A visual fusion of solid waste and soil consolidation component uniformity intelligent sensing test device and test method

Abstract

The application relates to the technical field of visual sensing testing, in particular to an intelligent sensing testing device and testing method for uniformity of visual fusion of solid waste and soil consolidation components, which comprises a detection vehicle, a first air cylinder symmetrically arranged on the upper side of the detection vehicle, a supporting plate connected to the telescopic end of the first air cylinder, a rotating rod rotatably arranged on the supporting plate, a lifting plug-in mechanism arranged on the supporting plate and connected with the rotating rod, a visual sensor connected with the lifting plug-in mechanism, the lifting plug-in mechanism being capable of adjusting the working state of the visual sensor, a follow-up rotating mechanism arranged on the supporting plate and connected with the lifting plug-in mechanism, and a trigger positioning mechanism arranged on the supporting plate and connected with the rotating rod. Through cooperation of the follow-up rotating mechanism and the trigger positioning mechanism, the visual sensor can be powered off first, and then powered on after the position is switched, so that the comprehensiveness of the test is ensured.

Description

Technical Field

[0001] This invention relates to the field of visual sensing testing technology, specifically to a visual fusion-based intelligent sensing testing device and method for the uniformity of solid waste and solid soil components. Background Technology

[0002] In the fields of environmental geotechnical engineering and solid waste disposal, the homogeneity of the mixture's components directly affects its physical and mechanical properties, permeability characteristics, and long-term stability during the mixed landfilling or resource utilization of solid waste and solid soil. Uneven mixing of solid waste and solid soil can lead to problems such as weak zones and large differences in permeability coefficients in localized areas, severely impacting the safety of landfills and the effectiveness of resource utilization.

[0003] Currently, the verification of the uniformity of solid waste and solid soil mixtures in engineering mainly relies on on-site sampling and sending samples to the laboratory for screening analysis or chemical testing. This approach has the problems of long testing cycles and complex procedures, making it difficult to provide real-time feedback during the mixing process, which is not conducive to quality control and timely adjustment of the mixing process.

[0004] In response, rapid detection methods based on machine vision have been gradually applied. By acquiring images of the surface of mixtures and analyzing the distribution characteristics of different components, it is expected to achieve rapid on-site assessment. However, solid waste components are complex and diverse, and visual sensors with a single imaging mode or a single spectral range are difficult to fully characterize the distribution of multiple materials, which limits the applicability of visual detection methods.

[0005] Furthermore, when multiple vision sensors are required for combined detection, if multiple sensors are integrated into the same detection device and need to be switched to the test station in different time periods, the contact points may not be de-energized and separated in time during the physical switching process of the sensors, resulting in wear or damage to the energized components due to the switching while the contacts are energized. Summary of the Invention

[0006] The purpose of this invention is to provide a visual fusion-based intelligent sensing testing device and method for the uniformity of solid waste and solid soil components, in order to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] A visual fusion-based intelligent sensing and testing device for the uniformity of solid waste and soil components includes:

[0009] The probe vehicle, and a first cylinder mounted on the upper side of the probe vehicle and symmetrically distributed, with a support plate connected to the telescopic end of the first cylinder;

[0010] Also includes:

[0011] A rotating rod is rotatably mounted on the support plate. The support plate is provided with a lifting and connecting mechanism connected to the rotating rod. A vision sensor is connected to the lifting and connecting mechanism, and the lifting and connecting mechanism can adjust the working state of the vision sensor.

[0012] A follow-up rotation mechanism is mounted on the support plate and connected to the lifting and connecting mechanism. The support plate is also provided with a trigger positioning mechanism connected to the rotating rod. The follow-up rotation mechanism can operate when the lifting and connecting mechanism moves, and cooperate with the trigger positioning mechanism to control the rotating rod to perform rotation.

[0013] As a further aspect of the present invention: the lifting and plugging mechanism includes a second cylinder connected to the support plate and symmetrically distributed thereon, and a push plate is connected to the telescopic end of the second cylinder;

[0014] It also includes a sliding assembly and a disconnection assembly disposed on the push plate and connected to the rotating rod.

