Inspection robot and inspection positioning method thereof

Abstract

The invention provides an inspection robot and an inspection positioning method thereof. The inspection robot comprises a robot chassis, an angle adjusting assembly and an image acquisition assembly, the image acquisition assembly can be adjusted relative to the position of the robot chassis through the angle adjusting assembly, the plurality of image acquisition modules at least comprise a first camera module and a second camera module, the first camera module is constructed to detect biochemical composition in a detection area, and the second camera module is constructed to detect biochemical composition in the detection area. A second camera module configured to detect depth information within the detection area; wherein the positions of the robot chassis and the angle adjusting assembly are adjusted based on the depth information, so that the detection area covers the to-be-detected body, and the first camera module moves to the position away from the to-be-detected body by a preset detection distance. The process that the inspection robot drives the first camera module to reach the position away from the to-be-detected body by the preset detection distance is similar to autonomous navigation, and the inspection robot can be more intelligent and does not need to cruise according to a preset moving path designed in advance.

Description

Technical Field

[0001] This invention relates to the field of smart agriculture technology, specifically to an inspection robot and its inspection and positioning method. Background Technology

[0002] With the development of science and technology, the scale of greenhouse cultivation is constantly expanding. For greenhouse cultivation, monitoring the internal environment and crop growth is crucial. Traditional manual inspections of greenhouses suffer from problems such as strong subjectivity and untimely data recording. Therefore, some greenhouses are being inspected and monitored using inspection robots. These robots can inspect greenhouses and record the internal environment and crop growth status.

[0003] To observe crop growth, inspection robots can be equipped with angle adjustment and image acquisition components mounted on their chassis. After pre-planning the movement path, the robot chassis moves the image acquisition component, and the angle adjustment component rotates it, allowing the image acquisition component to reach a predetermined detection position within space for image acquisition and detection of the crops. The image acquisition component typically includes a camera module for detecting the biochemical composition of the crops; for example, some image acquisition components include a spectral camera module. When the spectral camera module detects crops, the distance between the spectral camera module and the crop being inspected is very critical. Since pre-planned movement paths are difficult to adapt to all crops being observed, and it is difficult to pre-design corresponding predetermined detection positions for crops with different growth stages, existing inspection robots often fail to have their image acquisition components observe crops from the optimal position during inspections, especially failing to meet the detection distance requirements of the spectral camera module, resulting in poor inspection performance. Summary of the Invention

[0004] In order to at least partially solve the problems existing in the prior art, according to one aspect of the present invention, an inspection robot is provided, the technical solution of which is as follows.

[0005] The inspection robot includes a robot chassis, an angle adjustment component, and an image acquisition component. The image acquisition component is adjustable relative to the robot chassis via the angle adjustment component. The image acquisition component includes multiple image acquisition modules, each corresponding to a multiple image acquisition area. These multiple image acquisition areas have overlapping portions, which form a detection area. Each of the multiple image acquisition modules has at least a first camera module and a second camera module. The first camera module is configured to detect the biochemical composition within the detection area, and the second camera module is configured to detect the depth information within the detection area. The robot chassis and the angle adjustment component adjust their positions based on the depth information to ensure that the detection area covers the object to be inspected and that the first camera module moves to a predetermined detection distance from the object to be inspected.

[0006] The inspection robot provided by this invention can detect and collect depth information within the detection area through the second camera module. The robot chassis can move based on the depth information, and the angle adjustment component can adjust its position based on the depth information. That is, the angle adjustment component can drive the image acquisition component to adjust its angle and position relative to the robot chassis based on the depth information, so that the detection area can cover the object to be detected, and the first camera module can detect the detection area at a predetermined detection distance from the object to be detected. Among them, depth information can reflect the real-time relative positional relationship between the inspection robot and the object to be inspected. The movement of the robot chassis based on the depth information, and the adjustment of the angle of the image acquisition component relative to the robot chassis based on the depth information, can all be intelligently adjusted based on the real-time relative positional relationship between the inspection robot and the object to be inspected. In this way, the process of driving the first camera module to reach the object to be inspected at a predetermined detection distance is similar to autonomous navigation, which can be more intelligent and does not have to cruise according to a pre-designed predetermined movement path. This makes it more adaptable to various observation scenarios and crops with different growth states. Thus, through intelligent adjustment, multiple image acquisition modules can be placed in the optimal position to observe the object to be inspected, which can meet the detection distance requirements of the first camera module and improve the inspection effect.

[0007] For example, an organism is mounted on a robot chassis. The angle adjustment component includes a base, a support plate, and a drive component. The base is disposed on the robot body, the support plate is rotatably connected to the base around a first axis, the image acquisition component is disposed on the support plate, and the drive component is connected to the base. The drive component drives the support plate to rotate around the first axis based on depth information, so that the first camera module can detect the object to be inspected at a predetermined detection angle. In such an inspection robot, the drive component in the angle adjustment component can drive the support plate to rotate around the first axis based on depth information, thereby the angle adjustment component can drive the image acquisition component to rotate around the first axis, resulting in a higher overall level of intelligence and automation.

[0008] For example, a groove is provided on the base, and the drive component is floatingly supported on the base through the groove. The angle adjustment component includes a transmission component connected between the drive component and the support plate. The drive component drives the support plate to rotate around a first axis through the transmission component. In such an inspection robot, based on the fact that the drive component can drive the support plate to rotate around the first axis through the transmission component, and the drive component is floatingly supported on the base through the groove, the angle range of the drive component driving the support plate to rotate through the transmission component varies at different positions within the groove. This expands the range of angle adjustment when the support plate rotates, adapting to various different needs. In addition, in such an angle adjustment component, on the one hand, the angle of the support plate can be adjusted by using the drive component to drive the support plate to rotate through the transmission component; on the other hand, the angle of the support plate can be adjusted by directly adjusting the position of the drive component in the groove. Thus, the angle of the support plate can be adjusted from two aspects, making fine-tuning and calibration easier when adjusting the angle of the support plate. By using such an angle adjustment component to drive the image acquisition component to rotate, the image acquisition component can rotate within a larger adjustable angle range, thereby enabling image acquisition and observation of crops with different growth states. It also makes it easier to move the first camera module to a predetermined detection distance from the object to be detected.

[0009] For example, the image acquisition component includes two sets of supplementary lighting elements and a housing disposed on a support plate. The housing encloses a receiving cavity, and multiple image acquisition modules are arranged in a row within the receiving cavity along a direction perpendicular to the first axis. Both sets of supplementary lighting elements are located outside the receiving cavity, and are respectively located on both sides of the housing, illuminating the detection area. In such an inspection robot, with the two sets of supplementary lighting elements located on both sides of the housing and illuminating the detection area, when multiple image acquisition modules are used to acquire images of the detection area, the supplementary lighting elements on both sides can be used simultaneously to illuminate the detection area, thus achieving a better illumination effect. Furthermore, since the detection area is illuminated from both sides, the shadows on the object to be photographed within the detection area that would affect the image acquisition effect when illuminated from one side are avoided, resulting in better image acquisition performance. Furthermore, the arrangement of multiple image acquisition modules in a row allows for greater overlap between the image acquisition areas corresponding to these modules, resulting in a larger detection area and improved image acquisition efficiency. Additionally, supplemental lighting of the detection area from both sides of these multiple image acquisition modules allows for greater overlap between the lighting areas of the two sides and the detection area, facilitating concentrated illumination of the detection area and ultimately leading to better image acquisition results.

[0010] For example, the housing has a front wall and two side walls, which are located on the left and right sides of the front wall, respectively. Two sets of supplementary lighting elements are located on the outer sides of the two side walls and are symmetrically arranged relative to the detection area. The two sets of supplementary lighting elements can be symmetrically arranged relative to the detection area. When the two sets of supplementary lighting elements illuminate the detection area, the light emitted by each set can be symmetrical. This can create a relatively uniform supplementary lighting effect on the detection area, avoiding situations where some areas have strong supplementary lighting while others have weak lighting. This improves the overall supplementary lighting effect, resulting in better image acquisition when using such an image acquisition component for observation.

[0011] For example, the image acquisition component includes a housing disposed on a support plate, the housing enclosing a cavity, and multiple image acquisition modules arranged in a row within the cavity along a direction parallel to a first axis. The housing has a top wall away from the support plate, and a supplementary lighting element is disposed on the top wall, configured to illuminate the detection area. In such an inspection robot, multiple image acquisition modules are arranged in a row, and the supplementary lighting element illuminates the detection area. Under the supplementary lighting effect, the first camera module can acquire images of the detection area when the lighting conditions are met, and the second camera module can also acquire images of the detection area when the lighting conditions are met. Both the first and second camera modules can achieve better image acquisition effects on the detection area, thus the overall image acquisition effect of the image acquisition component on the detection area is better, and the detection effect on the object to be photographed within the detection area, such as crops within the detection area, is also better. Moreover, since the second camera module can acquire depth information better, it is easier to move the first camera module to a predetermined detection distance from the object to be inspected.

[0012] For example, at least two supplementary lighting elements are provided on the top wall. These elements are divided into two groups of supplementary lighting components, which are symmetrically arranged about the detection area. Since the two groups of supplementary lighting components can be symmetrically arranged about the detection area, when they illuminate the detection area, the light emitted by each group can be symmetrical. This creates a more uniform illumination across the detection area, preventing some areas from having strong illumination while others have weak illumination. This improves the overall lighting effect, resulting in better image acquisition when using such an image acquisition component.

[0013] For example, the first camera module includes a hyperspectral camera module. Based on the spectral information acquired by the hyperspectral camera module, biochemical composition analysis can be performed on the object to be detected. When the object to be detected is a crop, the biochemical composition such as the moisture content and nitrogen content of the crop can be analyzed to determine the growth and health status of the crop. In particular, the sugar content of the crop fruit can also be analyzed to determine the ripeness of the crop fruit. In addition, through spectral analysis, signs of crop diseases and pests can be detected in advance, thereby allowing for early deployment of preventive measures.

[0014] For example, the second camera module includes a depth camera module. Based on the depth information acquired by the depth camera module, the changes in the shape of the object to be detected can be obtained more clearly and accurately. When the object to be detected is a crop, it can assist in judging the growth of the crop. In addition, based on the depth information acquired by the depth camera module, the position of the image acquisition component can be adjusted so that the hyperspectral camera module can be at a predetermined optimal observation distance from the object to be detected. For example, the depth information can guide the robot chassis to move so that the hyperspectral camera module can be in the optimal observation position to observe the object to be detected, thereby enabling the image acquisition component as a whole to obtain better observation results.

[0015] According to another aspect of the present invention, an inspection positioning method is provided. The inspection positioning method is applicable to any of the inspection robots described above, and includes the following steps:

[0016] The second camera module detects depth information within the detection area after the object to be detected appears in the detection area;

[0017] The robot chassis and angle adjustment components are both positioned based on depth information to ensure that the detection area covers the object to be detected and to move the first camera module to a predetermined detection distance from the object to be detected.

[0018] The first camera module detects the biochemical composition within the detection area.

[0019] This inspection and positioning method allows the first camera module to be positioned at a predetermined detection distance from the object to be inspected through autonomous navigation, thereby achieving better detection results for the object to be inspected within the detection area.

[0020] For example, an organism is mounted on a robot chassis. The angle adjustment component includes a base, a support plate, and a drive component. The base is disposed on the robot body, the support plate is rotatably connected to the base around a first axis, the image acquisition component is disposed on the support plate, and the drive component is connected to the base and drives the support plate to rotate around the first axis. The inspection and positioning method includes the following steps:

[0021] The driving component drives the support plate to rotate around the first axis based on the depth information, so that the first camera module can detect the object to be detected at a predetermined detection angle.

