A track inspection robot

Abstract

The utility model discloses a patrol track robot, belonging to the technical field of tobacco production; it includes: a robot body, a cleaning component, a monitoring component and an insect monitoring component; the robot body is movably connected to a guide rail, and the robot body can move along the guide rail; the cleaning component includes an air jet connected to the top of the robot body, and the air jet is arranged relative to the guide rail to spray air relative to the guide rail to clean the guide rail; the monitoring component includes a lifting unit, a moving part and a rotatable shooting head, the shooting head is rotatably connected to the moving part, and the two ends of the lifting unit are respectively connected to the moving part and the bottom of the robot body to drive the moving part to lift and move relative to the ground; the insect monitoring component is arranged on the robot body, and the insect monitoring component can trap pests so as to evaluate the pest situation. The utility model can patrol the warehouse 24 hours a day without interruption, so that tobacco can be well preserved.

Description

Technical Field

[0001] The utility model relates to the technical field of tobacco production, in particular to a track inspection robot. Background Art

[0002] For the raw material warehouses of tobacco industrial enterprises, the storage, maintenance and management of tobacco leaves are the top priority to ensure production.

[0003] In the existing tobacco raw material warehouse, it is necessary to monitor the number and type of pests, air quality, fire conditions and tobacco images in the entire warehouse 24 hours a day. However, the labor intensity of manual inspection is poor, and there is a possibility of manual omissions. It is impossible to effectively monitor various conditions in the warehouse, which easily leads to poor storage of tobacco. Utility Model Content

[0004] In view of this, it is necessary to provide a patrol track robot to solve the problem that existing tobacco storage warehouses are difficult to monitor.

[0005] The utility model provides a track inspection robot, comprising:

[0006] A robot body is movably connected to the guide rail, and the robot body can move along the guide rail;

[0007] A cleaning component, the cleaning component comprising an air jet component connected to the top of the robot body, the air jet component being arranged relative to the guide rail to spray air relative to the guide rail to clean the guide rail;

[0008] A monitoring component, the monitoring component includes a lifting unit, a moving part and a rotatable shooting head, the shooting head is rotatably connected to the moving part, and two ends of the lifting unit are respectively connected to the moving part and the bottom of the robot body to drive the moving part to move up and down relative to the ground;

[0009] An insect monitoring component is arranged on the robot body, and the insect monitoring component can trap pests so as to assess the pest situation.

[0010] Furthermore, the jet component is connected to the top of the robot body through a bracket, and a fan is provided inside the jet component.

[0011] Furthermore, the lifting unit includes a driving member and a guiding member, and both ends of the guiding member are respectively connected to the moving member and the robot body to limit the moving direction of the moving member. The driving member acts on the moving member or the guiding member to drive the moving member to move relative to the robot body.

[0012] Furthermore, the guide member is at least one guide column, and two ends of the driving member are respectively connected to the moving member and the robot body.

[0013] Furthermore, the guide member is a scissor-type structure, two ends of the scissor-type structure are respectively connected to the moving member and the robot body, and two ends of the driving member are respectively connected to the scissor-type structure and the robot body.

[0014] Furthermore, a moving component is provided between the robot body and the guide rail, and the moving component includes a clamping component adapted to the guide rail and a rotating unit, one end of the clamping component is fixedly connected to the robot body, and the guide rail is slidably clamped in the other end of the clamping component, and the rotating unit is arranged in the clamping component to drive the clamping component to move relative to the guide rail.

[0015] Furthermore, the rotating unit includes a plurality of groups of rotatable guide wheels, the guide wheels are rotatably connected to the clamping member, the upper side of the guide wheels abuts against the clamping member, and the lower side of the guide wheels abuts against the guide rail.

[0016] Furthermore, the insect monitoring component includes a trapping box and an insect attracting unit and a camera recognition module arranged in the trapping box. The trapping box is connected to the robot body. The insect attracting unit can lure pests into the trapping box. The camera recognition module can take pictures of the pests and estimate the types and numbers of the pests.

[0017] Furthermore, the trapping box is provided with a trapping cavity, a trapping port, a disassembly port and a trapping plate. The trapping plate is connected to the trapping box through the disassembly port to form a relatively sealed trapping cavity. The trapping port and the disassembly port are connected to the trapping cavity. The trapping port is provided for insects to enter the trapping cavity.

[0018] Furthermore, the insect attracting unit comprises a trapping plate for trapping insects, and the trapping plate is slidably inserted into the trapping box.

