Ecological slope protection remote detection mechanical equipment based on artificial intelligence

Abstract

The invention relates to the technical field of remote detection, in particular to ecological slope protection remote detection mechanical equipment based on artificial intelligence, a carrier comprises a land walking mechanism which is installed at the bottom of a shell and used for driving on mountain terrain, and a first optical lens which inclines downwards and is used for aerial photography detection is installed on the lower portion of the front side of the shell; a second optical lens used for being matched with land detection is installed above the shell, the shell and the second optical lens are connected through a dead-corner-free adjusting frame, and flying mechanisms used for flying are symmetrically assembled on the two sides of the shell. The device is ingenious in design and simple in structure, the land walking mechanism can be used as an undercarriage and can also run for detection on complex mountain terrains, remote detection above the ecological tiger skin can be achieved in cooperation with the flight mechanism, the inner area of the ecological slope protection can be detected, practicability is improved, the detection range is widened, and the device is suitable for popularization and application. And the fuzzy picture can be sharpened through filtering reduction, so that the detection accuracy is improved.

Description

Technical Field

[0001] The present invention relates to the field of remote detection technology, and in particular to an artificial intelligence-based remote detection mechanical device for ecological slope protection. Background Art

[0002] With the development of society and advancement of technology, artificial intelligence is being used in many fields, such as ecological and environmental protection and governance. However, manual detection of long-term deformation of ecological slope protection systems suffers from low efficiency and poor safety. Therefore, there is an urgent need to develop remote intelligent detection technology to replace manual detection.

[0003] A search revealed Chinese patent 202110451018.3, which discloses an AI-based remote detection machine. However, when vegetation is dense, the images transmitted solely through flight detection are blurry and of poor quality, making it impossible to accurately detect internal slope displacement and deformation. Therefore, those skilled in the art have provided an AI-based remote detection machine for ecological slope protection to address the issues raised in the aforementioned background technology. Summary of the Invention

[0004] The purpose of the present invention is to provide an artificial intelligence-based ecological slope protection remote detection mechanical equipment to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solution: a remote detection mechanical device based on artificial intelligence, comprising a carrier part and a built-in system part:

[0006] The carrier includes a land-based mechanism mounted on the bottom of a housing for traveling on mountainous terrain, a first optical lens mounted on the lower front side of the housing for aerial photography and detection, and a second optical lens mounted on the top of the housing for cooperating with land-based detection. The housing and the second optical lens are connected by a seamless adjustment bracket. Flying mechanisms for flight are symmetrically mounted on both sides of the housing.

[0007] The built-in system is installed inside the housing, and the built-in system includes:

[0008] Microcomputer processor: used to control the carrier to achieve flight and land detection;

[0009] Video receiving module: used for receiving data captured by the first optical lens and the second optical lens;

[0010] Video processing module: used to process the data received by the video receiving module to ensure clear image quality;

[0011] Memory: used to store processed video files;

[0012] Positioning module: used to locate the position of the carrier;

[0013] Sensor group: used to detect the parameters of the carrier for better control;

[0014] Task card management module: used to obtain control instructions according to the operation parameter data of the carrier to control the travel route of the carrier;

[0015] Communication module: uses a directional antenna to wirelessly transmit through a ground link station to a control terminal to achieve remote control and detection.

[0016] As a further solution of the present invention: The flight mechanism includes four struts symmetrically fixed on both sides of the housing. Above one end of each of the four struts away from the housing, there is a lifting motor electrically connected to the microcomputer processor. The drive shafts of the four lifting motors are all arranged upward and are fixed with propellers.

[0017] As a further solution of the present invention: The land travel mechanism includes a chassis fixed to the bottom of the housing in an inverted "U" shape. On both sides of the chassis, at one end position, there are driven wheels rotatably connected, and at the other end position on both sides of the chassis, there are drive wheels rotatably connected. Between the driven wheels and the drive wheels on the same side, there are tracks connected. At the inner bottom of both tracks, there are shock absorption components connected to the outside of the housing.

[0018] As a further solution of the present invention: The shock absorption component includes a first shock absorption wheel rollingly connected to the inner bottom of the track. The outside of the first shock absorption wheel is rotatably connected to a first movable rod in an "L" shape. The other end of the first movable rod is rotatably connected to the outer wall of the housing. And at a position near the first shock absorption wheel on the front side of the first movable rod, there is a first shock absorption spring rotatably connected. The other end of the first shock absorption spring is rotatably connected to a second shock absorption spring, and a "7" - shaped structure is formed between the first shock absorption spring and the second shock absorption spring. The other end of the second shock absorption spring is rotatably connected to the outer wall of the housing. On one side of the first shock absorption wheel, there are four second shock absorption wheels arranged at equal intervals. The outside of each of the four second shock absorption wheels is rotatably connected to a second movable rod. The other end of each second movable rod is rotatably connected to a third shock absorption spring. The other end of each third shock absorption spring is rotatably connected to the outer wall of the housing.

