image details are lost due to dirt on the lens, thereby judging that there is dirt on the camera; Furthermore, multiple images can be superimposed through the data processing module 310. When the image information at the same position is consistent for multiple times, the image can be decomposed into X1Y1, X1Y1, X1Y1...XnYn. When the XnYn positions of multiple photos are exactly the same, it can be determined that there is dirt at a certain position of the camera lens. At this time, the electric control cabinet 3 first controls the operation of the image acquisition module 5 to make the lens of the image acquisition module 5 correspond to the cleaning structure 6, and then makes the image acquisition module 5 work, thereby the lens can be rinsed first and then dried.

[0016] The top of the electric control cabinet 3 is equipped with an audible and visual alarm 31, a light intensity sensor 1 32, a humidity sensor 33, a temperature sensor 34 and a light intensity sensor 2 35. The interior of the electric control cabinet 3 is provided with a laser radar 36, an ultrasonic sensor 37, an inertial navigation module 38, a wireless transmission module 39 and a data processing module 310. When personnel or animals are detected, an alarm is sounded through the audible and visual alarm 31, thereby driving them away. The environmental information is collected through the light intensity sensor 1 32, the humidity sensor 33, the temperature sensor 34 and the light intensity sensor 2 35. The ultrasonic sensor 37 emits ultrasonic waves and receives echoes to measure the height of the fruit trees, the crown diameter and the distance between the fruit trees, so as to provide key data for operation planning. In the orchard environment, the inertial navigation module 38 is combined with sensors 36 such as GPS and laser radar to construct a more accurate and stable navigation system. The inertial navigation module enables the robot to move autonomously in the orchard without human intervention. It can automatically plan and perform inspection or picking operations according to preset paths and tasks. The inertial navigation module is not affected by external environments such as light and weather, and has high stability and reliability. This allows the robot to maintain stable navigation performance in various complex environments. Combined with other sensor data, the inertial navigation module can help the robot plan paths, select the best path to avoid obstacles, and improve work efficiency. The wireless transmission module 39 transmits and receives data, which facilitates remote control of the operation of the equipment. The data processing module 310 processes the internally generated data.

[0017] A battery pack 311 is installed inside the mounting platform 2, and the operation of the entire equipment is controlled by the battery pack 311. A mounting hole 312 is opened inside the mounting platform 2 on the side of the battery pack 311. The inside of the mounting hole 312 is connected to a soil sensor 314 through an electric push rod 313. The bottom end of the electric push rod 313 is set below the bottom end of the mounting platform 2. By controlling the operation of the electric push rod 313, the soil sensor 314 can reach the inside of the soil, thereby facilitating the detection of soil temperature, soil moisture, and soil pH (PH) of the soil.

[0018] The lifting frame 4 includes an electric push rod 41 installed on the surface of the mounting platform 2. A mounting plate 42 is installed on the top of the electric push rod 41. A folding cover 43 is provided between the mounting plate 42 and the mounting platform 2. By controlling the operation of the electric push rod 41, the height of the mounting plate 42 can be adjusted easily.

[0019] The image acquisition module 5 includes a mounting block 52, a servo motor 51 is installed at the bottom end of the mounting plate 42, the output shaft of the servo motor 51 passes through and extends to the top of the mounting plate 42 and is connected to the mounting block 52, a high-definition camera 53 is installed on one side of the mounting block 52, and a deep binocular vision camera 54 is installed on the other side of the mounting block 52. The high-definition camera 53 and the deep binocular vision camera 54 are used to realize functions such as fruit maturity identification, pest and disease detection, and branch structure analysis.

[0020] The cleaning structure 6 includes a mounting tube 61 installed in the mounting platform 2. The top end of the mounting tube 61 passes through and extends to the top of the mounting plate 42 and is connected to a pipe rack 62. A nozzle 63 is installed on the pipe rack 62 at a position corresponding to the lens of the image acquisition module 5. A guide plate 611 is provided on the surface of the mounting plate 42 at a position corresponding to the position below the nozzle 63, thereby allowing the water or airflow sprayed by the nozzle 63 to directly act on the lens of the image acquisition module 5, thereby facilitating cleaning and drying operations.