[0015] As a further embodiment of the present invention: the sliding assembly includes a movable sleeve slidably mounted on the rotating rod and connected to the push plate, and a connecting disc is rotatably mounted on the movable sleeve.

[0016] As a further embodiment of the present invention: the disconnection assembly includes a protective disc installed at the end of the rotating rod, a plug-in contact head slidably mounted on the protective disc and connected to the connecting disc, the plug-in contact head being connected to the vision sensor, and a connecting contact head cooperating with the plug-in contact head being connected to the support plate.

[0017] As a further embodiment of the present invention: the follower rotation mechanism includes a second guide post connected to the support plate, the second guide post having an annular slide rail that slides axially, and the annular slide rail being rotatably connected to the connecting disc.

[0018] As a further embodiment of the present invention: the follower rotation mechanism further includes a plurality of guide grooves formed on the outer circumference of the protective disc and distributed equidistantly in a circular pattern, a plurality of side plates distributed equidistantly in a circular pattern are connected to the annular slide rail, and a limiting post is installed on the side plate to slide and engage with the guide groove.

[0019] As a further embodiment of the present invention: the triggering positioning mechanism includes a corrugated groove formed on the outer circumference of the rotating rod, a sliding sleeve is slidably mounted on the rotating rod, and a limiting block is installed on the inner wall of the sliding sleeve to slide and engage with the corrugated groove.

[0020] As a further embodiment of the present invention: the triggering positioning mechanism further includes a first guide post connected to the support plate, the first guide post having a movable plate slidably mounted on it, the movable plate being connected to the sliding sleeve, and a spring being sleeved on the rotating rod, the two ends of the spring abutting against the movable plate and the support plate respectively.

[0021] A visual fusion-based intelligent sensing testing method for the uniformity of solid waste and solid soil components includes the following steps:

[0022] Step 1: Control the probe vehicle to move to the test location;

[0023] Step 2: Control the operation of the corresponding vision sensor through the lifting and plugging mechanism, and conduct visual sensing tests on the soil sample;

[0024] Step 3: When it is necessary to replace different vision sensors, the lifting and plugging mechanism controls the vision sensor to be powered off and drives the follow-up rotating mechanism to move, so that the rotating rod rotates.

[0025] Step 4: After the follow-up rotation mechanism, in conjunction with the trigger positioning mechanism, controls the rotating rod to rotate to the corresponding angle, the lifting and plugging mechanism controls the required vision sensor to be powered on and put into operation.

[0026] Compared with the prior art, the beneficial effects of the present invention are:

[0027] This invention integrates visual sensors with different spectral response types or imaging modes into the same device by setting a rotatable rotating rod and multiple visual sensors mounted on the rotating rod. During detection, multi-dimensional image information is acquired by switching between different time-division multiplexing methods, which helps to make up for the lack of information of a single sensor when characterizing complex solid waste components.

[0028] When switching vision sensors, the second cylinder drives the connecting plate to separate the plug contact head from the connecting contact head, so that the currently working vision sensor is completely powered off. Only then does the follow-up rotation mechanism start to drive the rotating rod to rotate. In this way, the vision sensor can complete the position change in a power-off state, ensuring the safe use of the sensor.

[0029] When the limiting block is at the crest of the wave, the rotating rod is locked, and the corresponding vision sensor is exactly in the working position directly opposite the connecting contact head. The limiting post moves along the spiral groove to drive the protective disc to rotate, and the limiting block slides from the crest to the trough, storing energy in the spring. When the limiting post enters the second vertical groove, the spring is released and pushes the limiting block to move to the next crest, driving the rotating rod to rotate precisely 90°, completing the position switching of the adjacent vision sensor, and ensuring the alignment accuracy between the sensor and the connecting contact head after each switching. Attached Figure Description

[0030] Figure 1This is a schematic diagram of one embodiment of an intelligent sensing and testing device for the uniformity of solid waste and solid soil components based on visual fusion.