[0019] As a further solution of the present invention: The non - dead - angle adjustment frame includes a first stepping motor fixed above the housing. The rotating shaft of the first stepping motor is upward and is fixed with a first connecting rod. Inside one end of the first connecting rod, there is a second stepping motor installed. The rotating shaft of the second stepping motor is installed with a second connecting rod. Inside one end of the second connecting rod, there is a third stepping motor installed. The rotating shaft of the third stepping motor is installed with a third connecting rod. At the bottom of the third connecting rod, there is a second optical lens installed.

[0020] As a further solution of the present invention: drive motors connected to the microcomputer processor are installed at the positions of the two transmission wheels on the inner side of the base frame, and the transmission shafts of the two drive motors are fixedly connected to the rotating shafts of the two transmission wheels respectively.

[0021] As a further solution of the present invention: a battery is installed inside the shell, the battery is a lithium cobalt oxide battery, and the output end of the battery is electrically connected to the microcomputer processor.

[0022] As a further embodiment of the present invention, the sensor group includes an accelerometer, a gyroscope, a magnetic compass, and an air pressure sensor. The accelerometer is used to provide the acceleration force exerted on the carrier in the X, Y, and Z axis directions, and can also provide linear acceleration in the horizontal and vertical directions.

[0023] Gyroscope: used to monitor the rate of change of pitch, roll, and yaw angles;

[0024] Magnetic compass: used to provide XYZ-axis magnetic field data, and obtain the heading angle of the magnetic north pole based on the magnetic field data, and then detect the geographical direction;

[0025] Barometer: Uses LPS22HD pressure sensor to detect the earth's atmospheric pressure and convert it into altitude.

[0026] As a further solution of the present invention: the processing steps of the video processing module are as follows:

[0027] Perform portrait segmentation on the original image to obtain a binary grayscale image;

[0028] The filtering method is used to perform filtered image restoration on the binary grayscale image to obtain a processed binary grayscale image;

[0029] The processed binary grayscale image is fused with the original image to obtain the processed image.

[0030] As a further solution of the present invention, the specific steps of filtering image restoration are as follows:

[0031] Assume the degraded image is , the original image is , the noise is , the restored image is , the obtained signal is: ;

[0032] Remove When the noise in the filter is ,Right now:

[0033] ;

[0034] So that the mean square error is: ;

[0035] Where: for hour The least squares estimate of ;

[0036] set up for Related functions The Fourier transform of They are Related functions The Fourier transform of is the impulse response function The Fourier transform of 、 Also as 、 Power density;

[0037] Then filter The frequency domain expression of is:

[0038]

[0039] The recovery formula is:

[0040] .

[0041] Compared with the existing technology, the beneficial effects of the present invention are: the present invention is cleverly designed and simple in structure. The land-based mechanism can be used as a landing gear and can also be used for driving and detection on complex mountain terrain. In conjunction with the flying mechanism, it can not only realize long-range detection above the forest, but also detect the internal area of ​​the forest, which increases practicality and improves the detection range. The shock-absorbing component can play a shock-absorbing role during travel, reducing the problem of loosening and damage of equipment parts due to vibration. The blurred image can be clarified through filtering and restoration, thereby improving the accuracy of detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 This is a structural diagram of a remote detection mechanical device based on artificial intelligence;

[0043] Figure 2 A schematic diagram of the internal structure of a housing in a remote detection mechanical device based on artificial intelligence;

[0044] Figure 3 This is a schematic diagram of the structure of a land-based mechanism in a remote detection mechanical device based on artificial intelligence;

[0045] Figure 4This is a structural diagram of a blind-angle-free adjustment frame in a remote detection mechanical device based on artificial intelligence;

[0046] Figure 5 This is a schematic diagram of the principle framework of a system built into a remote detection mechanical device based on artificial intelligence.