[0021] The bottom end of the installation pipe 61 is arranged inside the installation platform 2. The installation pipe 61 on one side of the installation platform 2 is connected to a water tank 65 through a connecting pipe 1 64. A booster pump 66 for pressurizing the inside of the water tank 65 is arranged at the top. A solenoid valve 1 67 is arranged on the connecting pipe 1 64. The installation pipe 61 on the other side of the installation platform 2 is connected to a hot air blower 69 through a connecting pipe 2 68. A solenoid valve 2 610 is arranged on the connecting pipe 2 68. When cleaning, the solenoid valve 1 67 is opened to make the booster pump 66 work at the same time, so that the water in the water tank 65 is filled with hot air. The cleaning liquid can be sprayed out, so as to facilitate the cleaning operation of the lens. After cleaning, by closing the solenoid valve 67 and the booster pump 66, and at the same time making the hot air blower 69 work, a hot air flow is sprayed out from the nozzle 63, so as to facilitate the drying operation of the lens. An electronic pressure relief valve 612 is installed at the top of the water tank 65. When the solenoid valve 67 and the booster pump 66 are closed, the electronic pressure relief valve 612 is opened, so that the cleaning liquid inside the installation tube 61 flows back to the inside of the water tank 65, thereby ensuring that the drying air flow can pass smoothly.

[0022] 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 multi-mode fusion sensing special robot with a self-cleaning function, comprising a mobile base (1), a mounting platform (2) being arranged inside the mobile base (1), and an electric control cabinet (3) being arranged on the surface of the mounting platform (2), characterized in that: A lifting frame (4) is installed on the surface of the mounting platform (2) on the side of the electric control cabinet (3), an image acquisition module (5) is installed on the top of the lifting frame (4), and a cleaning structure (6) capable of cleaning the lens of the image acquisition module (5) is also installed on the top of the lifting frame (4).

2. The special robot with multi-mode fusion sensing and self-cleaning function according to claim 1, characterized in that: An audible and visual alarm (31), a light intensity sensor 1 (32), a humidity sensor (33), a temperature sensor (34) and a light intensity sensor 2 (35) are installed on the top of the electric control cabinet (3), and a laser radar (36), an ultrasonic sensor (37), an inertial navigation module (38), a wireless transmission module (39) and a data processing module (310) are arranged inside the electric control cabinet (3).

3. The special robot with multi-mode fusion sensing and self-cleaning function according to claim 2 is characterized in that: A battery pack (311) is installed inside the mounting platform (2), a mounting hole (312) is provided inside the mounting platform (2) on the side of the battery pack (311), the inside of the mounting hole (312) is connected to a soil sensor (314) via an electric push rod 1 (313), and the bottom end of the electric push rod 1 (313) is arranged below the bottom end of the mounting platform (2).

4. The special robot with multi-mode fusion sensing and self-cleaning function according to claim 1 is characterized in that: The lifting frame (4) comprises a second electric push rod (41) mounted on the surface of the mounting platform (2), a mounting plate (42) being mounted on the top end of the second electric push rod (41), and a folding cover (43) being provided between the mounting plate (42) and the mounting platform (2).

5. The special robot with multi-mode fusion sensing and self-cleaning function according to claim 4, characterized in that: The image acquisition module (5) comprises a mounting block (52), a servo motor (51) being mounted at the bottom end of the mounting plate (42), an output shaft of the servo motor (51) passing through and extending to the top end of the mounting plate (42) and being connected to the mounting block (52), a high-definition camera (53) being mounted on one side of the mounting block (52), and a deep binocular vision camera (54) being mounted on the other side of the mounting block (52).

6. The special robot with multi-mode fusion sensing and self-cleaning function according to claim 5, characterized in that: The cleaning structure (6) comprises a mounting tube (61) mounted in the mounting platform (2); the top end of the mounting tube (61) passes through and extends to the top of the mounting plate (42) and is connected to a tube rack (62); a nozzle (63) is mounted on the tube rack (62) at a position corresponding to a lens of the image acquisition module (5); and a guide plate (611) is provided on the surface of the mounting plate (42) at a position corresponding to below the nozzle (63).

7. The special robot with multi-mode fusion sensing and self-cleaning function according to claim 6, characterized in that: The bottom end of the mounting pipe (61) is arranged inside the mounting platform (2); the mounting pipe (61) on one side inside the mounting platform (2) is connected to a water tank (65) via a connecting pipe 1 (64); a booster pump (66) for pressurizing the inside of the water tank (65) is arranged at the top end; a solenoid valve 1 (67) is arranged on the connecting pipe 1 (64); the mounting pipe (61) on the other side inside the mounting platform (2) is connected to a hot air blower (69) via a connecting pipe 2 (68); a solenoid valve 2 (610) is installed on the connecting pipe 2 (68).

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