[0019] Compared with the prior art, the utility model has the following beneficial effects:

[0020] (1) The utility model provides a patrol track robot, which is provided with a cleaning component, and the cleaning component includes a jet component, which is connected to the top of the robot body and is arranged relative to a guide rail. The robot body can drive the jet component to move along the guide rail, and the jet component can spray relative to the guide rail to clean the guide rail, thereby preventing dust from accumulating on the guide rail and hindering the movement of the robot body.

[0021] (2) A rail inspection robot of the utility model is provided with a monitoring component, which includes a lifting unit, a moving part and a shooting head. The shooting head is rotatably connected to the moving part, and the shooting head can rotate relative to the moving part to achieve 360° rotation. The two ends of the lifting unit are respectively connected to the moving part and the bottom of the robot body. The lifting unit can drive the moving part to move up and down in the vertical direction relative to the robot body, thereby adjusting the height of the shooting head relative to the ground and changing the clarity of the shooting head.

[0022] (3) The utility model provides a patrol track robot, which is provided with an insect monitoring component. The insect monitoring component is arranged on the robot body and can move with the robot body to trap pests in various areas of the tobacco warehouse, take photos of the trapped pests, analyze the number of pest species, and thus estimate the pest breeding situation in the tobacco, thereby assisting relevant personnel in the prevention and control of tobacco pests. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings:

[0024] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the utility model;

[0025] Figure 2 It is a schematic diagram of the structure of the utility model as a whole from a side view;

[0026] Figure 3 It is a structural schematic diagram of the rotating unit in the utility model;

[0027] Figure 4 It is a structural schematic diagram of the insect monitoring component in the utility model;

[0028] Figure 5 It is a structural schematic diagram of the trapping box in the utility model;

[0029] Figure 6 It is a structural schematic diagram of the trapping plate in the utility model;

[0030] Figure 7 This is a structural diagram of the camera recognition module in the utility model;

[0031] Figure 8 This is a data interaction flow chart of the system in the normal power mode of the camera in the present utility model;

[0032] Fig. 9 This is a data interaction flow chart of the system in the intermittent mode of the camera in the present utility model.

[0033] In the figure, 100-robot body;

[0034] 200-cleaning components, 210-jet components;

[0035] 300-monitoring component, 310-lifting unit, 311-driving member, 312-guiding member, 320-moving member, 330-shooting head;

[0036] 400-insect monitoring component, 410-trapping box, 411-trapping chamber, 412-trapping port, 413-disassembly and assembly port, 420-insect luring unit, 421-trapping plate, 430-camera recognition module, 431-camera, 432-control platform; 500-moving component, 510-clip-on component, 520-rotating unit, 521-guide wheel, 600-guide rail. DETAILED DESCRIPTION

[0037] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the present application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0038] See also Figures 1 to 9 A patrol track robot in this embodiment relates to the field of tobacco production technology. By loading monitoring components 300, insect monitoring components 400 and other equipment onto the track robot, the track robot can patrol the tobacco warehouse according to a predetermined route and conduct 24-hour uninterrupted patrols of the warehouse, so that the tobacco can be well preserved.

[0039] A patrol track robot in this embodiment includes a robot body 100, a cleaning component 200, a monitoring component 300 and an insect monitoring component 400. The robot body 100 serves as a carrier of the entire device, and other components can be installed thereon, thereby driving other components to move synchronously. The cleaning component 200 can clean the guide rail 600 to prevent dust accumulation, which hinders the movement of the robot body 100 along the guide rail 600. The monitoring component 300 can lift and rotate the shooting head 330 to ensure that the shooting head 330 has a better observation angle, thereby expanding the monitoring range. The insect monitoring component 400 can trap pests, analyze the types and numbers of pests, and provide a reference for the prevention and control of pests in tobacco warehouses.

[0040] The robot body 100 is movably connected to a guide rail 600 , which is installed on the ceiling of the tobacco warehouse. The robot body 100 can move along the guide rail 600 , thereby patrolling various locations in the tobacco warehouse.

[0041] The cleaning component 200 includes a jet component 210, which is connected to the top of the robot body 100. The jet component 210 is set relative to the guide rail 600. The robot body 100 can drive the jet component 210 to move along the guide rail 600. The jet component 210 can spray relative to the guide rail 600 and clean the guide rail 600 to prevent dust from accumulating on the guide rail 600 and hindering the movement of the robot body 100.