[0031] Figure 2 This is a structural schematic diagram from another angle in one embodiment of the intelligent sensing and testing device for the uniformity of solid waste and solid soil components based on visual fusion.

[0032] Figure 3 This is a frontal structural schematic diagram of one embodiment of an intelligent sensing and testing device for the uniformity of solid waste and solid soil components based on visual fusion.

[0033] Figure 4 This is a schematic diagram illustrating the connection relationship between the lifting and insertion mechanism and the partial follow-up rotation mechanism in one embodiment of a visual fusion-based intelligent sensing and testing device for the uniformity of solid waste and solid soil components.

[0034] Figure 5 for Figure 4 A magnified schematic diagram of the structure at point A in the middle.

[0035] Figure 6 for Figure 4 Another structural diagram from a different angle.

[0036] Figure 7 This is a schematic diagram of the trigger positioning mechanism and part of the follow-up rotation mechanism in one embodiment of the intelligent sensing and testing device for the uniformity of solid waste and solid soil components based on visual fusion.

[0037] Figure 8 This is an exploded structural diagram of the trigger positioning mechanism and part of the lifting and plugging mechanism in one embodiment of a visual fusion-based intelligent sensing and testing device for the uniformity of solid waste and solid soil components.

[0038] Figure 9 This is a schematic diagram of the structure of a portion of the lifting and insertion mechanism and a portion of the follow-up rotation mechanism in one embodiment of a visual fusion-based intelligent sensing and testing device for the uniformity of solid waste and solid soil components.

[0039] Figure 10 This is an exploded structural diagram of part of the lifting and insertion mechanism and part of the follow-up rotation mechanism in one embodiment of the intelligent sensing and testing device for the uniformity of solid waste and solid soil components based on visual fusion.

[0040] In the diagram: 1. Detector vehicle; 2. First cylinder; 3. Support plate; 4. Rotating rod; 401. Corrugated groove; 5. Protective disc; 501. First vertical groove; 502. Spiral groove; 503. Second vertical groove; 6. Connecting contact head; 7. Inserting contact head; 8. Vision sensor; 9. Sliding sleeve; 901. Limiting block; 10. First guide post; 11. Movable plate; 12. Spring; 13. Second cylinder; 14. Push plate; 15. Movable sleeve; 16. Connecting disc; 17. Circular slide rail; 1701. Side plate; 18. Limiting post; 19. Second guide post. Detailed Implementation

[0041] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] Furthermore, elements in this invention are referred to as being "fixed to" or "set on" another element, which may be directly on the other element or may also include an intervening element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or may also include an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementations.

[0043] Please see Figures 1-10 In this embodiment of the invention, a visual fusion-based intelligent sensing and testing device for the uniformity of solid waste and solid soil components includes:

[0044] The probe vehicle 1, and the first cylinder 2 installed on the upper side of the probe vehicle 1 and symmetrically distributed, the telescopic end of the first cylinder 2 is connected to the support plate 3;

[0045] Also includes:

[0046] A rotating rod 4 is rotatably mounted on the support plate 3. The support plate 3 is provided with a lifting and plugging mechanism connected to the rotating rod 4. A vision sensor 8 is connected to the lifting and plugging mechanism. The lifting and plugging mechanism can adjust the working state of the vision sensor 8.

[0047] A follow-up rotation mechanism is provided on the support plate 3 and connected to the lifting and connecting mechanism. The support plate 3 is also provided with a trigger positioning mechanism connected to the rotating rod 4. The follow-up rotation mechanism can operate when the lifting and connecting mechanism moves, and cooperate with the trigger positioning mechanism to control the rotating rod 4 to perform rotation.