[0047] In the figure: 1. Shell; 2. Underframe; 3. Support rod; 4. Propeller; 5. Second optical lens; 6. First optical lens; 7. Lifting motor; 8. Battery; 9. Built-in system; 10. Transmission wheel; 11. First shock-absorbing spring; 12. Second shock-absorbing spring; 13. Driven wheel; 14. First movable rod; 15. Third shock-absorbing spring; 16. Track; 17. Second movable rod; 18. Second shock-absorbing wheel; 19. First shock-absorbing wheel; 20. Third stepper motor; 21. First stepper motor; 22. First connecting rod; 23. Second stepper motor; 24. Second connecting rod; 25. Third connecting rod. DETAILED DESCRIPTION

[0048] See also Figures 1 to 5 In an embodiment of the present invention, a remote detection mechanical device based on artificial intelligence includes a carrier part and a built-in system 9 part:

[0049] The carrier includes a housing 1 with a land-based mechanism mounted on the bottom for traveling on mountainous terrain. A first optical lens 6 for aerial photography is mounted on the lower front side of the housing 1, tilted downward. A second optical lens 5 for land-based detection is mounted above the housing 1. The housing 1 and the second optical lens 5 are connected by a seamless adjustment bracket. Flying mechanisms for flight are symmetrically mounted on both sides of the housing 1.

[0050] The built-in system 9 is installed inside the housing 1, and the built-in system 9 includes:

[0051] Microcomputer processor: used to control the carrier to achieve flight and land detection;

[0052] Video receiving module: used for receiving data captured by the first optical lens 6 and the second optical lens 5;

[0053] Video processing module: used to process the data received by the video receiving module to ensure clear image quality;

[0054] Memory: used to store processed video files;

[0055] Positioning module: used to locate the position of the carrier;

[0056] Sensor group: used to detect the parameters of the carrier for better control;

[0057] Task card management module: used to obtain control instructions according to the operation parameter data of the carrier and control the travel route of the carrier;

[0058] Communication module: uses a directional antenna to wirelessly transmit through a ground link station with a control terminal to achieve remote control and detection.

[0059] Furthermore, the flight mechanism includes four struts 3 symmetrically fixed on both sides of the housing 1. Above one end of the four struts 3 away from the housing 1, a lifting motor 7 electrically connected to the microcomputer processor is fixed. The drive shafts of the four lifting motors 7 are all arranged upward and fixed with propellers 4. During flight, the control terminal sends instructions to the task card management module through the ground link station and the communication module, controls the travel route of the carrier according to the operation parameters, and the lifting motor 7 operates during flight to drive the propellers 4 to rotate at high speed to achieve flight detection.

[0060] Furthermore, the land travel mechanism includes a chassis 2 fixed to the bottom of the housing 1 in an inverted "U" shape. At one end position on both sides of the chassis 2, driven wheels 13 are rotatably connected, and at the other end position on both sides of the chassis 2, drive wheels 10 are rotatably connected. The driven wheels 13 and the drive wheels 10 on the same side are connected by tracks 16. Shock-absorbing components connected to the outside of the housing 1 are arranged at the inner bottom of the two tracks 16. The shock-absorbing components include first shock-absorbing wheels 19 rolling-connected to the inner bottom of the tracks 16. The outer side of the first shock-absorbing wheels 19 is rotatably connected to a first movable rod 14 in an "L" shape. The other end of the first movable rod 14 is rotatably connected to the outer wall of the housing 1. And at a position near the first shock-absorbing wheel 19 on the front side of the first movable rod 14, a first shock-absorbing spring 11 is rotatably connected. The other end of the first shock-absorbing spring 11 is rotatably connected to a second shock-absorbing spring 12, and a "7" - shaped structure is formed between the first shock-absorbing spring 11 and the second shock-absorbing spring 12. The other end of the second shock-absorbing spring 12 is rotatably connected to the outer wall of the housing 1. Four second shock-absorbing wheels 18 are equidistantly arranged on one side of the first shock-absorbing wheel 19. The outer sides of the four second shock-absorbing wheels 18 are rotatably connected to second movable rods 17. The other ends of the second movable rods 17 are rotatably connected to third shock-absorbing springs 15. The other ends of the third shock-absorbing springs 15 are rotatably connected to the outer wall of the housing 1. During land travel, the control terminal sends instructions to the task card management module through the ground link station and the communication module, controls the travel route of the carrier according to the operation parameters. Driving motors connected to the microcomputer processor are installed at positions corresponding to the two drive wheels 10 inside the chassis 2. The drive shafts of the two driving motors are respectively fixedly connected to the rotating shafts of the two drive wheels 10. When the two driving motors rotate synchronously, they drive the tracks 16 to rotate synchronously to achieve straight travel. When the two driving motors rotate in opposite directions, they turn.

