Visual inspection mechanism of cleaning robot

Abstract

The utility model provides a visual inspection mechanism for a cleaning robot. The visual inspection mechanism comprises a mounting main body, a binocular stereo camera, an infrared thermal imaging camera and a laser radar, the binocular stereo camera is connected to the mounting main body and is used for identifying a three-dimensional structure of an object in a view field; the infrared thermal imaging camera is connected to the mounting main body and is used for sensing the surface temperature of an object in a field of view; the laser radar is connected to the mounting main body and is used for sensing the distance between an object in a field of view and the mounting main body; wherein the binocular stereo camera, the infrared thermal imaging camera and the laser radar are consistent in orientation and have the same view field range. The visual detection mechanism provided by the utility model can be carried on the photovoltaic panel cleaning robot and can detect the photovoltaic panel in a large range. The binocular stereo camera, the infrared thermal imaging camera and the laser radar are installed at adjacent positions and face the same direction, and detection view fields of the binocular stereo camera, the infrared thermal imaging camera and the laser radar are consistent. Therefore, the accuracy and reliability of the detection result are ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of cleaning robots, and more specifically to a visual detection mechanism of a cleaning robot. Background Art

[0002] In recent years, the new energy power industry has developed rapidly, and many photovoltaic power panels have been newly built across the country for power generation. Most of the existing photovoltaic power panels are cleaned manually, which is time-consuming and labor-intensive. At present, some people are studying the use of cleaning robots to clean photovoltaic power panels, but there is still a lack of relevant research on the visual detection mechanism used on cleaning robots. Utility Model Content

[0003] 1. Technical issues to be resolved

[0004] The technical problem to be solved by the utility model is how to realize the visual detection function of the cleaning robot.

[0005] (II) Technical solution

[0006] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0007] Provided is a visual detection mechanism for a cleaning robot, comprising a mounting body, a binocular stereo camera, an infrared thermal imaging camera and a laser radar; the binocular stereo camera is connected to the mounting body and is used to identify the three-dimensional structure of an object in a field of view; the infrared thermal imaging camera is connected to the mounting body and is used to sense the surface temperature of the object in the field of view; the laser radar is connected to the mounting body and is used to sense the distance between the object in the field of view and the mounting body; wherein the binocular stereo camera, the infrared thermal imaging camera and the laser radar are oriented in the same direction and have the same field of view.

[0008] Preferably, the binocular stereo camera includes two three-dimensional imaging cameras, and the two three-dimensional imaging cameras are arranged at an interval.

[0009] Preferably, the installation body includes a base and a mounting portion connected to the base, and the binocular stereo camera, the infrared thermal imaging camera and the laser radar are arranged on the mounting portion.

[0010] Preferably, the base is provided with a plurality of threaded holes.

[0011] Preferably, the material of the installation body is aluminum alloy.

[0012] (III) Beneficial effects

[0013] The above technical solution of the utility model has at least the following advantages:

[0014] The visual inspection mechanism provided by the present invention can be mounted on a photovoltaic panel cleaning robot and can perform large-scale inspection of photovoltaic panels. The binocular stereo camera, infrared thermal imaging camera and laser radar are all installed in adjacent positions and face the same direction, and the detection fields of the three are consistent. This ensures the accuracy and reliability of the detection results. Using the binocular stereo camera and thermal imaging camera, it is possible to detect whether the photovoltaic panels and related components (boosting devices, inverters, etc.) are rusted, heated, or in other abnormal conditions, so that the abnormal conditions can be dealt with in a timely manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0016] Figure 1 It is a structural schematic diagram of a visual detection mechanism of a cleaning robot provided by an embodiment of the utility model.

[0017] Figure 2 It is a side view of a visual detection mechanism of a cleaning robot provided in an embodiment of the utility model.