[0048] Specifically, when conducting sensing tests on the uniformity of solid waste and solid soil components, multiple vision sensors 8 are typically required to perform tests sequentially to ensure the accuracy of the test results. Therefore, when the detection vehicle 1 moves to the test area, the lifting and connecting mechanism controls one vision sensor 8 to be in the test position and operational state for testing that area. When switching vision sensors 8, the lifting and connecting mechanism first de-energizes the vision sensor 8. Then, the lifting and connecting mechanism drives the follow-up rotating mechanism. With the cooperation of the follow-up rotating mechanism and the trigger positioning mechanism, the rotating rod 4 rotates at a specific angle, guiding the next vision sensor 8 to the test position. At this point, the lifting and connecting mechanism operates again, controlling the next vision sensor 8 to be energized and operational. In this way, when switching vision sensors 8, it is ensured that the vision sensor 8 is in a safe de-energized state and that subsequent position switching is completed, thus guaranteeing the accuracy of the sensing test results.

[0049] Please see Figure 3 , Figure 4 , Figures 6-10 The lifting and connecting mechanism includes a second cylinder 13 connected to the support plate 3 and symmetrically distributed, with a push plate 14 connected to the telescopic end of the second cylinder 13; it also includes a sliding assembly and a disconnection assembly disposed on the push plate 14 and connected to the rotating rod 4. The sliding assembly includes a movable sleeve 15 slidably mounted on the rotating rod 4 and connected to the push plate 14, with a connecting plate 16 rotatably mounted on the movable sleeve 15. The disconnection assembly includes a protective plate 5 mounted on the end of the rotating rod 4, with a plug contact 7 slidably mounted on the protective plate 5 and connected to the connecting plate 16. The plug contact 7 is connected to the vision sensor 8, and a connecting contact 6 that mates with the plug contact 7 is connected to the support plate 3.

[0050] In detail, the detection vehicle 1 is equipped with a control module, which integrates a power supply, a switching unit, a signal processing unit, etc. It can provide the power required by the vision sensor 8 according to the connection and disconnection status of the connecting contact 6 and the plug contact 7, and receive and analyze the detection content of the vision sensor 8, thereby realizing the sensing test of the soil sample.

[0051] Please see Figure 4The position of the connecting contact 6 is the test station. In the initial state, under the action of the second cylinder 13, the push plate 14 is located at the end of its stroke near the support plate 3. The push plate 14 controls the connecting plate 16 to be located at the end of its stroke away from the protective plate 5 through the movable sleeve 15, so that one of the plug-in contact 7 located at the test station is in a plug-in engagement state with the connecting contact 6, so that the vision sensor 8 connected to the plug-in contact 7 is in a powered state. At this time, the first cylinder 2 controls the support plate 3 to be located at the end of its stroke away from the ground, so that the vision sensor 8 is in a retracted state.

[0052] When testing is required, the probe vehicle 1 can be controlled to move to the testing area. Then, the first cylinder 2 works and adjusts the distance between the support plate 3 and the ground according to the test spacing required by the vision sensor 8. After the adjustment is completed, the probe vehicle 1 can move along the testing area and perform sensing tests on the soil sample under the action of the vision sensor 8.

[0053] Due to the complex composition of the soil sample, different vision sensors 8 are usually required for sensing tests. When a vision sensor 8 needs to be replaced, the second cylinder 13 operates, controlling the push plate 14 to move away from the support plate 3. This causes the movable sleeve 15 to slide along the axis of the rotating rod 4, causing the connecting plate 16 to move synchronously. The connecting plate 16 then drives multiple insertion contacts 7 to move away from the connecting contacts 6, separating the insertion contacts 7 at the test position from the connecting contacts 6. With the cooperation of the follow-up rotation mechanism and the trigger positioning mechanism, the rotating rod 4 is controlled to rotate to a specific position. The rotating rod 4 then drives the protective plate 5 to rotate, causing the insertion contacts 7, vision sensors 8, and connecting plate 16 to rotate synchronously until the next vision sensor 8 rotates to the test position. At this point, the second cylinder 13 controls the push plate 14 to reset, ensuring the next insertion contact 7 and connecting contact 6 are fully inserted. This ensures that the position of the vision sensor 8 can be switched even when the vision sensor 8 is in a power-off protection state.