[0022] When this inspection and positioning method is applied to inspection robots, it is easier to position the first camera module at a predetermined detection distance from the object to be inspected, which makes it easier to achieve better detection of the object to be inspected within the detection area.

[0023] A series of simplified concepts are introduced in the description of the invention, which will be further explained in detail in the detailed description section. This description is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0024] The advantages and features of the present invention will be described in detail below with reference to the accompanying drawings. Attached Figure Description

[0025] The following figures are included as part of this invention for understanding its principles. The figures illustrate embodiments of the invention and their descriptions, serving to explain the principles of the invention. In the figures,

[0026] Figure 1 A perspective view of an inspection robot according to an exemplary embodiment of the present invention;

[0027] Figure 2 for Figure 1 The front view of the inspection robot shown;

[0028] Figure 3 for Figure 1 The side view of the inspection robot shown;

[0029] Figure 4 A perspective view of an angle adjustment component according to an exemplary embodiment of the present invention;

[0030] Figure 5 for Figure 4 An exploded view of a portion of the angle adjustment component shown;

[0031] Figure 6 A perspective view of an image acquisition component according to an exemplary embodiment of the present invention;

[0032] Figure 7 for Figure 6 An exploded view of the image acquisition component shown;

[0033] Figure 8 An exploded view of an image acquisition component according to an exemplary embodiment of the present invention;

[0034] Figure 9 A perspective view of an inspection robot according to an exemplary embodiment of the present invention;

[0035] Figure 10 A perspective view of an image acquisition component according to an exemplary embodiment of the present invention;

[0036] Figure 11 A perspective view of an image acquisition component according to an exemplary embodiment of the present invention;

[0037] Figure 12 An exploded view of an image acquisition component according to an exemplary embodiment of the present invention;

[0038] Figure 13 An exploded view of an image acquisition component according to an exemplary embodiment of the present invention;

[0039] Figure 14 A schematic diagram of an inspection positioning method according to an exemplary embodiment of the present invention; and

[0040] Figure 15 This is a schematic diagram of some steps in an inspection and positioning method according to an exemplary embodiment of the present invention.

[0041] The above figures include the following reference numerals:

[0042] 1. Inspection robot; 10. Image acquisition component; 110. Housing; 111. Receiving cavity; 112. Front wall; 113. Side wall; 1131. Ventilation port; 114. Top wall; 120. Image acquisition module; 121. First camera module; 122. Second camera module; 123. Thermal infrared camera module; 130. Illumination component; 131. Heat dissipation unit; 132. Heat sink; 141. First connector; 142. Second connector; 143. Adjustment component; 150. Heat dissipation component; 160. First rotating structure; 161. First connecting hole; 162. First mating hole; 170. Second rotating structure; 171. Second connecting hole; 172. Second mating hole; 180. Three rotating structures; 181, third connecting hole; 182, third mating hole; 190, fourth rotating structure; 191, fourth connecting hole; 192, fourth mating hole; 20, angle adjustment assembly; 210, base; 211, first plate; 2111, slide groove; 212, second plate; 213, first rotating hole; 214, second rotating hole; 220, support plate; 221, shock absorber; 222, rotating component; 230, driving component; 231, driving body; 232, second housing; 240, transmission assembly; 241, transmission rod; 2411, transmission part; 242, first housing; 243, rotating component; 244, rotating sleeve; 30, robot chassis; 310, body. Detailed Implementation

[0043] In the following description, numerous details are provided to enable a thorough understanding of the invention. However, those skilled in the art will appreciate that the following description merely illustrates preferred embodiments of the invention, and that the invention can be practiced without one or more of these details. Furthermore, to avoid obscuring the invention, some technical features well-known in the art have not been described in detail.

[0044] According to one aspect of the present invention, an inspection robot is provided. See also Figure 1 , Figure 2 , Figure 3 and Figure 9 The inspection robot 1 may include a robot chassis 30, an angle adjustment component 20, and an image acquisition component 10.

[0045] See Figure 1 , Figure 2 , Figure 3 and Figure 9 The image acquisition component 10 can be adjusted relative to the robot chassis 30 via the angle adjustment component 20. The image acquisition component 10 can be mounted on the angle adjustment component 20, for example, in conjunction with [see reference 10] Figure 4 and Figure 5 In the illustrated embodiment, the angle adjustment component 20 may include a base 210 and a support plate 220. The support plate 220 is rotatably connected to the base 210 around a first axis (the illustrated axis MM). The image acquisition component 10 can be disposed on the support plate 220, so that by rotating the support plate 220, the image acquisition component 10 can be rotated to change its angle. The angle adjustment component 20 can change the angle of the image acquisition component 10. Since the image acquisition component 10 rotates with the support plate 220 around the first axis MM, and there may be a gap between the first axis MM and the image acquisition component 10, the angle adjustment component 20 can effectively raise or lower the image acquisition component 10. Thus, after the angle of the image acquisition component 10 changes, its position in space will also change accordingly, especially its height. Furthermore, the angle adjustment component 20 can be disposed on the robot chassis 30, so that when the robot chassis 30 moves, the angle adjustment component 20 and the image acquisition component 10 can move as a whole. In embodiments not shown, the angle adjustment component 20 and the robot chassis 30 may also be in various other suitable forms, which are not limited by the present invention.

[0046] For example, multiple shock absorbers 221 can be provided on the side of the support plate 220 away from the base 210, and the multiple shock absorbers 221 can be disposed between the image acquisition component 10 and the support plate 220. By providing multiple shock absorbers 221 between the image acquisition component 10 and the support plate 220, the image acquisition component 10 is less likely to be damaged due to rigid contact when it is mounted on the support plate 220. Moreover, when the inspection robot 1 is working, the image acquisition component 10 and the angle adjustment component 20 as a whole need to move together with the inspection robot 1. Shaking is inevitable during the movement. Thus, the setting of multiple shock absorbers 221 can make the image acquisition component 10 more stable when mounted on the support plate 220.

[0047] The image acquisition component 10 may include multiple image acquisition modules 120, each corresponding to a multiple image acquisition area. These multiple image acquisition areas may overlap, forming a detection area. Depending on the specific form of each image acquisition module 120, each module may have different image acquisition areas. It is understood that through planning and design, the multiple image acquisition areas corresponding to each of the multiple image acquisition modules 120 can overlap. The overlapping portion of the multiple image acquisition areas forms the detection area, and each of the multiple image acquisition modules 120 can acquire images of the detection area. Taking two image acquisition modules 120 as an example, the two image acquisition modules 120 may be, for example, a first image acquisition module and a second image acquisition module. For example, by selecting a first image acquisition module with a larger detection area, the detection areas of the first image acquisition module and the second image acquisition module can at least partially overlap to form a detection area; alternatively, by selecting a second image acquisition module with a larger detection area, the detection areas of the first and second image acquisition modules can at least partially overlap to form a detection area; furthermore, at least one of the first and second image acquisition modules can be slightly tilted towards the other, so that the detection areas of the first and second image acquisition modules at least partially overlap to form a detection area. Such an image acquisition component 10 can perform various forms of image acquisition on the detection area using multiple image acquisition modules 120. Taking multiple image acquisition modules 120 including a depth camera, a spectral camera, and a thermal infrared camera as an example, the image acquisition areas of the depth camera, spectral camera, and thermal infrared camera can have overlapping portions, which can form a detection area. The depth camera can be used to acquire images of the detection area to obtain depth information within the detection area; the spectral camera can be used to acquire images of the detection area to obtain biochemical information within the detection area; and the thermal infrared camera can be used to acquire images of the detection area to obtain temperature information within the detection area. By covering the object to be detected with the detection area, the object can be observed using such an image acquisition component 10. Multiple image acquisition modules 120 may include at least a first camera module 121 and a second camera module 122. The first camera module 121 may be configured to detect the biochemical composition within the detection area; for example, it may be a hyperspectral camera module or any other suitable form. The second camera module 122 may be configured to detect depth information within the detection area; for example, it may be a depth camera module or any other suitable form.

[0048] Both the robot chassis 30 and the angle adjustment component 20 can adjust their positions based on depth information to ensure that the detection area covers the object to be detected and that the first camera module 121 moves to a predetermined detection distance from the object. The first camera module 121 is configured to detect the biochemical composition within the detection area. Such a first camera module 121 typically requires a relatively high detection distance; it needs to be at a predetermined optimal detection distance from the object to achieve good detection results. This predetermined detection distance can be considered the optimal detection distance. When the first camera module 121 is at the predetermined detection distance from the object, it can be considered to be in the optimal detection position. It is understandable that the predetermined detection distance can be a distance in three-dimensional space. This means that simply moving the first camera module 121 on a plane using the robot chassis 30 may not be sufficient. The angle adjustment component 20 is also needed to change the height of the first camera module 121. As mentioned above, the angle adjustment component 20 can change the angle of the image acquisition component 10, and when the angle adjustment component 20 changes the angle of the image acquisition component 10, the position of the image acquisition component 10 will also change, especially its height. Therefore, the angle adjustment component 20 can change the height of the first camera module 121 based on depth information. Both the robot chassis 30 and the angle adjustment component 20 adjust their positions based on depth information, ensuring that the first camera module 121 can move to a predetermined detection distance from the object to be detected. In this way, the depth information obtained by the second camera module 122 from the detection area can improve the detection effect of the first camera module 121 on the object to be detected within the detection area. In addition, by guiding the movement of the robot chassis 30 based on depth information, the movement of the robot chassis 30 can be independent of the pre-defined movement path, thus giving the inspection robot 1 a function similar to autonomous navigation.

[0049] The inspection robot 1 provided by the present invention can detect and collect depth information within the detection area through the second camera module 122. The robot chassis 30 can move based on the depth information, and the angle adjustment component 20 can adjust its position based on the depth information. That is, the angle adjustment component 20 can drive the image acquisition component 10 to adjust its angle and position relative to the robot chassis 30 based on the depth information, so that the detection area can cover the object to be detected, and the first camera module 121 can detect the detection area at a predetermined detection distance from the object to be detected. The depth information reflects the real-time relative position between the inspection robot 1 and the object to be inspected. The movement of the robot chassis 30 based on the depth information, and the adjustment of the angle of the angle adjustment component 20 relative to the robot chassis 30 by the image acquisition component 10 based on the depth information, can all be intelligently adjusted based on the real-time relative position between the inspection robot 1 and the object to be inspected. This process of moving the first camera module 121 to a predetermined detection distance from the object to be inspected is similar to autonomous navigation, which is more intelligent and does not have to follow a pre-designed predetermined movement path. This makes it more adaptable to various observation scenarios and crops with different growth states. Thus, through intelligent adjustment, multiple image acquisition modules 120 can be positioned in the best position to observe the object to be inspected, which can meet the detection distance requirements of the first camera module 121 and improve the inspection effect.

[0050] In one embodiment of the present invention, see Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 A robot chassis 30 can be mounted on a body 310. The robot chassis 30 can support the body 310 and move it. The image acquisition component 10 can be positioned above the body 310. A lidar can be installed on the body 310 to scan the surrounding environment and create a map of the inspection area, facilitating the planning of the robot chassis 30's movement path and thus the inspection path of the inspection robot 1. A front and rear detection camera can also be installed on the body 310 to detect obstacles around the movement path, allowing the robot chassis 30 to avoid obstacles during movement. To enable the robot chassis 30 to move based on depth information and the angle adjustment component 20 to change the position of the image acquisition component 10 relative to the robot chassis 30 based on depth information, related control modules and other components can be installed within the body 310.