[0018] The reference numerals in the figures are:

[0019] 1. Installation body; 2. Binocular stereo camera; 3. Infrared thermal imaging camera; 4. Laser radar; 11. Base; 12. Installation part; 21. Three-dimensional imaging camera. DETAILED DESCRIPTION

[0020] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0021] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly located on the other element or indirectly located on the other element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or indirectly connected to the other element.

[0022] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention, and do not indicate that a device or element must have a specific direction, be constructed and operated in a specific direction. Therefore, it should not be understood as a limitation on the present invention.

[0023] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating relative importance or indicating the number of technical features. In the description of the present utility model, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined. The following is a more detailed description of the specific implementation of the present utility model in conjunction with specific embodiments:

[0024] like Figure 1 and Figure 2 As shown, the embodiment of the utility model provides a visual detection mechanism for a cleaning robot, including a mounting body 1, a binocular stereo camera 2, an infrared thermal imaging camera 3 and a laser radar 4; the binocular stereo camera 2 is connected to the mounting body 1, and is used to identify the three-dimensional structure of the object in the field of view; the infrared thermal imaging camera 3 is connected to the mounting body 1, and is used to sense the surface temperature of the object in the field of view; the laser radar 4 is connected to the mounting body 1, and is used to sense the distance between the object in the field of view and the mounting body 1, and the positioning of the mounting body 1 can be achieved through the ranging function of the laser radar 4; wherein, the binocular stereo camera 2, the infrared thermal imaging camera 3 and the laser radar 4 are oriented in the same direction and the field of view of the three is the same. The binocular stereo camera, the infrared thermal imaging camera and the laser radar are all installed in adjacent positions and facing the same direction, and the detection fields of the three are consistent, thereby ensuring the accuracy and reliability of the detection results.

[0025] As one of the optional implementations of this embodiment, the binocular stereo camera 2 includes two 3D imaging cameras 21, and the two 3D imaging cameras 21 are arranged at an interval. The binocular stereo camera 2 uses a combination of the left and right 3D imaging cameras 21 to identify the 3D structure of objects in the field of view.

[0026] As one of the optional implementations of this embodiment, the installation body 1 includes a base 11 and a mounting portion 12 connected to the base, and the binocular stereo camera 2, the infrared thermal imaging camera 3 and the laser radar 4 are arranged on the mounting portion 12. The base 11 is used to be installed on a corresponding driving device (cleaning robot or cleaning drone) to drive the visual detection mechanism to move through the driving device.

[0027] As one of the optional implementations of this embodiment, a plurality of threaded holes are provided on the base 11. Screws can be installed in the threaded holes so as to install and fix the base 11 on the corresponding driving device.

[0028] As one of the optional implementations of this embodiment, the material of the installation body 1 is aluminum alloy. Aluminum alloy has better physical and chemical properties, and is lighter than other metals of the same volume, which helps to reduce the total mass of the overall structure.

[0029] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A visual inspection mechanism for a cleaning robot, characterized in that: include: Install the main body; A binocular stereo camera, connected to the mounting body, for identifying the three-dimensional structure of objects in the field of view; An infrared thermal imaging camera, connected to the mounting body, for sensing the surface temperature of objects within the field of view; A laser radar, connected to the installation body, for sensing the distance between an object in a field of view and the installation body; Among them, the binocular stereo camera, the infrared thermal imaging camera and the laser radar are oriented in the same direction and have the same field of view.

2. A cleaning robot visual detection mechanism as claimed in claim 1, characterized in that: The binocular stereo camera includes two three-dimensional imaging cameras, and the two three-dimensional imaging cameras are arranged at an interval.

3. A cleaning robot visual detection mechanism as claimed in claim 1, characterized in that: The installation body includes a base and a mounting portion connected to the base, and the binocular stereo camera, the infrared thermal imaging camera and the laser radar are arranged on the mounting portion.

4. A cleaning robot visual detection mechanism as claimed in claim 3, characterized in that: The base is provided with a plurality of threaded holes.

5. A cleaning robot visual detection mechanism as claimed in claim 1, characterized in that: The material of the installation body is aluminum alloy.

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