Intelligent inspection robot for glass greenhouse

Abstract

The utility model discloses an intelligent inspection robot for a glass greenhouse, and relates to the technical field of greenhouse inspection, the intelligent inspection robot for the glass greenhouse comprises a visible light camera shooting assembly, the visible light camera shooting assembly comprises a shell, one end of the shell is provided with a groove, a lens main body is assembled in the middle of the groove, and the lens main body is provided with a lens. The lens main body is used for visible light imaging; the glass partition plate is located at one end, close to the lens main body, of the shell, and the glass partition plate is used for isolating the lens main body from the external environment; the heater comprises a ceramic ring sintered on the outer edge of the glass partition plate, a containing groove formed in the side, close to the lens body, of the ceramic ring, and a resistance wire located in the containing groove; the heater is directly arranged on the outer edge of the glass partition plate, so that the glass partition plate can be quickly and uniformly heated, the temperature of the glass partition plate is increased, fog is prevented from being generated, and the shooting definition of the equipment is ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of greenhouse inspection, in particular to an inspection robot for an intelligent glass greenhouse. Background Art

[0002] With the development of greenhouse cultivation technology, the greenhouse has changed from the original material shed made of bamboo poles, cement poles, light steel pipes or pipes as the skeleton, made into columns, pull rods, arch rods and pressure rods, covered with plastic film to become an arched circular material shed, to a glass greenhouse.

[0003] Glass greenhouses have better sealing properties. In order to better monitor the internal environment of the greenhouse, inspection robots are often used for inspection of the greenhouse.

[0004] The existing greenhouse inspection system based on ROS robots is generally equipped with corresponding visible light cameras when in use. Due to the high temperature and humidity in the greenhouse, anti-fog cameras are generally used for monitoring.

[0005] Existing anti-fog cameras generally use a heating element assembled near the lens to heat the lens. This type of heater is generally a resistance wire heater. In order to prevent the resistance wire heater from blocking the lens from shooting, it is generally assembled on the outside of the lens. However, it is difficult to heat the lens quickly and evenly, and the heat generated by it will also affect the operation of other electronic components in the camera. Utility Model Content

[0006] The utility model provides an intelligent inspection robot for a glass greenhouse, which has the advantages of fast and uniform heating and no influence on the work of other parts, so as to solve the problems in the prior art.

[0007] In order to achieve the purpose of heating the lens quickly and evenly without affecting the operation of other components, the utility model provides the following technical solutions: an intelligent inspection robot for glass greenhouses, including a visible light camera assembly, the visible light camera assembly including: a shell, one end of the shell is provided with a groove, a lens body is assembled in the middle of the groove, and the lens body is used for visible light imaging; a glass partition, the glass partition is located at one end of the shell close to the lens body, and the glass partition is used to isolate the lens body from the external environment; a heater, the heater includes a ceramic ring sintered on the outer edge of the glass partition, a receiving groove opened on the side of the ceramic ring close to the lens body, and a resistance wire located in the receiving groove, the resistance wire generates heat when energized, and the ceramic ring is used to quickly conduct the heat of the resistance wire to the glass partition to increase the temperature of the glass partition.

[0008] As a preferred technical solution of the utility model, one end of the resistance wire is provided with an electrode; the visible light camera assembly also includes a mounting base, and a contact electrode is installed on the side of the mounting base close to the glass partition, and the contact electrode is in contact with the electrode.

[0009] As a preferred technical solution of the utility model, fill-in lights are evenly arranged on one side of the housing close to the glass partition, and the fill-in lights are used to fill in light for the lens body.

[0010] As a preferred technical solution of the utility model, the visible light camera assembly also includes a cartridge mounted on one end of the outer shell close to the glass partition, and the outer edge of the ceramic ring is fixed to the inner surface of the cartridge by sealant; a sealing ring is provided between the outer surface of the cartridge and the inner wall of the groove.