[0051] The angle adjustment assembly 20 may include a base 210, a support plate 220, and a drive component 230. The base 210 may be mounted on the body 310. The support plate 220 is rotatably connected to the base 210 about a first axis MM, and the image acquisition assembly 10 may be mounted on the support plate 220. The support plate 220 can be rotatably connected to the base 210 about the first axis MM in any suitable manner, thereby enabling the support plate 220 to rotate relative to the base 210. Figure 4 and Figure 5 In the illustrated embodiment, the support plate 220 can be rotatably connected to the first rotating hole 213 on the base 210 via a rotating member 222. The rotating member 222 can be partially inserted into the first rotating hole 213, and the support plate 220 can be connected to the portion of the rotating member 222 located outside the first rotating hole 213. The axis of the first rotating hole 213 can be a first axis MM. The rotating member 222 is rotatable relative to the first rotating hole 213 about the first axis MM, thus enabling the support plate 220 to rotatably rotate relative to the base 210 about the first axis MM. The support plate 220 can also be rotatably connected to the base 210 in any other suitable manner, and the present invention is not limited thereto. For example, in an embodiment not shown, a connecting ball can be provided on the side of the support plate 220 near the base 210, and a groove corresponding to the connecting ball can be provided on the base 210. The connecting ball can be at least partially inserted into the groove, and the connecting ball can rotatably rotate relative to the groove about the first axis MM, thus also enabling the support plate 220 to be rotatably connected to the base 210 about the first axis MM.

[0052] The drive unit 230 can be connected to the base 210, and the drive unit 230 can drive the support plate 220 to rotate around the first axis MM based on depth information, so that the first camera module 121 can detect the object to be detected at a predetermined detection angle. The drive unit 230 can be connected to the base 210 in any suitable way. The drive unit 230 can be fixedly connected to the base 210, for example, the drive unit 230 can be connected to the base 210 by threaded connection, snap-fit, welding or other suitable means. The drive unit 230 can also be movably connected to the base 210 relative to the base 210, for example, the base 210 can be provided with a guide rail, and the drive unit 230 can be slidably connected to the guide rail. The driving component 230 can drive the support plate 220 to rotate around the first axis MM based on the depth information acquired by the second camera module 122. This allows the image acquisition component 10 connected to the support plate 220 to rotate around the first axis MM, thus enabling the first camera module 121 to change position. Specifically, during rotation, the first camera module 121 can change its detection angle and its position in the height direction. When the first camera module 121 detects the object at a predetermined detection angle, it can be assumed that, at least in the height direction, the first camera module 121 is at a predetermined detection distance from the object. In this inspection robot 1, the driving component 230 in the angle adjustment component 20 can drive the support plate 220 to rotate around the first axis MM based on depth information. This allows the angle adjustment component 20 to drive the image acquisition component 10 to rotate around the first axis MM, resulting in a higher overall level of intelligence and automation.

[0053] For example, see Figure 4 and Figure 5 The base 210 may be provided with a sliding groove 2111, and the driving component 230 may be floatingly supported on the base 210 through the sliding groove 2111. The angle adjustment component 20 may include a transmission component 240, which may be connected between the driving component 230 and the support plate 220. The driving component 230 may drive the support plate 220 to rotate around the first axis MM through the transmission component 240.

[0054] The groove 2111 can be a straight groove, an arc groove, or any other suitable form. The fact that the driving member 230 is floatingly supported on the base 210 via the groove 2111 means that the driving member 230 can be slidably connected to the groove 2111, and the driving member 230 can move along the extension direction of the groove 2111. For example, for a straight groove 2111, the driving member 230 can move relatively along a straight line relative to the groove 2111, while for an arc groove 2111, the driving member 230 can move relatively along an arc relative to the groove 2111. The groove 2111 can be a through groove provided on the base 210, for example... Figure 4 and Figure 5In the embodiment shown, the base 210 may include a first plate 211, and a groove 2111 may be disposed on the first plate 211 and may penetrate the first plate 211; the groove 2111 may also be a semi-enclosed groove disposed on the base 210. Taking the base 210 including the first plate 211 as an example, the groove 2111 may be formed by recessing on one side of the first plate 211 toward the other side.

[0055] The drive unit 230 can be connected to the slide 2111 in any suitable manner, such as... Figure 4 and Figure 5 In the illustrated embodiment, at least a portion of the drive member 230 can be inserted into the slide groove 2111. In embodiments not shown, the drive member 230 can also be connected to the slide groove 2111 by a snap-fit ​​connection. The drive member 230, which is floatingly supported on the base 210 via the slide groove 2111, is movable.

[0056] Since the transmission assembly 240 can be connected between the drive member 230 and the support plate 220, the power output from the drive member 230 acts on the transmission assembly 240, which can drive the support plate 220 to rotate. Thus, the drive member 230 can drive the support plate 220 to rotate around the first axis MM via the transmission assembly 240. Specifically, the transmission assembly 240 can lift or lower a portion of the support plate 220. Therefore, based on the support plate 220 being rotatably connected to the base 210 around the first axis MM, the transmission assembly 240 can drive the support plate 220 to rotate around the first axis MM. The transmission assembly 240 can be in the form of a cable chain, a lead screw, or any other suitable form.

[0057] by Figure 4 and Figure 5The illustrated embodiment describes the angle adjustment assembly 20. The drive member 230 may have an output shaft; the transmission assembly 240 may include a transmission rod 241, which can be connected to the output shaft of the drive member 230. Thus, the power output by the drive member 230 can be transmitted to the transmission rod 241 via the output shaft, thereby causing the drive member 230 to move the transmission rod 241. For example, when the position of the drive member 230 relative to the slide groove 2111 remains unchanged, the transmission rod 241 can be moved along the direction of its central axis. Since the transmission assembly 240 can be connected between the drive member 230 and the support plate 220, the transmission rod 241 can also be connected to the support plate 220. In the embodiment shown, one side of the support plate 220 can be rotatably connected to the base 210 about a first axis MM, and the other side can be connected to the transmission rod 241. In embodiments not shown, the transmission rod 241 can be connected to any position on the support plate 220. During the movement of the transmission rod 241 driven by the driving component 230, the transmission rod 241 remains connected to the support plate 220. Thus, with the support plate 220 rotatably connected to the base 210 around the first axis MM, the movement of the transmission rod 241 can cause the support plate 220 to rotate around the first axis MM. For example, one end of the transmission rod 241 can be slidably connected to the support plate 220, so that when the transmission rod 241 moves along its own axis, the end connected to the support plate 220 can push the support plate 220 to rotate around the first axis MM. In the embodiment shown in the figure, a rotating sleeve 244 can be fitted onto the end of the transmission rod 241 near the support plate 220. The rotating sleeve 244 can be rotatably connected to the support plate 220, and can move synchronously with the transmission rod 241 along the axis of the transmission rod 241. Thus, when the driving component 230 moves the transmission rod 241, the transmission rod 241 can abut against the rotating sleeve 244, thereby driving the rotating sleeve 244 to move synchronously. During the movement of the rotating sleeve 244, the connection between the support plate 220 and the rotating sleeve 244 is raised or lowered, thereby realizing that the driving component 230 drives the support plate 220 to rotate through the transmission assembly 240. In the illustrated embodiment, the transmission assembly 240 can be in the form of a lead screw, and therefore the transmission assembly 240 can include the transmission rod 241. In other embodiments not shown, the transmission assembly 240 can be a cable chain or other suitable form, which will not be described in detail here.

[0058] Since the driving component 230 is floatingly supported on the base 210 via the slide groove 2111, the position of the driving component 230 relative to the slide groove 2111 can be changed. When the position of the driving component 230 relative to the slide groove 2111 is fixed, the range of angles by which the driving component 230 drives the support plate 220 to rotate around the first axis MM via the transmission assembly 240 is relatively small. Based on this, by changing the position of the driving component 230 relative to the slide groove 2111, the range of angles by which the driving component 230 drives the support plate 220 to rotate via the transmission assembly 240 can be expanded.

[0059] In this inspection robot 1, the drive component 230 can drive the support plate 220 to rotate around the first axis MM via the transmission component 240. The drive component 230 is floatingly supported on the base 210 via the slide groove 2111. The drive component 230 at different positions within the slide groove 2111 drives the support plate 220 to rotate at different angles via the transmission component 240, thereby expanding the range of angle adjustment when the support plate 220 rotates and adapting to various different needs. In addition, in this angle adjustment component 20, on the one hand, the angle of the support plate 220 can be adjusted by using the drive component 230 to drive the support plate 220 to rotate via the transmission component 240; on the other hand, the angle of the support plate 220 can be adjusted by directly adjusting the position of the drive component 230 in the slide groove 2111. Thus, the angle of the support plate 220 can be adjusted from two aspects, making fine-tuning and calibration easier when adjusting the angle of the support plate 220. By using such an angle adjustment component 20 to drive the image acquisition component 10 to rotate, the image acquisition component 10 can rotate within a larger adjustable angle range, thereby enabling image acquisition and observation of crops with different growth states. It also makes it easier to move the first camera module 121 to a predetermined detection distance from the object to be detected.

[0060] In one embodiment of the present invention, see Figure 4 and Figure 5The transmission assembly 240 is rotatably connected to the base 210 about a second axis (axis NN in the diagram), and the second axis NN may be parallel to the first axis MM. The transmission assembly 240 can rotate about the second axis NN, and a portion of its structure can be connected to the base 210. The transmission assembly 240 may include a support portion and a transmission portion. The support portion is rotatably connected to the base 210 about the second axis NN, and the transmission portion can be connected between the drive member 230 and the support plate 220. The drive member 230 can drive the support plate 220 to rotate about the first axis MM via the transmission portion. Thus, the support portion and the transmission portion as a whole, i.e., the entire transmission assembly 240, can rotate about the second axis NN. The support portion connected to the base 210 can provide support for other structures within the transmission assembly 240, thereby making the overall structure of the transmission assembly 240 more stable. For example, in the embodiment shown in the figure, the transmission assembly 240 may include a transmission rod 241 and a first housing 242. The transmission rod 241 serves as a transmission part, and the first housing 242 serves as a support part. The transmission rod 241 can pass through the first housing 242 and can be connected to the driving member 230, while the first housing 242 can be connected to the base 210. The transmission rod 241 and the first housing 242 as a whole can rotate about the second axis NN. Of course, the transmission assembly 240 can also be any other suitable form, which will not be elaborated here. Since the transmission assembly 240 is connected to the driving member 230, when the position of the driving member 230 relative to the slide groove 2111 changes, the position of the transmission assembly 240 can change along with the driving member 230. Therefore, based on the fact that the transmission assembly 240 can rotate around the second axis NN, when the transmission assembly 240 needs to change position together with the driving member 230, it can be that the entire transmission assembly 240 rotates, while the transmission part in the transmission assembly 240 moves synchronously with the driving member 230; or it can be that the entire transmission assembly 240 rotates, while the position of the transmission part connected to the driving member 230 changes. Since the transmission assembly 240 is rotatably connected to the base 210 around the second axis NN, the position of the entire transmission assembly 240 can be determined within a range of motion. Thus, when the driving member 230 drives the support plate 220 to rotate through the transmission assembly 240, the transmission assembly 240 can be more stable and less prone to falling off. This makes the angle adjustment assembly 20 more stable during use.