[0054] Please see Figures 3-10 The follower rotation mechanism includes a second guide post 19 connected to the support plate 3. The second guide post 19 has an axially sliding annular slide rail 17. The annular slide rail 17 is rotatably connected to the connecting plate 16. The follower rotation mechanism also includes a plurality of guide grooves formed on the outer circumference of the protective plate 5 and distributed equidistantly around the circumference. A plurality of side plates 1701 distributed equidistantly around the circumference are connected to the annular slide rail 17. A limiting post 18 is installed on the side plate 1701 and slidably engages with the guide groove.

[0055] Please see Figures 6-9The trigger positioning mechanism includes a corrugated groove 401 formed on the outer circumference of the rotating rod 4. A sliding sleeve 9 slides axially on the rotating rod 4. A limiting block 901 that slides and engages with the corrugated groove 401 is installed on the inner wall of the sliding sleeve 9. The trigger positioning mechanism also includes a first guide post 10 connected to the support plate 3. A movable plate 11 slides axially on the first guide post 10. The movable plate 11 is connected to the sliding sleeve 9. A spring 12 is sleeved on the rotating rod 4. The two ends of the spring 12 abut against the movable plate 11 and the support plate 3, respectively.

[0056] Furthermore, the second guide post 19 is distributed parallel to the rotating rod 4. Under the guidance of the second guide post 19, the annular slide rail 17 can only slide along the axial direction of the second guide post 19.

[0057] Please see Figure 9 The guide groove is provided in four sets, and each set of guide grooves can be divided into three sections, namely the first vertical groove 501, the spiral groove 502, and the second vertical groove 503. The ends of the first vertical groove 501 and the second vertical groove 503 both penetrate one end face of the protective disk 5. The corrugated groove 401 is composed of four sets of mutually symmetrical inclined grooves. Each inclined groove forms an angle of 45° in the circumferential direction of the rotating rod 4, while the spiral groove 502 forms an angle of just over 45° in the circumferential direction of the protective disk 5. In this state, the four crest positions of the corrugated groove 401 correspond to the four first vertical grooves 501 on the vertical reference plane.

[0058] In the initial state, one of the vision sensors 8 is located at the test station, and the corresponding insertion contact 7 and connecting contact 6 are in the insertion state. In this case, the connecting plate 16 is located at the end of the stroke on the side closer to the support plate 3. The connecting plate 16 will control the distance between the side plate 1701 and the support plate 3 to be minimized through the annular slide rail 17, so that the limiting post 18 is separated from the guide groove and is located above the first vertical groove 501. In this state, the sliding sleeve 9 is located at the end of the stroke on the side away from the support plate 3, so that the limiting block 901 is located at one of the crests of the corrugated groove 401. Under the action of the sliding sleeve 9, the distance between the movable plate 11 and the support plate 3 is maximized, and the extension of the spring 12 in the natural state is greater than the maximum distance between the movable plate 11 and the support plate 3. Therefore, the spring 12 is in the pre-compression state and always provides the movable plate 11 with a thrust in the direction away from the support plate 3.

[0059] After the vision sensor 8 completes the corresponding sensing test, it needs to be replaced with the next vision sensor 8 for subsequent testing. To this end, under the action of the second cylinder 13, the connecting plate 16 is first controlled by the push plate 14 and the movable sleeve 15 to move away from the support plate 3, thereby causing the insertion contact 7 to separate from the connecting contact 6. The connecting plate 16 will also drive the annular slide rail 17 to slide along the second guide post 19 axially, thereby causing the limiting post 18 to move towards the first vertical groove 501 through the side plate 1701.