[0011] As a preferred technical solution of the utility model, a circuit board is provided in the middle of the shell, and the fill light, contact electrode and lens body are electrically connected to the circuit board; a battery is installed in the end of the shell away from the glass partition, and a cover is embedded in the end of the shell close to the battery.

[0012] As a preferred technical solution of the utility model, the intelligent glass greenhouse inspection robot also includes: a body, a chassis is provided on the upper surface of the body, and the outer shell is installed above the chassis; a laser detection sensor, the laser detection sensor is assembled on the side of the chassis close to the driving direction of the robot to detect the orientation of the inspection robot; wheels, the wheels are provided with four wheels, and the four wheels are distributed at the lower corners of the body.

[0013] As a preferred technical solution of the utility model, it also includes: an indoor environment sensor group in the greenhouse, which is arranged on one side of the chassis, and the chassis includes an ambient temperature detection sensor, an ambient humidity detection sensor and a light intensity detection sensor; a soil detection sensor assembly, which includes a soil temperature detection sensor, a soil humidity detection sensor and a soil PH detection sensor.

[0014] As a preferred technical solution of the utility model, a bearing seat is installed on one side of the vehicle body, a rotating arm is rotatably installed on the bearing seat, a cylinder is fixedly provided at the other end of the rotating arm, a bearing plate is installed at the lower end of the piston rod of the cylinder, and the soil detection sensor assembly is installed on the bearing plate; a motor for driving the rotating arm to rotate is installed on the bearing seat.

[0015] Compared with the prior art, the utility model provides an intelligent inspection robot for glass greenhouses, which has the following beneficial effects:

[0016] 1. The inspection robot for the intelligent glass greenhouse has a heater directly arranged on the outer edge of the glass partition, so that it can heat the glass partition quickly and evenly, increase its temperature, avoid fogging, ensure the shooting clarity of the device, and the heater will not affect the other electronic components in the shell when heating.

[0017] 2. The inspection robot for the intelligent glass greenhouse can drive the rotating arm to rotate when the motor rotates, so that the rotating arm drives the cylinder and the soil detection sensor assembly to extend. At this time, the cylinder is extended to insert the soil detection sensor assembly into the soil to detect the internal situation of the soil. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is an overall diagram of the utility model;

[0019] Figure 2 This is an exploded view of the visible light camera assembly of the utility model;

[0020] Figure 3 This is an installation position diagram of the installation base of the utility model;

[0021] Figure 4 It is a structural schematic diagram of the heater of the utility model;

[0022] Figure 5 This is a schematic diagram of the structure of the resistance wire of the utility model;

[0023] Figure 6 This is a diagram showing the extension of the soil detection sensor assembly of the utility model.

[0024] In the figure: 1. wheel; 2. vehicle body; 3. laser detection sensor; 5. visible light camera assembly; 51. glass partition; 52. heater; 521. ceramic ring; 522. receiving groove; 523. electrode; 524. resistance wire; 53. cartridge; 54. sealing ring; 55. mounting base; 551. fill light; 552. contact electrode; 56. housing; 57. lens body; 58. circuit board; 59. battery; 561. cover; 6. motor; 7. bearing seat; 8. rotating arm; 9. soil detection sensor assembly; 10. greenhouse environment sensor group; 11. cylinder; 12. chassis. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0026] See also Figure 1 - Figure 3 As shown, the utility model discloses an intelligent inspection robot for glass greenhouses, including a visible light camera assembly 5 for photographing the inside of the glass greenhouse, wherein the visible light camera assembly 5 includes a shell 56, one end of the shell 56 is provided with a groove, a lens body 57 is assembled in the middle of the groove, and the lens body 57 is used for visible light imaging; in order to isolate the lens body 57 from the humid and high temperature environment in the greenhouse, a glass partition 51 is also provided, the glass partition 51 is located at one end of the shell 56 close to the lens body 57, and the glass partition 51 is used to isolate the lens body 57 from the external environment, so as to avoid unclear shooting caused by condensation of water droplets on the lens body 57.