[0061] It is understood that the transmission assembly 240 is rotatably connected to the base 210 about the second axis NN, and the portion of the transmission assembly 240 connected to the drive member 230 can move relative to the slide groove 2111 with the drive member 230; these two actions do not conflict. For example, see... Figure 4 and Figure 5The slide groove 2111 can be constructed as an arc-shaped groove, and the second axis NN can pass through the center of the circle corresponding to the arc-shaped groove. Thus, when the driving member 230 moves relative to the slide groove 2111, the movement trajectory of the driving member 230 can be an arc corresponding to the slide groove 2111. Since the transmission assembly 240 is connected to the driving member 230, when the driving member 230 moves along the arc, the transmission assembly 240 can rotate around the second axis NN, that is, the transmission assembly 240 can rotate around the axis corresponding to the center of the arc. Therefore, the transmission assembly 240 can avoid interfering with or restricting the movement of the driving member 230 relative to the slide groove 2111, and it can also avoid limiting the angle range of the support plate 220 rotated by the driving member 230 through the transmission assembly 240. Thus, the overall angle adjustment range of the angle adjustment assembly 20 remains large, and the overall structure is simpler and easier to manufacture.

[0062] For example, see Figure 4 and Figure 5 The transmission assembly 240 may include a transmission rod 241 and a first housing 242. The first housing 242 is rotatably connected to the base 210 about a second axis NN. In the embodiment shown, the base 210 may be provided with a second rotation hole 214, the axis of which may be the second axis NN. The first housing 242 may be rotatably connected to the second rotation hole 214 via a rotating member 243. The rotating member 243 may be partially inserted into the second rotation hole 214, and the first housing 242 may be connected to the portion of the rotating member 243 located outside the second rotation hole 214. The rotating member 243 is rotatable relative to the second rotation hole 214 about the second axis NN, thus enabling the first housing 242 to be rotatably connected to the base 210 about the second axis NN. The transmission rod 241 may pass through the first housing 242 so that the transmission rod 241 and the first housing 242 can rotate synchronously, that is, the transmission rod 241 may also rotate relative to the base 210 about the second axis NN. The transmission rod 241 can rotate synchronously only with the first housing 242, and the movement of the transmission rod 241 along its own axis can have no effect on the first housing 242. The transmission rod 241 can be connected to the drive member 230. When the position of the drive member 230 relative to the slide groove 2111 changes, the transmission rod 241 can rotate about the second axis NN. The transmission rod 241 can drive the first housing 242 to rotate about the second axis NN, thereby causing the entire transmission assembly 240 to rotate about the second axis NN. The transmission rod 241 can have a transmission part 2411 located away from the first housing 242 and close to the support plate 220. The transmission part 2411 can be rotatably connected to the support plate 220. Figure 4 and Figure 5As shown, the transmission unit 2411 can be connected to the support plate 220 via a rotating sleeve 244. The rotating sleeve 244 can move synchronously with the transmission rod 241 along the axis of the transmission rod 241. Thus, when the driving member 230 drives the transmission rod 241 to move, the transmission rod 241 can abut against the rotating sleeve 244, thereby driving the rotating sleeve 244 to move synchronously. During the movement of the rotating sleeve 244, the connection between the support plate 220 and the rotating sleeve 244 is raised or lowered, thereby realizing that the driving member 230 drives the support plate 220 to rotate through the transmission assembly 240. In this angle adjustment assembly 20, since the first housing 242 is rotatably connected to the base 210 around the second axis NN, the overall position of the transmission assembly 240 is thus determined within a range of motion. Moreover, the first housing 242 can protect and limit the transmission rod 241, making the transmission assembly 240 more stable and less prone to detachment. Furthermore, when the position of the driving member 230 relative to the slide groove 2111 changes, it will drive the transmission rod 241 to rotate. Since the transmission rod 241 can rotate synchronously with the first housing 242, it is only necessary for the transmission rod 241 to rotate synchronously with the first housing 242 to keep the transmission assembly 240 connected to the driving member 230. Thus, it is simpler to expand the angle adjustment range when the support plate 220 rotates by changing the position of the driving member 230 relative to the slide groove 2111.

[0063] For example, see Figure 4 and Figure 5 The first housing 242 can enclose a first cavity. Since the transmission rod 241 can pass through the first housing 242, the transmission part 2411 can be located outside the first cavity. The transmission rod 241 can have a connecting part located inside the first cavity, and the connecting part can be connected to the driving member 230. In the embodiment shown in the figure, the connecting part and the driving member 230 can be connected in the form of a lead screw. In an embodiment not shown, the connecting part can also be connected to the driving member 230 in the form of a gear connection. The connecting part can be connected to the driving member 230 in any suitable form, and the present invention is not limited thereto. The connecting part of the transmission rod 241 can be located inside the first cavity enclosed by the first housing 242, so that the connection between the driving member 230 and the transmission rod 241 can be located inside the first cavity. In this way, the first housing 242 can provide a containment and protection for the connection between the driving member 230 and the transmission rod 241, so that the connection between the driving member 230 and the transmission rod 241 can be more stable, and the overall structure is more stable.

[0064] For example, see Figure 4 and Figure 5The driving component 230 may include a driving body 231 and a second housing 232. The second housing 232 may enclose a second cavity, and the driving body 231 may be located within the second cavity. The second housing 232 may be connected to a first housing 242, and the second cavity may communicate with the first cavity. The driving body 231 may be connected to a connecting portion. The second housing 232 serves to accommodate and protect the driving body 231. The connection between the driving component 230 and the transmission assembly 240 is more stable and secure through the connection of the second housing 232 to the first housing 242. The driving body 231 and the connecting portion are entirely located within the cavity formed by the first housing 242 and the second housing 232, thus ensuring a more stable connection between the driving body 231 and the transmission rod 241, and making the movement of the transmission rod 241 driven by the driving component 230 more stable.

[0065] For example, the second housing 232 can be inserted into the slide groove 2111. The shape of the second housing 232 can correspond to that of the slide groove 2111, so that the second housing 232 can be connected to the slide groove 2111 by plugging it in. It is easier for the second housing 232 inserted into the slide groove 2111 to move relative to the slide groove 2111, thus making it easier to move the drive member 230 relative to the slide groove 2111, and also making it easier to adjust the angle range of the drive member 230 driving the support plate 220 to rotate. Such an angle adjustment assembly 20 has a simpler overall structure, and the insertion of the second housing 232 into the slide groove 2111 is easier to operate, and the whole assembly is easier to assemble.

[0066] For example, see Figure 4 and Figure 5 The transmission rod 241 can be perpendicular to the second axis NN. In this way, when the driving component 230 drives the transmission rod 241 to move and drive the support plate 220 to rotate around the first axis MM, it can be more labor-saving, that is, the torque requirement of the driving component 230 can be lower; moreover, the overall structure of such an angle adjustment component 20 is simpler and easier to manufacture and process.

[0067] In one embodiment of the present invention, see Figure 4 and Figure 5The base 210 may include a first plate 211 and a second plate 212 disposed opposite to each other along a first axis MM. When the base 210 is disposed on a predetermined mounting surface, the first plate 211 and the second plate 212 may be respectively connected to the predetermined mounting surface. The first plate 211 and the second plate 212 may have the same form or different forms, and the present invention is not limited thereto. In some embodiments, in order to improve the stability of the base 210, a support beam extending in a direction parallel to the first axis MM may also be connected between the first plate 211 and the second plate 212. The support plate 220 may be rotatably connected to the first plate 211 and the second plate 212 about the first axis MM, and a groove 2111 may be disposed on the first plate 211. The first plate 211 and the second plate 212 may simultaneously support the support plate 220, so that the support plate 220 can be more stable, thereby making the angle adjustment assembly 20 as a whole more stable. The slide groove 2111 is set on the first plate 211, which means that the drive component 230 is only slidably connected to the first plate 211. This makes it simpler and easier to operate when changing the position of the drive component 230 relative to the slide groove 2111.

[0068] For example, see Figure 4 and Figure 5 The slide groove 2111 can penetrate the first plate 211, and at least a portion of the drive member 230 can be inserted into and pass through the slide groove 2111. The transmission assembly 240 can be located between the first plate 211 and the second plate 212, so a portion of the structure of the drive member 230 can also be located between the first plate 211 and the second plate 212. A portion of the drive member 230 can extend outward through the slide groove 2111. The drive member 230 can be moved relative to the slide groove 2111 by moving the portion of the drive member 230 that extends outward through the slide groove 2111. This avoids collisions and other misoperations to the transmission assembly 240 when moving the drive member 230. Moreover, wiring or electrical connections can be made to the control module installed inside the body 310 through the portion of the drive member 230 that extends outward through the slide groove 2111. This avoids interference from the cables required for various electrical connections to the transmission assembly 240.

[0069] In one embodiment of the present invention, see Figure 1 , Figure 2 , Figure 3 , Figure 6 , Figure 7 and Figure 8The image acquisition component 10 may include two sets of supplementary lighting elements 130 and a housing 110 disposed on the support plate 220. The housing 110 may enclose a cavity 111. Multiple image acquisition modules 120 may be arranged in a row in the cavity 111 along a direction perpendicular to the first axis MM (the second direction YY in the figure). Both sets of supplementary lighting elements 130 may be located outside the cavity 111, and the two sets of supplementary lighting elements 130 may be located on both sides of the housing 110 and may irradiate light toward the detection area.

[0070] The housing 110 may include a front wall 112, a side wall 113, and a top wall 114. The front wall 112, side wall 113, and top wall 114 can enclose and form a receiving cavity 111. The front wall 112 may be a side wall of the housing 110 facing the object to be detected. The arrangement of multiple image acquisition modules 120 in a row means that the multiple image acquisition modules 120 can have a stacked spatial relationship, and the multiple image acquisition modules 120 can be arranged at different heights. For example, the multiple image acquisition modules 120 may be arranged along a vertical direction (i.e., the second direction YY as shown in the figure). At least some of the multiple image acquisition modules 120 may be directly connected to each other, or the multiple image acquisition modules 120 may be arranged independently within the receiving cavity 111. For example, the multiple image acquisition modules 120 may first be arranged in a row and connected together, and then arranged as a whole within the receiving cavity 111; or the multiple image acquisition modules 120 may be arranged independently within the receiving cavity 111. In such Figure 6 , Figure 7 and Figure 8 In the illustrated embodiment, the plurality of image acquisition modules 120 may include a first camera module 121 and a second camera module 122. The first camera module 121 can be connected to the housing 110, thereby being disposed within the receiving cavity 111. The second camera module 122 can be connected to the front wall 112 of the housing 110, thereby being disposed within the receiving cavity 111. The plurality of image acquisition modules 120 may be arranged in the same manner within the receiving cavity 111, or they may be arranged in different manners; this invention does not limit this arrangement. Exemplarily, for one image acquisition module 120, the image acquisition module 120 may be disposed at a suitable position within the receiving cavity 111 by threaded connection, snap-fit, welding, or any other suitable method. The image acquisition module 120 may be connected to the housing 110, or a mounting bracket may be provided within the receiving cavity 111, and the image acquisition module 120 may be connected to the mounting bracket.