[0060] When the insertion contact 7 and the connecting contact 6 are completely separated, it indicates that the vision sensor 8 at the test station is in a power-off state. At this time, the limiting post 18 just moves into the first vertical groove 501, and the connecting plate 16 continues to move away from the support plate 3, so that the limiting post 18 slides along the first vertical groove 501. When the limiting post 18 is separated from the first vertical groove 501, it will slide along the spiral groove 502. With the cooperation of the limiting post 18 and the spiral groove 502, the protective plate 5 rotates, thereby driving the rotating rod 4 to rotate synchronously. The rotating rod 4 will drive the corrugated groove 401 to move. Under the action of the corrugated groove 401, the limiting block 901 moves from the crest position of the corrugated groove 401 to the adjacent trough position, so as to drive the movable plate 11 to slide along the first guide post 10 axially and compress the spring 12.

[0061] The protective plate 5 also drives multiple plug contacts 7 and vision sensors 8 to move synchronously around the rotating rod 4, thereby driving the connecting plate 16 to rotate. When the limiting block 901 moves to one of the troughs of the corrugated groove 401, the compression of the spring 12 reaches its maximum, and the limiting post 18 is about to move to the connection position of the spiral groove 502 and the second vertical groove 503. As the limiting post 18 continues to move, when the limiting post 18 moves to the connection position of the spiral groove 502 and the second vertical groove 503, the limiting block 901 crosses the trough position of the corrugated groove 401, causing the spring 12 to be slightly released. Under the pushing action of the spring 12, through the cooperation of the limiting block 901 and the corrugated groove 401, the rotating rod 4 has a tendency to continue to rotate.

[0062] At this time, the second cylinder 13 controls the push plate 14 to move toward the initial position, causing the limiting post 18 to slide along the second vertical groove 503 and move away from the spiral groove 502. With the cooperation of the limiting post 18 and the second vertical groove 503, the angle of the protective disc 5 is locked. When the limiting post 18 disengages from the second vertical groove 503, the angle of the protective disc 5 is no longer locked, that is, the rotating rod 4 can rotate freely. At this time, the spring 12 is released elastically, pushing the movable plate 11 to move away from the support plate 3, causing the sliding sleeve 9 to move along the rotating rod. 4. The axial sliding causes the limiting block 901 to move toward the other peak of the corrugated groove 401. Under the action of the limiting block 901 and the corrugated groove 401, the rotating rod 4 continues to rotate until the rotating rod 4 rotates 90°. The limiting block 901 moves again to the other peak position of the corrugated groove 401. In this state, the adjacent insertion contact 7 moves to the test station. With the cooperation of the limiting block 901 and the corrugated groove 401, the angle of the rotating rod 4 is locked, so that the insertion contact 7 is positioned and in the position of cooperating with the connecting contact 6.

[0063] The second cylinder 13 continues to move and controls the insertion contact 7 and the connecting contact 6 at the test station to complete the insertion action. In this way, the visual sensor 8 at the adjacent position is in a powered state and can be tested again. By repeating the above steps, the corresponding sensing test can be completed through multiple visual sensors 8 to ensure the accuracy of the test results.

[0064] A visual fusion-based intelligent sensing testing method for the uniformity of solid waste and soil components includes the following steps:

[0065] Step 1: Control the probe vehicle 1 to move to the test location;

[0066] Step 2: Control the operation of the corresponding vision sensor 8 through the lifting and plugging mechanism, and perform visual sensing tests on the soil sample;

[0067] Step 3: When it is necessary to replace different vision sensors 8, the lifting and plugging mechanism controls the vision sensor 8 to be powered off and drives the follow-up rotating mechanism to move, so that the rotating rod 4 rotates.

[0068] Step 4: After the follow-up rotation mechanism, in conjunction with the trigger positioning mechanism, controls the rotating rod 4 to rotate to the corresponding angle, the lifting and plugging mechanism controls the required vision sensor 8 to be powered on and put into operation.