[0042] The monitoring assembly 300 includes a lifting unit 310, a moving part 320, and a camera head 330. The camera head 330 is rotatably connected to the moving part 320, and the camera head 330 can rotate relative to the moving part 320 to achieve 360° rotation. The two ends of the lifting unit 310 are respectively connected to the moving part 320 and the bottom of the robot body 100. The lifting unit 310 can drive the moving part 320 to move up and down in the vertical direction relative to the robot body 100, thereby adjusting the height of the camera head 330 relative to the ground and changing the clarity of the camera head 330.

[0043] The insect monitoring component 400 is set on the robot body 100 and can move with the robot body 100 to trap pests in various areas of the tobacco warehouse, take photos of the trapped pests, analyze the number of pest species, and thus estimate the pest breeding situation in the tobacco, assisting relevant personnel in the prevention and control of tobacco pests.

[0044] In some embodiments, see Figure 1 and Figure 2 The jet component 210 is connected to the top of the robot body 100 through a bracket, and the bracket can be adjusted to adjust the jet component 210 to align with the guide rail 600.

[0045] In the specific implementation process, a fan is provided in the jet component 210, and the fan can generate high-speed airflow. The airflow impacts the guide rail 600, blows away the dust accumulated on the guide rail 600, and achieves the purpose of cleaning the guide rail 600, thereby facilitating the movement of the robot body 100 along the guide rail 600.

[0046] In some embodiments, see Figure 1 and Figure 2 The lifting unit 310 includes a driving member 311 and a guide member 312. The two ends of the guide member 312 are respectively connected to the moving member 320 and the robot body 100. The guide member 312 can limit the moving direction of the moving member 320 to ensure that the moving member 320 always moves in the vertical direction. The driving member 311 acts on the moving member 320 or the guide member 312. The driving member 311 can drive the moving member 320 to move relative to the robot body 100, providing power for the movement of the moving member 320.

[0047] As one embodiment, the guide member 312 is at least one guide column, one end of which is movably inserted into the robot body 100, and the guide column is retracted in the robot body 100. The two ends of the driving member 311 are respectively connected to the moving member 320 and the robot body 100. The driving member 311 is an electric push rod, which can push the moving member 320 to move vertically relative to the robot body 100, thereby driving the shooting head 330 to move.

[0048] It should be noted that: there may be one or more guide posts, which provide guidance and limiting functions for the moving member 320 .

[0049] As another embodiment, the guide member 312 is a scissor structure, and the two ends of the scissor structure are respectively connected to the moving member 320 and the robot body 100. The scissor structure can rotate relatively, so that the distance between the two ends of the scissor structure changes, thereby adjusting the distance between the moving member 320 and the robot body 100. The scissor structure can move relatively stably, and moves under the premise of ensuring that the two sides of the scissor structure are parallel and aligned, ensuring the relatively stable movement of the moving member 320. The two ends of the driving member 311 are respectively connected to the scissor structure and the robot body 100. The driving member 311 is an electric push rod, which can rotate inside the pushing scissor structure, thereby changing the distance of the moving block relative to the robot body 100, and driving the shooting head 330 to move relative to the ground.

[0050] In some embodiments, see Figure 1 and Figure 2 A moving component 500 is provided between the robot body 100 and the guide rail 600. The moving component 500 includes a clamping component 510 adapted to the guide rail 600 and a rotating unit 520. The clamping component 510 is fixedly connected to the robot body 100. One end of the clamping component 510 is fixedly connected to the robot body 100. The guide rail 600 is slidably clamped in the other end of the clamping component 510. The rotating unit 520 is arranged in the clamping component 510. The clamping component 510 clamped on the guide rail 600 can be driven by the rotating unit 520, so that the robot body 100 drives other components to move together.

[0051] In the specific implementation process, the cross-section of the guide rail 600 is in the shape of an I, and the clamping member 510 is in the shape of a concave. The lower part of the guide rail 600 is clamped in the inner cavity of the clamping member 510, and the clamping member 510 can move along the guide rail 600.

[0052] In some embodiments, please refer to Figure 1 and Figure 2The rotating unit 520 includes a plurality of sets of rotatable guide wheels 521, which are rotatably connected to the clamping member 510. The upper side of the guide wheel 521 abuts against the clamping member 510. The weight of the clamping member 510 is transmitted to the guide rail 600 through the guide wheel 521. The rotation of the guide rail 600 can drive the robot body 100 to move.