[0027] Combination Figure 1 - Figure 5 As shown, in order to prevent the glass partition 51 from generating fog when the low temperature meets the high temperature and high humidity air in the greenhouse, a heater 52 is provided for the glass partition 51. The heater 52 includes a ceramic ring 521 sintered on the outer edge of the glass partition 51, a receiving groove 522 provided on the side of the ceramic ring 521 close to the lens body 57, and a resistance wire 524 located in the receiving groove 522. When the resistance wire 524 is energized, it can generate heat, and the ceramic ring 521 can quickly and evenly transfer the heat on the resistance wire 524 to the glass partition 51, thereby increasing the temperature of the glass partition 51 to prevent its own low temperature from contacting the humid and high temperature air in the greenhouse to cause surface fog, thereby ensuring the clarity of the shooting.

[0028] In addition, since the ceramic ring 521 is directly sintered on the outer edge of the glass partition 51, it is in direct contact with the glass partition 51 and has nearly 360° contact, so the heat conduction is fast and the heat loss is small. In addition, there is a certain distance between it and the other electronic components in the outer shell 56, so the amount of heat generated by it that is conducted to the other electronic components can be reduced.

[0029] Therefore, the ceramic ring 521 in the intelligent glass greenhouse inspection robot provided by the embodiment of the utility model can quickly and evenly heat the glass partition 51 to increase its temperature, avoid fogging, ensure the shooting clarity of the device, and the heater 52 will not affect the other electronic components in the outer shell 56 when heating.

[0030] Secondly, it should be noted that a temperature sensor should be added to the ceramic ring 521 to detect its temperature when it is heated. The heating temperature can be equal to or slightly higher than the air temperature in the greenhouse. This can prevent the glass partition 51 from generating fog on the one hand, and on the other hand, it can heat the water droplets condensed on the glass partition 51 due to the high air humidity to evaporate them and avoid the water droplets accumulating on the glass partition 51.

[0031] like Figure 2 , Figure 4 and Figure 5 As shown, in order to heat the resistance wire 524, an electrode 523 is provided at one end of the resistance wire 524, and the visible light camera assembly 5 also includes a mounting base 55, and a contact electrode 552 is installed on the side of the mounting base 55 close to the glass partition 51. The contact electrode 552 is in contact with the electrode 523, so that the resistance wire 524 can be conductive, and then the resistance wire 524 can be electrically heated.

[0032] Combination Figure 2 and Figure 3 As shown, in order to monitor the plants in the greenhouse at night, fill lights 551 are evenly arranged on one side of the housing 56 close to the glass partition 51 , and the fill lights 551 are used to fill light for the lens body 57 .

[0033] Combination Figure 2 In order to facilitate the assembly of the ceramic ring 521, the above-mentioned visible light camera assembly 5 also includes a cartridge 53 mounted on one end of the outer shell 56 close to the glass partition 51. The outer edge of the ceramic ring 521 is fixed to the inner surface of the cartridge 53 by a sealant, and a sealing ring 54 is provided between the outer surface of the cartridge 53 and the inner wall of the groove. This not only facilitates the assembly of the ceramic ring 521, but also prevents the external humid air from entering the outer shell 56 through the gap between the cartridge 53 and the inner wall of the groove, causing fog on the lens body 57.

[0034] Combination Figure 2 A circuit board 58 is provided in the middle of the shell 56, and the fill light 551, the contact electrode 552 and the lens body 57 are all electrically connected to the circuit board 58. A battery 59 is installed in the end of the shell 56 away from the glass partition 51, and a cover 561 is embedded in the end of the shell 56 close to the battery 59. The battery 59 is used to power all electronic components in the visible light camera assembly 5.

[0035] The robot can also be equipped with a corresponding infrared thermal imager to perform infrared thermal imaging of the plants in the greenhouse.