[0071] Two sets of supplementary lighting elements 130 are respectively located on both sides of the housing 110, wherein either set of supplementary lighting elements 130 may be located outside the accommodating cavity 111 and on one side of the housing 110. The two sets of supplementary lighting elements 130 may be arranged in the same manner outside the accommodating cavity 111 and on one side of the housing 110, or they may be arranged in different manners outside the accommodating cavity 111 and on one side of the housing 110; this invention does not limit this arrangement. For ease of description, one set of supplementary lighting elements 130 will be described below. The supplementary lighting element 130 may be connected to the housing 110 or may be relatively independent of the housing 110. The relative position of the supplementary lighting element 130 and the housing 110 may be fixed or variable. For example, the supplementary lighting element 130 may be connected to one side of the housing 110 by threaded connection, snap-fit, welding, or any other suitable method; in this case, the supplementary lighting element 130 is connected to the housing 110, and its relative position to the housing 110 is fixed. For example, the supplementary lighting element 130 can be positionally adjustable and connected to one side of the housing 110. For instance, the supplementary lighting element 130 can be connected to one side of the housing 110 via a rotating structure. In this case, the supplementary lighting element 130 is connected to the housing 110, and its relative position to the housing 110 is variable. This allows the supplementary lighting element 130 to rotate relative to the housing 110, thereby adjusting the direction of the light emitted by the supplementary lighting element 130. This will be described in detail later with reference to specific embodiments. Alternatively, the supplementary lighting element 130 can be disposed relatively independently of the housing 110 on one side of the housing 110. For example, the housing 110 can be disposed on a predetermined mounting surface, such as the support plate 220 in the angle adjustment assembly 20. The supplementary lighting element 130 can also be disposed on the support plate 220 in the angle adjustment assembly 20, and the supplementary lighting element 130 can be disposed on one side of the housing 110. Similarly, when the supplementary lighting component 130 is disposed relatively independently on one side of the housing 110, the relative position of the supplementary lighting component 130 and the housing 110 can be fixed or variable, similar to the above, and will not be repeated here.

[0072] The two sets of supplementary lighting elements 130 may include multiple supplementary lighting elements 130, such as two, three, or any other arbitrary number of supplementary lighting elements 130. The number of supplementary lighting elements 130 in each of the two sets of supplementary lighting elements 130 may be the same or different. The two sets of supplementary lighting elements 130 are located on both sides of the housing 110 and illuminate the detection area, so that both sets of supplementary lighting elements 130 can provide supplementary lighting to the detection area, and the supplementary lighting effect on the detection area can be better. When each supplementary lighting element 130 in the two sets of supplementary lighting elements 130 illuminates the detection area, the illuminated light may be the same or different. For example, the two sets of supplementary lighting elements 130 may include various forms of supplementary lighting elements 130 such as high-pressure sodium lamps, metal halide lamps, LED lamps, and plasma lamps. For example, when multiple image acquisition modules 120 include a spectral camera, the two sets of supplementary lighting elements 130 may include at least one halogen supplementary lighting lamp.

[0073] In this inspection robot 1, two sets of supplementary lighting elements 130 are located on both sides of the housing 110 and illuminate the detection area. When multiple image acquisition modules 120 are used to acquire images of the detection area, the supplementary lighting elements 130 on both sides can simultaneously illuminate the detection area, resulting in better lighting effects. Furthermore, since the detection area is illuminated from both sides, the shadows on the object to be photographed within the detection area that would affect the image acquisition effect when illuminated from one side are avoided, thus improving the image acquisition results. Moreover, the multiple image acquisition modules 120 are arranged in a row, allowing for greater overlap between the multiple image acquisition areas corresponding to each module, resulting in a larger detection area and improved image acquisition efficiency. Additionally, illuminating the detection area from both sides of the multiple image acquisition modules 120 allows for greater overlap between the illumination areas of the supplementary lighting elements 130 on both sides and the detection area, facilitating concentrated illumination of the detection area and further enhancing the image acquisition effect.

[0074] For example, see Figure 6 , Figure 7 and Figure 8The housing 110 may have a front wall 112 and two side walls 113. The two side walls 113 may be located on the left and right sides of the front wall 112, respectively. The two sets of supplementary lighting elements 130 may be located on the outer sides of the two side walls 113, and may be symmetrically arranged relative to the detection area. Either side wall 113 may be integrally formed with the front wall 112 and connected to it, or it may be separately formed and then connected to the front wall 112 by threaded connection, snap-fit, welding, or any other suitable method. The two side walls 113 may be symmetrically arranged on the left and right sides of the front wall 112, or they may be arranged in any form as needed. As mentioned above, both sets of supplementary lighting elements 130 may be located outside the accommodating cavity 111, and both sets of supplementary lighting elements 130 may be located on the sides of the housing 110, therefore, the two sets of supplementary lighting elements 130 may be located on the outer sides of the two side walls 113. The two sets of supplementary lighting elements 130 can be arranged symmetrically relative to the detection area. When the two sets of supplementary lighting elements 130 illuminate the detection area, the light irradiated by the two sets of supplementary lighting elements 130 can be symmetrical. This can form a relatively uniform supplementary lighting in the detection area, which can avoid the situation where some areas of the detection area have strong supplementary lighting and some areas have weak supplementary lighting, thereby improving the overall supplementary lighting effect. When using such an image acquisition component 10 for observation, better image acquisition effect can be obtained.

[0075] In one embodiment of the present invention, see Figure 6 , Figure 7 and Figure 8The first camera module 121 can be configured to detect the biochemical composition within the detection area. For example, the first camera module 121 can be a hyperspectral camera module or any other suitable form. The second camera module 122 can be configured to detect the structural shape of the detection area, thereby acquiring depth information. For example, the second camera module 122 can be a depth camera module or any other suitable form. By covering the object to be detected within the detection area, the first camera module 121 can acquire images of the object. For example, the first camera module 121 can acquire spectral information within the detection area. Based on the acquired results, biochemical composition analysis can be performed on the object to be detected. This biochemical composition analysis can include water content analysis, nitrogen content analysis, sugar content analysis, etc. Through these biochemical composition analyses, a more comprehensive observation of the object to be detected can be achieved, and the growth and health status of the object can be assessed. When the detection area covers the object to be detected, the second camera module 122 can acquire images of the object's structural shape. For example, the second camera module 122 can acquire depth information within the detection area. Based on the acquired results, the changes in the object's shape can be detected more clearly and accurately, thus assisting in judging the object's growth status. Furthermore, the first camera module 121, which detects biochemical composition, typically has high requirements for detection distance. For example, for a hyperspectral camera module, it needs to be at a predetermined optimal detection distance from the object. At this point, the hyperspectral camera module at the predetermined optimal detection position can detect the object, obtaining clearer and more accurate spectral information. To address this, the position of the first camera module 121 can be guided and adjusted based on the structural shape information within the detection area acquired by the second camera module 122, such as the depth information within the detection area acquired by the depth camera module, so that the image acquisition component 10 as a whole can obtain better observation results of the object.

[0076] For example, the first camera module 121 may include a hyperspectral camera module. Taking the inspection robot 1 observing crops as an example, the first camera module 121 can detect the biochemical composition within the detection area. Specifically, the hyperspectral camera module in the first camera module 121 can acquire spectral information within the detection area. Based on the spectral information acquired by the hyperspectral camera module, biochemical composition analysis can be performed on the object to be detected. When the object to be detected is a crop, the biochemical composition such as the moisture content and nitrogen content of the crop can be analyzed to determine the growth and health status of the crop. In particular, the sugar content of the crop fruit can also be analyzed to determine the ripeness of the crop fruit. In addition, through spectral analysis, signs of crop diseases and pests can be detected in advance, thereby allowing for early deployment of preventive measures.

[0077] For example, the two sets of supplementary lighting elements 130 can be arranged symmetrically relative to the hyperspectral camera module. When the hyperspectral camera module detects the detection area, it needs to use the supplementary lighting elements 130 to provide full-spectrum supplementary lighting to the detection area. At this time, the supplementary lighting elements 130 can include a full-spectrum light source, such as a halogen supplementary lamp. The two sets of supplementary lighting elements 130 can include at least one halogen supplementary lamp. Preferably, each set of supplementary lighting elements 130 can include at least one halogen supplementary lamp, so that two halogen supplementary lamps can be symmetrically arranged relative to the hyperspectral camera module. This can improve the effect of full-spectrum supplementary lighting to the detection area, and also improve the detection effect of the hyperspectral camera module. Since the hyperspectral camera module has high requirements for illumination conditions, the symmetrical arrangement of the two sets of supplementary lighting elements 130 relative to the hyperspectral camera module can ensure that the hyperspectral camera module can use the two sets of supplementary lighting elements 130 to achieve better supplementary lighting to the detection area, thereby improving the detection effect of the hyperspectral camera module.

[0078] For example, the supplementary lighting component 130 may have a heat dissipation section 131. A cavity may be formed inside the heat dissipation section 131, and a cooling fan may be installed within the cavity. Multiple heat sinks 132 may be installed on the heat dissipation section 131, with gaps between the heat sinks 132. The cavity can be connected to the outside through these gaps. The supplementary lighting component 130 typically houses a light source. When the light source emits light, the internal temperature of the supplementary lighting component 130 may be high, especially for halogen supplementary lighting components 130, as halogen supplementary lighting is a heat source, and the internal temperature of the supplementary lighting component 130 may be high. By providing the heat dissipation section 131 on the supplementary lighting component 130, the heat inside the supplementary lighting component 130 can be dissipated to the outside through the cavity and the cooling fan via the gaps between the multiple heat sinks 132, thereby cooling the supplementary lighting component 130. This can extend the lifespan of the internal light source of the supplementary lighting component 130 and increase the stability of the overall device during use.

[0079] For example, the second camera module 122 may include a depth camera module. Taking the inspection robot 1 observing crops as an example, the second camera module 122 can detect the shape of the structure within the detection area. Specifically, the depth camera module in the second camera module 122 can acquire depth information within the detection area. Based on the depth information acquired by the depth camera module, the shape changes of the object to be detected can be obtained more clearly and accurately. When the object to be detected is a crop, the growth of the crop can be assessed. In addition, based on the depth information acquired by the depth camera module, the position of the image acquisition component 10 can be adjusted so that the hyperspectral camera module can be at a predetermined optimal observation distance from the object to be detected. For example, the robot chassis 30 can be guided to move based on the depth information so that the hyperspectral camera module can be positioned at the optimal observation position to observe the object to be detected, thereby enabling the image acquisition component 10 to obtain better overall observation results.

[0080] For example, see Figure 6 , Figure 7 and Figure 8 Multiple image acquisition modules 120 may include a thermal infrared camera module 123. The thermal infrared camera module 123 can detect temperature information within the detection area. When multiple image acquisition modules 120 include the thermal infrared camera module 123, the overall observation of the detection area by the image acquisition component 10 can be more comprehensive. When the object to be detected is a crop, the object is placed within the detection area, and the temperature information of the crop can be acquired through the thermal infrared camera module 123. Based on the acquired temperature information, the temperature of crop leaves and fruits can be monitored. Combined with the ambient temperature, the transpiration rate of water in crop leaves can be analyzed, and the water stress, as well as the high or low temperature stress, can be determined during the growth of the crop fruits.