[0069] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0070] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A visual fusion-based intelligent sensing and testing device for the uniformity of solid waste and soil components, comprising: The probe vehicle, and a first cylinder mounted on the upper side of the probe vehicle and symmetrically distributed, with a support plate connected to the telescopic end of the first cylinder; Its characteristic is that it further includes: A rotating rod is rotatably mounted on the support plate. The support plate is provided with a lifting and connecting mechanism connected to the rotating rod. A vision sensor is connected to the lifting and connecting mechanism, and the lifting and connecting mechanism can adjust the working state of the vision sensor. A follow-up rotation mechanism is mounted on the support plate and connected to the lifting and connecting mechanism. The support plate is also provided with a trigger positioning mechanism connected to the rotating rod. The follow-up rotation mechanism can operate when the lifting and connecting mechanism moves, and cooperate with the trigger positioning mechanism to control the rotating rod to perform rotation.

2. The intelligent sensing and testing device for the uniformity of solid waste and solid soil components based on visual fusion according to claim 1, characterized in that, The lifting and plugging mechanism includes a second cylinder connected to the support plate and symmetrically distributed, and a push plate is connected to the telescopic end of the second cylinder; It also includes a sliding assembly and a disconnection assembly disposed on the push plate and connected to the rotating rod.

3. The intelligent sensing and testing device for the uniformity of solid waste and solid soil components based on visual fusion according to claim 2, characterized in that, The sliding assembly includes a movable sleeve that is slidably mounted on the rotating rod and connected to the push plate, and a connecting plate is rotatably mounted on the movable sleeve.

4. The intelligent sensing and testing device for the uniformity of solid waste and solid soil components based on visual fusion according to claim 3, characterized in that, The disconnection assembly includes a protective disc installed at the end of the rotating rod, a plug-in contact head slidably mounted on the protective disc and connected to the connecting disc, the plug-in contact head being connected to the vision sensor, and a connecting contact head cooperating with the plug-in contact head being connected to the support plate.

5. The intelligent sensing and testing device for the uniformity of solid waste and solid soil components based on visual fusion according to claim 4, characterized in that, The follower rotation mechanism includes a second guide post connected to the support plate, and the second guide post has an annular slide rail that slides axially, and the annular slide rail is rotatably connected to the connecting disc.

6. The intelligent sensing and testing device for the uniformity of solid waste and solid soil components based on visual fusion according to claim 5, characterized in that, The follow-up rotation mechanism also includes a plurality of guide grooves formed on the outer circumference of the protective disc and distributed equidistantly around the circumference. A plurality of side plates distributed equidistantly around the circumference are connected to the annular slide rail, and a limiting post is installed on the side plate to slide and engage with the guide groove.

7. The intelligent sensing and testing device for the uniformity of solid waste and solid soil components based on visual fusion according to claim 1, characterized in that, The triggering and positioning mechanism includes a corrugated groove formed on the outer circumference of the rotating rod, a sliding sleeve that slides axially on the rotating rod, and a limiting block that slides and engages with the corrugated groove is installed on the inner wall of the sliding sleeve.

8. The intelligent sensing and testing device for the uniformity of solid waste and solid soil components based on visual fusion according to claim 7, characterized in that, The triggering and positioning mechanism further includes a first guide post connected to the support plate, a movable plate that slides axially on the first guide post, the movable plate being connected to the sliding sleeve, and a spring being sleeved on the rotating rod, with both ends of the spring abutting against the movable plate and the support plate respectively.

9. A visual fusion-based intelligent sensing test method for the uniformity of solid waste and solid soil components, employing the visual fusion-based intelligent sensing test device for the uniformity of solid waste and solid soil components as described in any one of claims 1-8, characterized in that, Includes the following steps: Step 1: Control the probe vehicle to move to the test location; Step 2: Control the operation of the corresponding vision sensor through the lifting and plugging mechanism, and conduct visual sensing tests on the soil sample; Step 3: When it is necessary to replace different vision sensors, the lifting and plugging mechanism controls the vision sensor to be powered off and drives the follow-up rotating mechanism to move, so that the rotating rod rotates. Step 4: After the follow-up rotation mechanism, in conjunction with the trigger positioning mechanism, controls the rotating rod to rotate to the corresponding angle, the lifting and plugging mechanism controls the required vision sensor to be powered on and put into operation.

Images