[0036] like Figure 1 The intelligent glass greenhouse inspection robot provided by the embodiment of the utility model also includes a body 2, a chassis 12 is provided on the upper surface of the body 2, and a shell 56 is installed above the chassis 12; a laser detection sensor 3, the laser detection sensor 3 is assembled on the side of the chassis 12 close to the driving direction of the robot, and a wheel 1, a total of four wheels 1 are provided, and the four wheels 1 are distributed at the lower corners of the body 2.

[0037] Therefore, the position of the inspection robot can be detected by the laser detection sensor 3, so that the robot can adjust its own position through the wheels 1 to reach the desired position.

[0038] like Figure 1 The present invention also includes a greenhouse environment sensor group 10, which is arranged on one side of a chassis 12. The chassis 12 includes an environment temperature detection sensor, an environment humidity detection sensor, and a light intensity detection sensor. The three sensors detect the temperature, humidity, and light intensity in the greenhouse in turn.

[0039] In order to detect the internal environment of the soil, a soil detection sensor assembly 9 is also provided. The soil detection sensor assembly 9 includes a soil temperature detection sensor, a soil moisture detection sensor and a soil pH detection sensor. The three sensors detect the temperature, humidity and pH of the soil respectively.

[0040] Since the soil detection sensor assembly 9 needs to enter the soil for detection, a bearing seat 7 is installed on one side of the vehicle body 2, and a rotating arm 8 is rotatably installed on the bearing seat 7. A cylinder 11 is fixedly provided at the other end of the rotating arm 8. A bearing plate is installed at the lower end of the piston rod of the cylinder 11, and the soil detection sensor assembly 9 is installed on the bearing plate; a motor 6 for driving the rotating arm 8 to rotate is installed on the bearing seat 7.

[0041] In this embodiment, when the motor 6 rotates, it can drive the rotating arm 8 to rotate, so that the rotating arm 8 drives the cylinder 11 and the soil detection sensor assembly 9 to rotate. Figure 1 The status shown reaches Figure 6 The state shown is in the extended state, at which time the cylinder 11 is extended to insert the soil detection sensor assembly 9 into the soil to detect the internal conditions of the soil.

[0042] The working principle and use process of the utility model are as follows: when in use, the wheel 1 can drive the entire robot to walk, the laser detection sensor 3 is used to detect the orientation of the inspection robot, so that the robot can adjust its own position through the wheel 1 to reach the desired position, the visible light camera component 5 can shoot the situation in the greenhouse, and the ceramic ring 521 can quickly and evenly heat the glass partition 51 to increase its temperature and avoid fogging, thereby ensuring the shooting clarity of the device, and the heater 52 will not affect the other electronic components in the outer shell 56 when heating.

[0043] When the soil condition needs to be detected, the motor 6 rotates, which can drive the rotating arm 8 to rotate, so that the rotating arm 8 drives the cylinder 11 and the soil detection sensor assembly 9 to rotate. Figure 1 The status shown reaches Figure 6The state shown is the extended state, at which the cylinder 11 is extended to insert the soil detection sensor assembly 9 into the soil to detect the internal conditions of the soil.

[0044] In summary, the intelligent glass greenhouse inspection robot has a heater 52 directly arranged on the outer edge of the glass partition 51, so that it can quickly and evenly heat the glass partition 51 to increase its temperature, avoid fogging, and ensure the shooting clarity of the device. When the heater 52 is heated, it will not affect the other electronic components in the housing 56; when the motor 6 rotates, it can drive the rotating arm 8 to rotate, so that the rotating arm 8 drives the cylinder 11 and the soil detection sensor assembly 9 from Figure 1 The status shown reaches Figure 6 The state shown is the extended state, at which the cylinder 11 is extended to insert the soil detection sensor assembly 9 into the soil to detect the internal conditions of the soil.