[0081] In one embodiment of the present invention, see Figure 6 , Figure 7 and Figure 8 The two sidewalls 113 can be arranged along a first direction (direction XX in the figure), and the supplementary lighting element 130 can be rotatably connected to the sidewalls 113 about the first direction XX. For example, see [reference to...] Figure 1 , Figure 2 and Figure 3The first direction XX can be horizontal. The supplementary lighting component 130 can be rotatably connected to the side wall 113 around the first direction XX in any suitable manner. For example, the supplementary lighting component 130 can be provided with a connecting ball, and the side wall 113 can be provided with a groove. The connecting ball can be locked in the groove and can rotate, thereby enabling the supplementary lighting component 130 to be rotatably connected to the side wall 113. For example, the supplementary lighting component 130 can be provided with a connecting shaft extending along the first direction XX. The connecting shaft can be inserted into the side wall 113 and can rotate relative to the side wall 113, thereby also enabling the supplementary lighting component 130 to be rotatably connected to the side wall 113 around the first direction XX. When the supplementary lighting element 130 is rotatably connected to the side wall 113 around the first direction XX, the position of the supplementary lighting area of ​​the supplementary lighting element 130 can be adjusted in a direction perpendicular to the first direction XX. This allows the light irradiated by the supplementary lighting element 130 to more accurately illuminate the detection area, thus enabling the supplementary lighting element 130 to form more uniform illumination on the detection area and achieve a better supplementary lighting effect. This also makes it easier for the supplementary lighting area of ​​the supplementary lighting element 130 to overlap with the detection area, thereby enabling the image acquisition component 10 as a whole to obtain a better detection effect.

[0082] For example, see Figure 6 , Figure 7 and Figure 8The image acquisition component 10 may include a first connector 141 and a second connector 142. The first connector 141 may be connected to the side wall 113. The first connector 141 may be directly connected to the side wall 113, for example, the first connector 141 may be connected to the side wall 113 by threaded connection, snap-fit, welding or other suitable means; the first connector 141 may also be connected to the side wall 113 by other connection structures. In this case, the first connector 141 may be located at any position, or the first connector 141 may be spaced apart from the side wall 113. The connection structure can be designed as needed, and will not be elaborated here. The supplementary lighting component 130 may be connected to the second connector 142. The supplementary lighting component 130 may be integrally formed with the second connector 142 and interconnected, or it may be separately formed and interconnected by snap-fit, threaded connection, welding or other suitable means. The first connector 141 and the second connector 142 can be connected by a first rotating structure 160. The first rotating structure 160 may include a first fastener, a first connecting hole 161 disposed on the first connector 141, and a first mating hole 162 disposed on the second connector 142. The first fastener can pass through the first connecting hole 161 and the first mating hole 162. At least one of the first connecting hole 161 and the first mating hole 162 can be configured as an arc-shaped hole extending around the first direction XX. In the embodiment shown in the figure, the first mating hole 162 can be an arc-shaped hole extending around the first direction XX. By passing the first fastener through the first connecting hole 161 and the first mating hole 162, and making the first connecting hole 161 connected to different positions on the first mating hole 162, the second connector 142 can be rotated relative to the first connector 141 around the first direction XX, thereby enabling the supplementary lighting component 130 to rotate relative to the side wall 113 around the first direction XX. The connection of the first connecting hole 161 to different positions on the first mating hole 162 can be achieved by changing the position of the first connecting hole 161 relative to the first mating hole 162. As shown in the embodiment, the first connecting hole 161 can be a circular hole that matches the first fastener. When the first fastener passes through the first connecting hole 161, it can move synchronously with the first connecting hole 161. This allows the first fastener to drive the first connecting hole 161 to move along the extension direction of the first mating hole 162 (that is, along an arc-shaped path extending around the first direction XX). This changes the position of the first connecting hole 161 relative to the first mating hole 162. Since the first mating hole 162 is an arc-shaped hole extending around the first direction XX, it also allows the second connector 142 to rotate around the first direction XX relative to the first connector 141.Similarly, the relative position of the first connecting hole 161 and the first mating hole 162 can be changed by rotating the first mating hole 162 in the form of an arc-shaped hole around the first direction XX. This also allows the second connecting member 142 to rotate relative to the first connecting member 141 around the first direction XX. Of course, in embodiments not shown, the first connecting hole 161 can also be an arc-shaped hole extending around the first direction XX. In this case, the first mating hole 162 can be a circular hole or an arc-shaped hole extending around the first direction XX. As long as the relative position of the first fastener and the first mating hole 162 remains unchanged, while changing the position of the first fastener within the first connecting hole 161, for example, the first fastener can be moved relative to the first connecting hole 161. Since the first fastener passes through the first connecting hole 161, and the first connecting hole 161 is an arc-shaped hole extending around the first direction XX, this also allows the second connecting member 142 to rotate relative to the first connecting member 141 around the first direction XX. It can be understood that for the arc-shaped hole extending around the first direction XX, the center of the arc can be on the first direction XX. In such an image acquisition component 10, the overall structure is simpler, easier to implement, and the cost can be lower; moreover, it is simpler to make the supplementary light component 130 rotate around the first direction XX relative to the side wall 113, and the operation of the overall device is also simpler.

[0083] For example, see Figure 6 , Figure 7 and Figure 8 The image acquisition component 10 may include a second connector 142 connected between the supplementary lighting component 130 and the sidewall 113. The supplementary lighting component 130 is rotatably connected to the second connector 142 about a second direction (the illustrated direction YY), which is perpendicular to the first direction XX. For example, see [reference to...] Figure 1 , Figure 2 and Figure 3The second direction YY can be vertical. In the embodiment shown in the figure, as described above, the sidewall 113 can be connected to a first connector 141, and the second connector 142 can be connected to the sidewall 113 by being rotatably connected to the first connector 141 about the first direction XX. In an embodiment not shown, the second connector 142 can also be directly or indirectly connected to the sidewall 113. For example, the second connector 142 can be directly connected to the sidewall 113 by threaded connection, snap-fit, welding or any other suitable form; the second connector 142 can also be indirectly connected to the sidewall 113 by other connection structures, in which case the second connector 142 can be spaced apart from the sidewall 113, and the connection structure can be designed as needed. Since the second connector 142 is connected between the sidewall 113 and the supplementary lighting element 130, for the connection between the second connector 142 and the supplementary lighting element 130, the supplementary lighting element 130 can be rotatably connected to the second connector 142 about the second direction YY in any suitable form. For example, the supplementary lighting component 130 may be provided with a shaft extending along the second direction YY. The shaft can be inserted into the second connector 142 and rotatable relative to the second connector 142, thereby enabling the supplementary lighting component 130 to be rotatably connected to the second connector 142 around the second direction YY. The second connector 142 is connected between the supplementary lighting component 130 and the side wall 113. When the supplementary lighting component 130 is rotatably connected to the second connector 142 around the second direction YY, the position of the supplementary lighting area of ​​the supplementary lighting component 130 can be adjusted in a direction perpendicular to the second direction YY. This allows the light irradiated by the supplementary lighting component 130 to more accurately illuminate the detection area, thus enabling the supplementary lighting component 130 to form more uniform illumination on the detection area and achieve a better supplementary lighting effect. This also makes it easier for the supplementary lighting area of ​​the supplementary lighting component 130 to overlap with the detection area, thereby enabling the image acquisition component 10 as a whole to obtain a better detection effect. Furthermore, the two sets of supplementary lighting elements 130 are located on the outer sides of the two side walls 113, which are arranged along the first direction XX. The two sets of supplementary lighting elements 130 are also arranged along the first direction XX. Since the first direction XX is perpendicular to the second direction YY, the position of the supplementary lighting area of ​​each supplementary lighting element 130 in the two sets of supplementary lighting elements 130 along the first direction XX can be adjusted so that the supplementary lighting area of ​​each supplementary lighting element 130 can be more concentrated and overlapped in the detection area. This further improves the supplementary lighting effect of the two sets of supplementary lighting elements 130 on both sides of the detection area.

[0084] For example, see Figure 6 , Figure 7 and Figure 8The supplementary lighting component 130 and the second connecting component 142 can be connected via a second rotating structure 170. The second rotating structure 170 may include a second fastener, a second connecting hole 171 disposed on the supplementary lighting component 130, and a second mating hole 172 disposed on the second connecting component 142. The second fastener may pass through the second connecting hole 171 and the second mating hole 172. At least one of the second connecting hole 171 and the second mating hole 172 may be configured as an arc-shaped hole extending around the second direction YY. In the embodiment shown in the figure, the second mating hole 172 may be an arc-shaped hole extending around the second direction YY. By passing the second fastener through the second connecting hole 171 and the second mating hole 172, and making the second connecting hole 171 connected to different positions on the second mating hole 172, the supplementary lighting component 130 can be rotated relative to the second connecting component 142 around the second direction YY, thereby enabling the supplementary lighting component 130 to rotate relative to the sidewall 113 around the second direction YY. The connection of the second connecting hole 171 to different positions on the second mating hole 172 can be achieved by changing the position of the second connecting hole 171 relative to the second mating hole 172. For example, the second connecting hole 171 can be a circular hole that matches the second fastener. When the second fastener passes through the second connecting hole 171, it can move synchronously with the second connecting hole 171. The second fastener can drive the second connecting hole 171 to move along the extension direction of the second mating hole 172 (that is, along the arc-shaped path extending around the second direction YY). In this way, the position of the second connecting hole 171 relative to the second mating hole 172 can be changed. Since the second mating hole 172 is an arc-shaped hole extending around the second direction YY, the supplementary light member 130 can also be rotated around the second direction YY relative to the second connecting member 142. Of course, in embodiments not shown, the second connecting hole 171 can also be an arc-shaped hole extending around the second direction YY. In this case, the second mating hole 172 can be a circular hole or an arc-shaped hole extending around the second direction YY. It is only necessary to keep the relative position of the second fastener and the second mating hole 172 unchanged, while changing the position of the second fastener within the second connecting hole 171. For example, the second fastener and the second connecting hole 171 can be moved relative to each other. Since the second fastener passes through the second connecting hole 171, and the second connecting hole 171 is an arc-shaped hole extending around the second direction YY, this also allows the supplementary lighting component 130 to rotate relative to the second connecting component 142 around the second direction YY. It can be understood that for an arc-shaped hole extending around the second direction YY, the center of the arc can be on the second direction YY. In such an image acquisition component 10, the overall structure is simpler, easier to implement, and the cost can be lower; moreover, it is simpler to make the supplementary lighting component 130 rotate relative to the side wall 113 around the second direction YY, making the overall device operation simpler.

[0085] In one embodiment of the present invention, see Figure 9 , Figure 10 , Figure 11 , Figure 12 and Figure 13 The image acquisition component 10 may include a housing 110 disposed on the support plate 220. The housing 110 may enclose a receiving cavity 111. Multiple image acquisition modules 120 may be arranged in a row within the receiving cavity 111 along a direction parallel to the first axis MM (first direction XX in the figure). The housing 110 may have a top wall 114 away from the support plate 220. A supplementary light element 130 may be disposed on the top wall 114, and the supplementary light element 130 may be configured to illuminate light toward the detection area. The arrangement of multiple image acquisition modules 120 in a row means that the multiple image acquisition modules 120 may have a side-by-side spatial relationship. For example, the multiple image acquisition modules 120 may be arranged at the same height. Since the multiple image acquisition modules 120 may differ in external dimensions, the present invention does not strictly limit the arrangement at the same height; the multiple image acquisition modules 120 may be approximately arranged at the same height. For example, the multiple image acquisition modules 120 may also be arranged in a row with an overall inclined orientation. The image acquisition component 10 and the angle adjustment component 20 can be mounted on the robot chassis 30. In this case, the multiple image acquisition modules 120 can be arranged horizontally (i.e., the first direction XX as shown in the figure). The multiple image acquisition modules 120 can be fixedly disposed within the receiving cavity 111 or movably disposed within the receiving cavity 111. At least some of the multiple image acquisition modules 120 can be directly connected to each other, or the multiple image acquisition modules 120 can be arranged independently within the receiving cavity 111. The multiple image acquisition modules 120 can be arranged in the same manner within the receiving cavity 111, or they can be arranged in different manners within the receiving cavity 111. The arrangement of the multiple image acquisition modules 120 within the receiving cavity 111 is similar to the above and will not be described again here. This invention does not limit the specific form of each image acquisition module 120 in the row of multiple image acquisition modules 120 arranged in a row; it can be designed according to actual observation needs. The overall center of gravity of multiple image acquisition modules 120 arranged in a row can be lower, and the overall structure can be more stable, thus making the image acquisition component 10 more stable as a whole.