[0053] As a further implementation, see Figure 2 and Figure 3 A transmission box is provided on one side of the clamping member 510 , and a gear train is provided in the transmission box. The gear train can drive the guide wheel 521 to rotate, thereby driving the robot body 100 to move along the guide rail 600 .

[0054] In the specific implementation process, a driving motor is provided in the robot body 100, and the driving motor can drive the guide wheel 521 to rotate by means of a gear train. The external 220V is transformed in the distribution box to output a 24V low voltage to power the driving motor.

[0055] In some embodiments, a temperature touch switch is installed between the drive motor and the power cord. The temperature touch switch is arranged inside the robot body 100 and close to the drive motor. When the drive motor moves at a high load for a long time, causing the internal temperature to be too high, the temperature touch switch can automatically cut off the power supply to the drive motor and other electrical appliances, thereby preventing the robot from overheating and causing significant losses to the storage of tobacco in the warehouse.

[0056] As a further protective measure, a built-in fire extinguishing device is installed inside the robot body 100. The built-in fire extinguishing device includes a small aerosol fire extinguisher. When the temperature exceeds 180℃±10℃, the fire extinguisher will release fire extinguishing agent to put out the initial fire in the robot body 100 and prevent the disaster from spreading.

[0057] The insect monitoring component 400 includes a trapping box 410, an insect trapping unit 420 and a camera recognition module 430 disposed in the trapping box 410. The trapping box 410 is connected to the robot body 100 and can move with the trapping box 410 in various areas of the tobacco warehouse. The insect trapping unit 420 can lure pests into the trapping box 410, and the camera recognition module 430 collects insect images of the insects trapped by the trapping box 410, and transmits the collected insect image information to the monitoring terminal via the circuit board. Finally, there is no need for manual intervention to achieve real-time monitoring of data such as the number of trapped insects, thereby accurately and timely reflecting the insect situation in the area, and through the cooperation of the monitoring terminal, efficient counting of insects can be achieved.

[0058] In some embodiments, see Figure 7 The camera recognition module 430 includes a visual sensor 431 and a control platform 432, wherein:

[0059] The visual sensor 431 is used to adopt corresponding working modes under different power supply modes, and adopt corresponding data transmission methods based on the working mode to interact with the control platform, acquire and upload visual data of pests; wherein the working modes include normal power mode and intermittent mode;

[0060] The control platform 432 is used to select a corresponding connection method according to the working mode of the visual sensor, configure parameters of the visual sensor, send instructions and receive visual data; when the visual sensor is in the normal power mode, data interaction is carried out by establishing a long connection with the visual sensor; when the visual sensor is in the intermittent mode, data interaction is carried out with the visual sensor through a preset wake-up communication method.

[0061] The visual sensor adopts the corresponding working mode according to different power supply modes, determines the corresponding data transmission method based on the working mode, interacts with the control platform, and obtains and uploads the visual data of the pests; the control platform selects the corresponding connection mode according to the working mode of the visual sensor, configures the parameters of the visual sensor, sends instructions, and receives visual data; when the visual sensor is in the normal power mode, it interacts with the visual sensor by establishing a long connection; when the visual sensor is in the intermittent mode, it interacts with the visual sensor through a preset wake-up communication method. The utility model determines the working mode of the visual sensor according to the power supply mode, configures the parameters, sends instructions, and receives visual data according to the working mode through the control platform, adopts different data link connection methods for different working modes, interacts with the visual sensor, can grasp the working status of the visual sensor in real time, sets parameters and sends instructions based on the working status of the visual sensor, ensures the effectiveness of data transmission, can efficiently obtain the environmental monitoring of pests, and make corresponding strategy adjustments according to the working status of the sensor to improve monitoring efficiency and reliability.

[0062] As a specific embodiment, the camera recognition module 430 is particularly suitable for the insect infestation identification scenario in tobacco storage warehouses. In the process of tobacco storage warehouses, insect pests are a common and serious problem, which can cause tobacco leaf losses and reduce the quality of tobacco leaves. Traditional insect infestation detection methods mainly rely on manual capture of tobacco leaf pests and use mathematical methods for estimation. This method has problems such as low efficiency and prone to errors. It is very necessary to use a suitable insect infestation monitoring device to identify and control insect infestation problems in tobacco storage in practice. By visually identifying the types and numbers of pests in the trapping box 410 through a camera, the type and number of insect infestations can be accurately determined, and corresponding control measures can be formulated to improve the quality of tobacco storage and reduce losses.