[0045] It should be noted that, in this article, terms such as "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of more restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0046] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent glass greenhouse inspection robot, characterized in that: The invention comprises a visible light camera assembly (5), wherein the visible light camera assembly (5) comprises: A housing (56), wherein one end of the housing (56) is provided with a groove, a lens body (57) is assembled in the middle of the groove, and the lens body (57) is used for visible light imaging; a glass partition (51), the glass partition (51) being located at one end of the housing (56) close to the lens body (57), and the glass partition (51) being used to isolate the lens body (57) from the external environment; A heater (52), the heater (52) comprising a ceramic ring (521) sintered on the outer edge of the glass partition (51), a receiving groove (522) provided on the side of the ceramic ring (521) close to the lens body (57), and a resistance wire (524) located in the receiving groove (522), the resistance wire (524) generating heat when powered on, and the ceramic ring (521) being used to quickly conduct the heat of the resistance wire (524) to the glass partition (51), so as to increase the temperature of the glass partition (51).

2. The intelligent glass greenhouse inspection robot according to claim 1, characterized in that: An electrode (523) is provided at one end of the resistance wire (524); The visible light camera assembly (5) further comprises a mounting base (55), and a contact electrode (552) is mounted on a side of the mounting base (55) close to the glass partition (51), and the contact electrode (552) is in contact with the electrode (523).

3. The intelligent glass greenhouse inspection robot according to claim 2, characterized in that: Fill-in lights (551) are evenly arranged on one side of the housing (56) close to the glass partition (51), and the fill-in lights (551) are used to fill in light for the lens body (57).

4. The intelligent glass greenhouse inspection robot according to claim 3, characterized in that: The visible light camera assembly (5) further comprises a cartridge (53) sleeved on one end of the housing (56) close to the glass partition (51), and the outer edge of the ceramic ring (521) is fixed to the inner surface of the cartridge (53) by means of a sealant; A sealing ring (54) is provided between the outer surface of the cartridge (53) and the inner wall of the groove.

5. The intelligent glass greenhouse inspection robot according to claim 4, characterized in that: A circuit board (58) is provided in the middle of the housing (56), and the fill light (551), the contact electrode (552) and the lens body (57) are all electrically connected to the circuit board (58); A storage battery (59) is installed in the end of the housing (56) away from the glass partition (51), and a sealing cover (561) is embedded in the end of the housing (56) close to the storage battery (59).

6. An intelligent glass greenhouse inspection robot according to any one of claims 1 to 5, characterized in that: The intelligent glass greenhouse inspection robot also includes: A vehicle body (2), wherein a chassis (12) is provided on the upper surface of the vehicle body (2), and the housing (56) is installed above the chassis (12); A laser detection sensor (3), the laser detection sensor (3) being assembled on a side of the chassis (12) close to the travel direction of the robot, so as to detect the position of the inspection robot; Wheels (1), wherein a total of four wheels (1) are provided, and the four wheels (1) are distributed at the lower corners of the vehicle body (2).

7. The intelligent glass greenhouse inspection robot according to claim 6, characterized in that: Also includes: A greenhouse environment sensor group (10), wherein the greenhouse environment sensor group (10) is arranged on one side of a chassis (12), and the chassis (12) comprises an environment temperature detection sensor, an environment humidity detection sensor, and a light intensity detection sensor; A soil detection sensor assembly (9), wherein the soil detection sensor assembly (9) comprises a soil temperature detection sensor, a soil moisture detection sensor and a soil pH detection sensor.

8. The intelligent glass greenhouse inspection robot according to claim 7, characterized in that: A bearing seat (7) is installed on one side of the vehicle body (2), a rotating arm (8) is rotatably installed on the bearing seat (7), a cylinder (11) is fixedly provided at the other end of the rotating arm (8), a bearing plate is installed at the lower end of the piston rod of the cylinder (11), and the soil detection sensor assembly (9) is installed on the bearing plate; A motor (6) for driving the rotating arm (8) to rotate is installed on the bearing seat (7).

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