[0061] Furthermore, the dead angle adjustment frame includes a first stepper motor 21 fixed above the shell 1, the rotating shaft of the first stepper motor 21 is upward and fixed with a first connecting rod 22, a second stepper motor 23 is installed on the inner side of one end of the first connecting rod 22, the rotating shaft of the second stepper motor 23 is installed with a second connecting rod 24, a third stepper motor 20 is installed on the inner side of one end of the second connecting rod 24, the rotating shaft of the third stepper motor 20 is installed with a third connecting rod 25, and a second optical lens 5 is installed at the bottom of the third connecting rod 25. The three connecting rods 22 are driven to rotate by three stepper motors, thereby realizing 360° rotation, so that the second optical lens 5 can rotate without dead angles for detection.

[0062] Furthermore, a battery 8 is installed inside the housing 1. The battery 8 is a lithium cobalt oxide battery, and the output end of the battery 8 is electrically connected to the microcomputer processor.

[0063] Furthermore, the sensor group includes an accelerometer, a gyroscope, a magnetic compass, and an air pressure sensor. The accelerometer is used to provide the acceleration force exerted on the carrier in the XYZ three-axis directions, and can also provide linear acceleration in the horizontal and vertical directions;

[0064] Gyroscope: used to monitor the rate of change of pitch, roll, and yaw angles;

[0065] Magnetic compass: used to provide XYZ-axis magnetic field data, and obtain the heading angle of the magnetic north pole based on the magnetic field data, and then detect the geographical direction;

[0066] Barometer: Uses LPS22HD pressure sensor to detect the earth's atmospheric pressure and convert it into altitude.

[0067] Furthermore, the processing steps of the video processing module are as follows:

[0068] Perform portrait segmentation on the original image to obtain a binary grayscale image;

[0069] The filtering method is used to perform filtered image restoration on the binary grayscale image to obtain a processed binary grayscale image;

[0070] The processed binary grayscale image is fused with the original image to obtain the processed image.

[0071] Furthermore, the specific steps of filtering image restoration are as follows:

[0072] Assume the degraded image is , the original image is , the noise is , the restored image is , the obtained signal is: ;

[0073] Remove When the noise in the filter is ,Right now:

[0074] ;

[0075] So that the mean square error is: ;

[0076] Where: for hour The least squares estimate of ;

[0077] set up for Related functions The Fourier transform of They are Related functions The Fourier transform of is the impulse response function The Fourier transform of 、 Also as 、 Power density;

[0078] Then filter The frequency domain expression of is:

[0079]

[0080] The recovery formula is:

[0081] .

[0082] To sum up: the present invention has an ingenious design and a simple structure. The land-based mechanism can be used as a landing gear and can also be used for driving and detection on complex mountain terrain. In conjunction with the flying mechanism, it can not only realize long-range detection above the forest, but also detect the internal area of ​​the forest, which increases practicality and improves the detection range. The shock-absorbing component can play a shock-absorbing role during travel, reducing the problem of loosening and damage of equipment parts due to vibration. The blurred image can be clarified through filtering and restoration, thereby improving the accuracy of detection.

[0083] The above is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with this technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solutions and inventive concepts of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. An artificial intelligence-based remote detection mechanical device for ecological slope protection, characterized in that: It includes a carrier part and a built-in system (9) part: The carrier includes a land travel mechanism installed at the bottom of the housing (1) for traveling on mountainous terrain, and a first optical lens (6) inclined downward for aerial photography detection is installed below the front side of the housing (1). A second optical lens (5) for cooperating with land travel detection is installed above the housing (1), and the housing (1) is connected to the second optical lens (5) through a non-blind spot adjustment frame. Flight mechanisms for flying are symmetrically assembled on both sides of the housing (1); The built-in system (9) is installed inside the housing (1), and the built-in system (9) includes: A microcomputer processor: used to control the carrier to achieve flight and land travel detection; A video receiving module: used to receive the data captured by the first optical lens (6) and the second optical lens (5); A video processing module: used to process the data received by the video receiving module to ensure clear picture quality; A memory: used to store the processed video files; A positioning module: used to locate the position of the carrier; A sensor group: used to detect the parameters of the carrier for better control; A task card management module: used to obtain control instructions according to the operation parameter data of the carrier to control the travel route of the carrier; A communication module: uses a directional antenna to wirelessly transmit through a ground link station and a control terminal to achieve remote control detection.

2. The artificial intelligence-based remote detection mechanical equipment according to claim 1, characterized in that: The flight mechanism includes four struts (3) symmetrically fixed on both sides of the housing (1). Above one end of the four struts (3) away from the housing (1), a lifting motor (7) electrically connected to the microcomputer processor is fixed. The drive shafts of the four lifting motors (7) are all arranged upward and fixed with propellers (4).