[0086] Since the first camera module 121 is configured to detect the biochemical composition within the detection area, for example, if the first camera module 121 includes a spectral camera, such a first camera module 121 has high illumination requirements for the detection area. To address this, a supplementary lighting element 130 can be provided on the top wall 114 of the housing 110. By illuminating the detection area with light through the supplementary lighting element 130, the illumination requirements of the first camera module 121 when detecting the detection area can be met. Furthermore, since the detection area is formed by the overlapping portion of the detection areas of multiple image acquisition modules 120, when the supplementary lighting element 130 illuminates the detection area, it can also provide supplementary lighting when the second camera module 122 detects the detection area, thereby improving the detection effect of the second camera module 122. When the supplementary lighting component 130 illuminates the detection area, it not only enables both the first camera module 121 and the second camera module 122 to achieve better image acquisition of the detection area, but also provides supplementary lighting for the detection of the second camera module 122. This results in better navigation using the depth information obtained by the second camera module 122, making it easier for the first camera module 121 to move to a predetermined detection distance from the object to be detected. This further improves the image acquisition effect of the first camera module 121, and the overall image acquisition efficiency of the device is also higher.

[0087] In this inspection robot 1, multiple image acquisition modules 120 are arranged in a row, and a supplementary lighting component 130 provides supplementary lighting to the detection area. Under the supplementary lighting of the supplementary lighting component 130, the first camera module 121 can acquire images of the detection area when the lighting conditions are met, and the second camera module 122 can also acquire images of the detection area when the lighting conditions are met. Both the first camera module 121 and the second camera module 122 can achieve better image acquisition results in the detection area, thus improving the overall image acquisition effect of the image acquisition component 10 on the detection area, and improving the detection effect on objects to be photographed within the detection area, such as crops. Furthermore, because the second camera module 122 has a better effect in acquiring depth information, it is easier for the first camera module 121 to move to a predetermined detection distance from the object to be inspected.

[0088] For example, at least two supplementary lighting elements 130 can be provided on the top wall 114. These at least two supplementary lighting elements 130 can be divided into two groups of supplementary lighting components, which can be symmetrically arranged about the detection area. Both groups of supplementary lighting components can illuminate the detection area. The two groups of supplementary lighting components can be located on opposite sides of the center line of the detection area. Each group of supplementary lighting components can include one or more supplementary lighting elements 130, for example, one, two, three, or any other arbitrary number of supplementary lighting elements 130. The number of supplementary lighting elements 130 in each group of supplementary lighting components can be the same or different. Since the two groups of supplementary lighting components are located on opposite sides of the center line of the detection area and illuminate the detection area, both groups of supplementary lighting components can provide supplementary lighting to the detection area, resulting in a better supplementary lighting effect. In this system, when each of the two sets of supplementary lighting components 130 illuminates the detection area, the illuminated light can be the same or different. For example, the two sets of supplementary lighting components can include various forms of supplementary lighting components 130 such as high-pressure sodium lamps, metal halide lamps, LED lamps, and plasma lamps. For instance, when multiple image acquisition modules 120 include a spectral camera, the two sets of supplementary lighting components can include at least one halogen supplementary lighting lamp. The two sets of supplementary lighting components can be symmetrically arranged about the detection area. When the two sets of supplementary lighting components illuminate the detection area, the light illuminated by each set can be symmetrical, thus forming a relatively uniform supplementary lighting effect on the detection area. This avoids situations where some areas of the detection area have strong supplementary lighting while others have weak supplementary lighting, thereby improving the overall supplementary lighting effect. Using such an image acquisition component 10 for observation can also achieve better image acquisition results.

[0089] For example, see Figure 9 , Figure 10 , Figure 11 , Figure 12 and Figure 13A heat sink 150 can be disposed within the cavity 111 near the hyperspectral camera module. A vent 1131 can be provided on the housing 110. The heat sink 150 can be configured to blow air towards the vent 1131 to dissipate heat from the hyperspectral camera module. The heat sink 150 blowing air towards the vent 1131 can be achieved by a portion of its housing being inserted into the vent 1131, while an internal fan blows air outwards; or the entire heat sink 150 can be located within the cavity 111, with the internal fan blowing air towards the vent 1131. Heat within the cavity 111 can be dissipated to the outside through the heat sink 150, thus effectively cooling the cavity 111. Multiple heat sinks 150 can be disposed within the cavity 111, with at least one of them positioned close to the hyperspectral camera module. Since hyperspectral cameras generally have high power, they may generate high temperatures during use. The heat sink 150 located near the hyperspectral camera module can dissipate heat from the hyperspectral camera module, thereby extending its service life and making it more stable during use. As a result, the image acquisition component 10 as a whole can also be more stable during use.

[0090] In one embodiment of the present invention, see Figure 10 , Figure 11 , Figure 12 and Figure 13 Multiple image acquisition modules 120 can be arranged along a first direction (direction XX in the figure), and the supplementary lighting element 130 can be rotatably connected to the top wall 114 around a second direction YY perpendicular to the first direction XX. For example, see [reference to...] Figure 9When the image acquisition component 10 is applied to the inspection robot 1, the first direction XX can be horizontal, and the second direction YY can be vertical. The supplementary lighting component 130 can be rotatably connected to the top wall 114 around the second direction YY in any suitable manner. For example, the supplementary lighting component 130 can be provided with a connecting ball, and the top wall 114 can be provided with a groove. The connecting ball can be locked in the groove and can rotate, thereby enabling the supplementary lighting component 130 to be rotatably connected to the top wall 114. For example, the supplementary lighting component 130 can be provided with a connecting shaft extending along the second direction YY. The connecting shaft can be inserted into the top wall 114 and can rotate relative to the top wall 114, thereby also enabling the supplementary lighting component 130 to be rotatably connected to the top wall 114 around the second direction YY. When the supplementary lighting component 130 is rotatably connected to the top wall 114 around the second direction YY, the position of the supplementary lighting area of ​​the supplementary lighting component 130 can be adjusted in the first direction XX perpendicular to the second direction YY. This allows the light irradiated by the supplementary lighting component 130 to more accurately illuminate the detection area, resulting in more uniform illumination and a better supplementary lighting effect. This also makes it easier for the supplementary lighting area of ​​the supplementary lighting component 130 to overlap with the detection area, thus improving the overall detection performance of the image acquisition assembly 10.

[0091] For example, see Figure 10 , Figure 11 , Figure 12 and Figure 13The image acquisition component 10 may include an adjustment member 143, and a supplementary lighting member 130 may be connected to the adjustment member 143. The supplementary lighting member 130 may be integrally formed with the adjustment member 143 and interconnected, or it may be separately formed and interconnected by snap-fit, threaded connection, welding, or any other suitable method. The adjustment member 143 may be connected to the top wall 114, and the adjustment member 143 and the top wall 114 may be connected by a third rotating structure 180. The third rotating structure 180 may include a first fastener, a third connecting hole 181 provided on the top wall 114, and a third mating hole 182 provided on the adjustment member 143. The first fastener may pass through the third connecting hole 181 and the third mating hole 182. At least one of the third connecting hole 181 and the third mating hole 182 may be configured as an arc-shaped hole extending around the second direction YY. The third connecting hole 181 can be directly provided on the top wall 114. For example, the third connecting hole 181 can be a through hole provided on the top wall 114. Alternatively, the third connecting hole 181 can be provided on the top wall 114 through other connecting structures. For example, a rotating platform can be provided on the top wall 114, and the rotating platform can rotate around the second direction YY. The third connecting hole 181 can be provided on the rotating platform. In this way, the relative position of the third connecting hole 181 and the top wall 114 can actually be changed. How the third connecting hole 181 is provided on the top wall 114 can be designed according to actual needs, and the present invention does not limit it in this way. In the embodiment shown in the figure, the third mating hole 182 can be an arc-shaped hole extending around the second direction YY, and the third connecting hole 181 can be a circular hole that matches the first fastener. By passing the first fastener through the third connecting hole 181 and the third mating hole 182, and making the third connecting hole 181 connected to different positions on the third mating hole 182, the adjusting member 143 can rotate around the top wall 114 around the second direction YY, thereby enabling the supplementary lighting member 130 to rotate around the second direction YY relative to the top wall 114. The connection of the third connecting hole 181 to different positions on the third mating hole 182 can be achieved by changing the position of the third connecting hole 181 relative to the third mating hole 182. In the embodiment shown in the figure, the third connecting hole 181 can be a circular hole that matches the first fastener. When the first fastener passes through the third connecting hole 181, it can move synchronously with the third connecting hole 181. At this time, the third connecting hole 181 can be set on the top wall 114 with a position that can be changed relative to the top wall 114. This allows the first fastener to drive the third connecting hole 181 to move along the extension direction of the third mating hole 182 (that is, along the arc-shaped path extending around the second direction YY). This changes the position of the third connecting hole 181 relative to the third mating hole 182. Since the third mating hole 182 is an arc-shaped hole extending around the second direction YY, the adjusting member 143 can also be rotated around the second direction YY relative to the top wall 114.Similarly, the relative position of the third connecting hole 181 and the third mating hole 182 can be changed by rotating the arc-shaped third mating hole 182 around the second direction YY. This also allows the adjusting member 143 to rotate relative to the top wall 114 around the second direction YY. Of course, in the embodiment not shown, the third connecting hole 181 can also be an arc-shaped hole extending around the second direction YY. In this case, the third mating hole 182 can be a circular hole or an arc-shaped hole extending around the second direction YY. As long as the relative position of the first fastener and the third mating hole 182 remains unchanged, while changing the position of the first fastener within the third connecting hole 181, for example, the first fastener can be moved relative to the third connecting hole 181. Since the first fastener passes through the third connecting hole 181, and the third connecting hole 181 is an arc-shaped hole extending around the second direction YY, this also allows the adjusting member 143 to rotate relative to the top wall 114 around the second direction YY. It is understandable that for the arc-shaped hole extending around the second direction YY, the center of the arc can be located in the second direction YY. In such an image acquisition component 10, the overall structure is simpler, easier to implement, and the cost can be lower; moreover, it is easier to make the supplementary light component 130 rotate around the second direction YY relative to the top wall 114, and the operation of the overall device is also simpler.

[0092] For example, see Figure 10 , Figure 11 , Figure 12 and Figure 13The supplementary lighting component 130 can be rotatably connected to the adjusting component 143 around the first direction XX. The supplementary lighting component 130 can be rotatably connected to the adjusting component 143 around the first direction XX in any suitable manner. For example, the supplementary lighting component 130 can be provided with a shaft extending along the first direction XX, which can be inserted into the adjusting component 143 and rotatable relative to the adjusting component 143, thereby enabling the supplementary lighting component 130 to be rotatably connected to the adjusting component 143 around the first direction XX. The adjusting component 143 is connected between the supplementary lighting component 130 and the top wall 114. When the supplementary lighting component 130 is rotatably connected to the adjusting component 143 around the first direction XX, the position of the supplementary lighting area of ​​the supplementary lighting component 130 can be adjusted in the second direction YY perpendicular to the first direction XX. This allows the light irradiated by the supplementary lighting component 130 to more accurately illuminate the detection area, thus enabling the supplementary lighting component 130 to form more uniform illumination of the detection area and achieve a better supplementary lighting effect. This also makes it easier for the illumination area of ​​the supplementary light component 130 to overlap with the detection area, thereby enabling the image acquisition component 10 to achieve better detection results as a whole. With the adjustment component 143 rotatably connected to the top wall 114 around the second direction YY, the supplementary light component 130 is rotatably connected to the adjustment component 143 around the first direction XX. This provides greater flexibility in adjusting the position of the illumination area of ​​the supplementary light component 130, making it easier to adjust the position of the light irradiated by the supplementary light component 130 so that it can illuminate the detection area. Furthermore, it can be applied to various illumination needs, thus broadening the applicability of the overall device.