[0063] The most common visual sensor is the camera. By acquiring image data through the camera, the storage conditions of tobacco leaves can be accurately and objectively reflected. However, for safety and environmental reasons, tobacco leaf storage sites have strict management requirements for the access of electronic equipment. After the on-site operation and maintenance personnel install the camera terminal, they will set the camera to different working modes according to actual needs. If the camera terminal is connected to normal power, the camera's working mode will be manually switched to normal power mode. If the camera terminal is battery-powered, the camera's working mode will be switched to intermittent mode. The operation and maintenance personnel switch between the two working modes by operating the physical switch.

[0064] When the visual sensor works in the normal power mode, there is no need to impose excessive restrictions on the power consumption of the visual sensor. The camera remains in an active state, and the control platform controls the visual sensor for the purpose of obtaining more real-time and detailed pest data.

[0065] As a preferred embodiment, when the visual sensor is in the normal power mode, data interaction is performed by establishing a long connection with the visual sensor, including:

[0066] The visual sensor creates a long connection application and sends a login message to the control platform;

[0067] The control platform verifies the identity of the visual sensor according to the login message. When the identity verification is passed, the long connection is established and the initialization parameter information is sent through the long connection.

[0068] The visual sensor is initialized according to the initialization parameter information, sends heartbeat messages and uploads visual data at a preset frequency based on the long connection;

[0069] The control platform receives heartbeat messages and visual data, and sends configuration parameters and control instructions in real time;

[0070] The visual sensor updates the device configuration according to the configuration parameters, executes the control instructions, and sends the instruction receipt.

[0071] As a specific example, see Figure 8 , Figure 8 The data interaction flow chart of the system in normal power mode is shown.

[0072] In the normal power mode, after the visual sensor is powered on, it first applies to create a socket long connection, sends a login message, and transmits the camera identity information to the platform. The login message is used to control the platform to verify the identity information of the camera and check whether the sensor terminal is legally connected. If the camera terminal has been registered on the platform, it is regarded as a legal terminal of the platform and the verification passes.

[0073] The format of the login message is: "login" + "$" + "JSON string" + "$$";

[0074] The meanings of the various field names in the JSON string in the login message are shown in Table 1:

[0075] Table 1 Data format of login message in normal power mode

[0076] Field Name type Required illustrate cid string yes Camera ID sver string yes Software Version pver string yes Protocol Version

[0077] For example, when a camera with the camera ID A0256DB sends a login message, the message information is: "login" + "$" + "device name" + "software version number" + "protocol version number" + "$$".

[0078] Terminal information upload and platform configuration parameters and instructions are sent through socket connection, and platform configuration parameters and instructions are sent in real time.

[0079] After receiving the login message, the control platform needs to verify the identity information of the camera. After the verification, it needs to send initialization configuration parameters to allow the camera to complete the initialization configuration.

[0080] As a preferred embodiment, the initialization parameter information is transmitted via an initialization message;

[0081] The initialization message includes a token, system time, photographing frequency and image data quality.

[0082] Specifically, the format of the initialization message is: "initial" + "$" + "JSON string" + "$$". The meaning of the fields of the JSON string in the initialization message is shown in Table 2:

[0083] Table 2 Data format of initialization message

[0084]

[0085]

[0086] The following is a typical initialization message, which sets the heartbeat interval to 30 seconds, the device startup time to 8:00 am, and the shutdown time to 0:00 am.

[0087] initial$+"token"+"time"+"pname"+"cname"+"heartbeat"+

[0088] "takefreq"+"poweron":"08:00:00"(set the power on time to 8:00 am),"poweroff":"00:00:00"(set the power off time to 0:00 am)+$$.

[0089] As a preferred embodiment, the control platform receives the heartbeat message and visual data, and sends configuration parameters and control instructions in real time, including:

[0090] If the control platform fails to receive a preset number of heartbeat messages continuously, it determines that the visual sensor is offline and disconnects the long connection.

[0091] Specifically, after the visual sensor, i.e. the camera terminal, is initialized, it sends heartbeat messages to the platform at regular intervals. If the control platform does not receive a specified number of heartbeat messages (usually set to 3) within a preset time range, the visual sensor terminal is automatically disconnected by default as offline. At this point, it indicates that there may be a problem with the connection line or the camera has failed. The long connection is re-established through re-initialization. If the heartbeat message is still not received after the connection is re-established, the operation and maintenance personnel need to check the working status of the camera and the network communication status.