3. The artificial intelligence-based remote detection mechanical equipment according to claim 1, characterized in that: The land travel mechanism includes a chassis (2) fixed to the bottom of the housing (1) in an inverted "U" shape. Driven wheels (13) are rotatably connected to both sides of the chassis (2) at one end position, and drive wheels (10) are rotatably connected to both sides of the chassis (2) at the other end position. The driven wheels (13) and the drive wheels (10) on the same side are connected by tracks (16). Shock-absorbing components connected to the outside of the housing (1) are arranged at the inner bottom of the two tracks (16).

4. The artificial intelligence-based remote detection mechanical equipment according to claim 3, characterized in that: The shock absorbing assembly includes a first shock absorbing wheel (19) that is connected to the inner bottom of the crawler (16) in a rolling manner, the outer side of the first shock absorbing wheel (19) is rotatably connected to a first movable rod (14) in an "L"-shaped structure, the other end of the first movable rod (14) is rotatably connected to the outer side wall of the shell (1), and the front side of the first movable rod (14) is rotatably connected to a first shock absorbing spring (11) at a position close to the first shock absorbing wheel (19), the other end of the first shock absorbing spring (11) is rotatably connected to a second shock absorbing spring (12), and the first shock absorbing spring ( A "7"-shaped structure is formed between the first shock-absorbing wheel (11) and the second shock-absorbing spring (12), the other end of the second shock-absorbing spring (12) is rotatably connected to the outer wall of the shell (1), four second shock-absorbing wheels (18) are equidistantly arranged on one side of the first shock-absorbing wheel (19), the outer sides of the four second shock-absorbing wheels (18) are rotatably connected to the second movable rod (17), the other ends of the second movable rod (17) are rotatably connected to the third shock-absorbing spring (15), and the other ends of the third shock-absorbing springs (15) are rotatably connected to the outer wall of the shell (1).

5. The artificial intelligence-based remote detection mechanical equipment according to claim 3, characterized in that: The dead angle-free adjustment frame comprises a first stepper motor (21) fixed above the housing (1); the first stepper motor (21) has a rotating shaft pointing upward and is fixed with a first connecting rod (22); a second stepper motor (23) is mounted on the inner side of one end of the first connecting rod (22); a second connecting rod (24) is mounted on the rotating shaft of the second stepper motor (23); a third stepper motor (20) is mounted on the inner side of one end of the second connecting rod (24); a third connecting rod (25) is mounted on the rotating shaft of the third stepper motor (20); and a second optical lens (5) is mounted on the bottom of the third connecting rod (25).

6. The artificial intelligence-based remote detection mechanical equipment according to claim 3, characterized in that: Drive motors connected to a microcomputer processor are installed at positions on the inner side of the base frame (2) corresponding to the two transmission wheels (10), and the transmission shafts of the two drive motors are fixedly connected to the rotation shafts of the two transmission wheels (10) respectively.

7. The artificial intelligence-based remote detection mechanical device according to claim 1, characterized in that: A battery (8) is installed inside the housing (1). The battery (8) is a lithium cobalt oxide battery, and the output end of the battery (8) is electrically connected to the microcomputer processor.

8. The artificial intelligence-based remote detection mechanical device according to claim 1, characterized in that: The sensor group includes an accelerometer, a gyroscope, a magnetic compass, and an air pressure sensor. The accelerometer is used to provide the acceleration force borne by the carrier in the XYZ three-axis directions, and can also provide linear acceleration in the horizontal and vertical directions; Gyroscope: used to monitor the rate of change of pitch, roll, and yaw angles; Magnetic compass: used to provide XYZ-axis magnetic field data, and obtain the heading angle of the magnetic north pole based on the magnetic field data, and then detect the geographical direction; Barometer: Uses LPS22HD pressure sensor to detect the earth's atmospheric pressure and convert it into altitude.

9. The artificial intelligence-based remote detection mechanical device according to claim 1, characterized in that: The processing steps of the video processing module are as follows: Perform portrait segmentation on the original image to obtain a binary grayscale image; The filtering method is used to perform filtered image restoration on the binary grayscale image to obtain a processed binary grayscale image; The processed binary grayscale image is fused with the original image to obtain the processed image.

10. The artificial intelligence-based remote detection mechanical device according to claim 9, characterized in that: The specific steps of filtered image restoration are as follows: Assume the degraded image is , the original image is , the noise is , the restored image is , the obtained signal is: ; Remove When the noise in the filter is ,Right now: ； So that the mean square error is: ; Where: for hour The least squares estimate of ; set up for Related functions The Fourier transform of They are Related functions The Fourier transform of is the impulse response function The Fourier transform of 、 Also as 、 Power density; Then filter The frequency domain expression of is: The recovery formula is: 。

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