[0093] For example, see Figure 10 , Figure 11 , Figure 12 and Figure 13The supplementary lighting component 130 and the adjusting component 143 can be connected by a fourth rotating structure 190. The fourth rotating structure 190 may include a second fastener, a fourth connecting hole 191 disposed on the supplementary lighting component 130, and a fourth mating hole 192 disposed on the adjusting component 143. The second fastener may pass through the fourth connecting hole 191 and the fourth mating hole 192. At least one of the fourth connecting hole 191 and the fourth mating hole 192 may be configured as an arc-shaped hole extending around the first direction XX. In the embodiment shown in the figure, the fourth mating hole 192 may be an arc-shaped hole extending around the first direction XX. By passing the second fastener through the fourth connecting hole 191 and the fourth mating hole 192, and making the fourth connecting hole 191 connected to different positions on the fourth mating hole 192, the supplementary lighting component 130 can be rotated relative to the adjusting component 143 around the first direction XX, thereby enabling the supplementary lighting component 130 to rotate relative to the top wall 114 around the first direction XX. The connection of the fourth connecting hole 191 to different positions on the fourth mating hole 192 can be achieved by changing the position of the fourth connecting hole 191 relative to the fourth mating hole 192. For example, the fourth connecting hole 191 can be a circular hole that matches the second fastener. When the second fastener passes through the fourth connecting hole 191, it can move synchronously with the fourth connecting hole 191. The second fastener can drive the fourth connecting hole 191 to move along the extension direction of the fourth mating hole 192 (that is, move along an arc-shaped path extending around the first direction XX). In this way, the position of the fourth connecting hole 191 relative to the fourth mating hole 192 can be changed. Since the fourth mating hole 192 is an arc-shaped hole extending around the first direction XX, the supplementary light member 130 can also be rotated around the first direction XX relative to the adjusting member 143. Of course, in embodiments not shown, the fourth connecting hole 191 can also be an arc-shaped hole extending around the first direction XX. In this case, the fourth mating hole 192 can be a circular hole or an arc-shaped hole extending around the first direction XX. It is only necessary to keep the relative position of the second fastener and the fourth mating hole 192 unchanged, while changing the position of the second fastener within the fourth connecting hole 191. For example, the second fastener can be moved relative to the fourth connecting hole 191. Since the second fastener passes through the fourth connecting hole 191, and the fourth connecting hole 191 is an arc-shaped hole extending around the first direction XX, this also allows the supplementary lighting component 130 to rotate around the first direction XX relative to the adjusting component 143. It can be understood that for the arc-shaped hole extending around the first direction XX, the center of the arc can be on the first direction XX. In such an image acquisition component 10, the overall structure is simpler, easier to implement, and the cost can be lower; moreover, it is simpler to make the supplementary lighting component 130 rotate around the first direction XX relative to the top wall 114, making the overall device operation simpler.

[0094] According to another aspect of the present invention, an inspection positioning method is provided. See also Figure 14 The inspection and positioning method can be applied to any of the inspection robots 1 described above, and includes the following steps:

[0095] S10: The second camera module 122 detects the depth information within the detection area after the object to be detected appears in the detection area;

[0096] S20: The robot chassis 30 and the angle adjustment component 20 adjust their positions based on the depth information so that the detection area covers the object to be detected and drives the first camera module 121 to move to a predetermined detection distance from the object to be detected.

[0097] S30: The first camera module 121 detects the biochemical composition within the detection area.

[0098] The robot chassis 30 can move the angle adjustment component 20 and the image acquisition component 10 together. After the object to be detected appears in the detection area, the second camera module 122 can detect the depth information in the detection area. Then, the robot chassis 30 can adjust its position based on the depth information. At this time, the movement of the robot chassis 30 is equivalent to autonomous navigation based on the depth information, without relying on the original predetermined movement path. By adjusting the position of the robot chassis 30 and the angle adjustment component 20 based on the depth information, the detection area can cover the object to be detected, and the first camera module 121 can be moved to a predetermined detection distance from the object to be detected. Finally, since the first camera module 121 is at the predetermined detection distance from the object to be detected, the biochemical composition in the detection area can be detected through the first camera module 121, and a better detection effect can be obtained. Through this inspection and positioning method, the first camera module 121 can be positioned at a predetermined detection distance from the object to be detected through autonomous navigation, and the detection effect of the object to be detected in the detection area can be further improved.

[0099] For example, see Figure 15 A robot chassis 30 can be mounted on a body 310. The angle adjustment component 20 can include a base 210, a support plate 220, and a drive component 230. The base 210 can be set on the body 310. The support plate 220 can rotate around a first axis MM and is connected to the base 210. The image acquisition component 10 can be set on the support plate 220. The drive component 230 can be connected to the base 210 and can drive the support plate 220 to rotate around the first axis MM. The inspection and positioning method can include the following steps:

[0100] S21: The drive unit 230 drives the support plate 220 to rotate around the first axis MM based on the depth information, so that the first camera module 121 can detect the object to be detected at a predetermined detection angle.

[0101] In the position adjustment of the angle adjustment component 20 based on depth information, the driving component 230 can drive the support plate 220 to rotate around the first axis MM based on the depth information. This allows the image acquisition component 10 connected to the support plate 220 to rotate around the first axis MM, thereby changing the position of the first camera module 121. Specifically, during rotation, the first camera module 121 can change its detection angle and its position in the height direction. When the first camera module 121 detects the object to be detected at a predetermined detection angle, it can be assumed that, at least in the height direction, the first camera module 121 is at a predetermined detection distance from the object to be detected. This inspection positioning method, when applied to the inspection robot 1, makes it easier to position the first camera module 121 at a predetermined detection distance from the object to be detected, thus facilitating more effective detection of the object within the detection area.

[0102] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front", "rear", "up", "down", "left", "right", "horizontal", "vertical", "horizontal", "top", and "bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0103] For ease of description, relative terms such as "above," "over," "on the upper surface of," and "above" are used here to describe the regional positional relationship of one or more components or features shown in the figures to other components or features. It should be understood that relative terms include not only the orientation of the component as depicted in the figure but also different orientations during use or operation. For example, if the components in the figures are inverted as a whole, "above" or "above other components or features" will include cases where the component is "below" or "under" other components or features. Thus, the exemplary term "above" can include both "above" and "below." Furthermore, these components or features may also be positioned at other different angles (e.g., rotated 90 degrees or other angles), and this document intends to include all such cases.

[0104] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of features, steps, operations, parts, components, and / or combinations thereof.

[0105] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in sequences other than those illustrated or described herein.

[0106] The present invention has been described through the above embodiments. However, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit the invention to the scope of the described embodiments. Furthermore, those skilled in the art will understand that the present invention is not limited to the above embodiments, and many more variations and modifications can be made based on the teachings of the present invention, all of which fall within the scope of protection claimed by the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A patrol robot, characterized by, The robot comprises a robot chassis, an angle adjusting assembly, and an image acquisition assembly, the image acquisition assembly is adjustable relative to the robot chassis in position through the angle adjusting assembly, the image acquisition assembly comprises a plurality of image acquisition modules, a plurality of the image acquisition modules correspond to a plurality of image acquisition regions, a plurality of the image acquisition regions have an overlapping part, the overlapping part forms a detection region, a plurality of the image acquisition modules at least have a first camera module and a second camera module, the first camera module is configured to detect a biochemical composition in the detection region, and the second camera module is configured to detect depth information in the detection region. The robot chassis and the angle adjusting assembly are both adjusted in position based on the depth information, so that the detection region covers a to-be-detected object, and the first camera module is moved to a predetermined detection distance from the to-be-detected object.

2. The patrol robot according to claim 1, characterized in that, The robot chassis is provided with a machine body, the angle adjusting assembly comprises: a base, the base is arranged on the machine body; a support plate, the support plate is rotatably connected to the base about a first axis, and the image acquisition assembly is arranged on the support plate; and a driving member, the driving member is connected to the base, and the driving member drives the support plate to rotate about the first axis based on the depth information, so that the first camera module detects the to-be-detected object at a predetermined detection angle.

3. The patrol robot according to claim 2, wherein, The base is provided with a sliding groove, the driving member is floatingly supported on the base through the sliding groove, the angle adjusting assembly comprises a transmission assembly, the transmission assembly is connected between the driving member and the support plate, and the driving member drives the support plate to rotate about the first axis through the transmission assembly.

4. The patrol robot according to claim 2, wherein, The image acquisition assembly comprises two groups of light supplementing members and a housing arranged on the support plate, the housing is enclosed to form a receiving cavity, the plurality of image acquisition modules are arranged in columns in the receiving cavity in a direction perpendicular to the first axis, the two groups of light supplementing members are located outside the receiving cavity, and the two groups of light supplementing members are respectively located on two sides of the housing and irradiate light rays towards the detection region.

5. The patrol robot according to claim 4, wherein, The housing has a front wall and two side walls, the two side walls are respectively located on the left and right sides of the front wall, the two groups of light supplementing members are respectively located on the outer sides of the two side walls, and are symmetrically arranged relative to the detection region.

6. The patrol robot according to claim 2, wherein, The image acquisition assembly comprises a housing arranged on the support plate, the housing is enclosed to form a receiving cavity, the plurality of image acquisition modules are arranged in rows in the receiving cavity in a direction parallel to the first axis, the housing has a top wall away from the support plate, the top wall is provided with a light supplementing member, and the light supplementing member is configured to irradiate light rays towards the detection region.

7. The patrol robot according to claim 6, characterized in that, The top wall is provided with at least two light supplementing members, the at least two light supplementing members are divided into two groups of light supplementing assemblies, and the two groups of light supplementing assemblies are symmetrically arranged relative to the detection region.

8. The patrol robot of claim 1, wherein, The first camera module comprises a hyperspectral camera module; or / and, the second camera module comprises a depth camera module.

9. A method of locating a patrol, the method comprising: The robot is suitable for the robot as claimed in any one of claims 1-8, comprising the steps of: The second camera module detects the depth information in the detection area after the object to be detected appears in the detection area; The robot chassis and the angle adjusting assembly adjust positions based on the depth information, so that the detection area covers the object to be detected, and the first camera module is moved to a position at the predetermined detection distance from the object to be detected; The first camera module detects the biochemical composition in the detection area.

10. The method of claim 9, wherein, The robot chassis is installed with a machine body, the angle adjusting assembly includes a base, a support plate and a driving member, the base is arranged on the machine body, the support plate is rotationally connected to the base about a first axis, the image acquisition assembly is arranged on the support plate, and the driving member is connected to the base and drives the support plate to rotate about the first axis, and the method for the inspection and positioning includes the following steps: The driving member drives the support plate to rotate about the first axis based on the depth information, so that the first camera module detects the object to be detected at a predetermined detection angle.

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