[0092] As a specific embodiment, the specific data format of the heartbeat message is: "heartbeat" (set heartbeat interval) + "$" + "JSON string" + "$$"; the specific field description of the string is shown in Table 3:

[0093] Table 3 Data format of heartbeat message

[0094] Field Name type Required illustrate cid string yes Camera ID errcode int no Terminal fault code, 0 means no fault signal int yes Signal strength 0-100 timestamp int yes Timestamp heartbeat int yes Heartbeat interval (seconds) pname string yes Project Name cname string yes Camera Name takemode int yes Photo mode: 0. By time point; 1. By frequency takelist array yes According to the time set when (takemode = 0) is valid takefreq int yes Photo frequency, valid when (takemode=1), unit: times / day picquality int yes Image quality, 0. HD 1. SD 2. General upload string yes Image upload address poweron string yes Device startup time poweroff string yes Equipment shutdown time

[0095] A typical heartbeat message is as follows:

[0096] heartbeat$+"camera ID"+"timestamp"(eg: 1636817701)+

[0097] "errcode":0(no error)+"pname":"wh-ld"+"cname":"d1-01-c03"+"signal":90"+heartbeat":30+"takemode":0"+takelist":["10:00:00",

[0098] "12:30:00"]+"picquality":0+"poweron":"08:00:00"+"poweroff":"00:00:00"+$$.

[0099] By sending heartbeat messages, the visual sensor reports its own working status information, making it easier for the control platform to judge the working status of the visual sensor. Once it finds that the predetermined number of heartbeat messages have not been received, it will automatically disconnect and check the status of the hardware and software. Through such a control strategy, problems in the monitoring system can be discovered in a timely manner, and corresponding control strategy adjustments and troubleshooting measures can be made.

[0100] As a specific embodiment, the control platform sends configuration parameters and control instructions in real time according to the settings of the operation and maintenance personnel, and updates the configuration parameters of the device after the latest photo taken by the visual sensor terminal is successfully uploaded.

[0101] Specifically, the message format of the configuration parameters is: "config" + "$" "JSON string" + $$", and the format of each field is shown in Table 4:

[0102] Table 4 Data format of configuration parameters

[0103] Field Name type Required illustrate pname string no Project Name cname string no Camera Name heartbeat int no Heart rate interval (seconds), if not transmitted, it will not be modified takemode int no Photo mode: 0. By time point; 1. By frequency takelist array no According to the time set when (takemode = 0) is valid takefreq int no Photo frequency, valid when (takemode=1), unit: times / hour picquality int no Image quality, 0. HD 1. SD 2. General upload string no Image upload address, if not uploaded, it will not be modified poweron string no Device startup time, if not transmitted, it will not be modified poweroff string no Device shutdown time, if not transmitted, it will not be modified

[0104] Specific examples of configuration parameters are as follows:

[0105] config$+"pname"+"cname"(camera name)+"heartbeat"(heartbeat interval):30,+"takemode":0(take mode is set to time point mode)+

[0106] takelist":["10:00:00","12:30:00"]+"takefreq":2 (set the frequency of taking photos to 2 per day

[0107] times),+"upload"+"picquality":0,+"poweron":"08:00:00"+"poweroff":

[0108] "00:00:00"+$$.

[0109] By sending configuration parameters, the heartbeat message sending time, data acquisition frequency, data acquisition quality and device startup time of the visual sensor can be adjusted in real time to meet actual monitoring needs, improve monitoring efficiency, and refresh the working status of the device in real time.

[0110] As a specific embodiment, the message format of the control instruction is set to: "command" + "$" "JSON string" + "$$", and the message description of the control instruction is shown in Table 5:

[0111] Table 5 Data format of control command message

[0112] Field Name type Required illustrate index int yes Instruction number command int yes Command ID: 0. Take a photo params string no Command parameters

[0113] By sending control command messages, the camera can be actively controlled to take pictures when necessary to meet the immediate needs of monitoring agricultural products such as tobacco leaves. When the background monitoring personnel discover safety hazards, they can immediately obtain the current status image information by sending control command messages.

[0114] In order to respond to the control instructions of the control platform, the visual sensor needs to return the instruction receipt after completing the control instruction, return the execution result, and provide feedback on the execution status.

[0115] The format of the command receipt message is: "reply" + "$" "JSON string" + "$$"; the data format of the command receipt message is shown in Table 6:

[0116] Table 6 Data format of command receipt message

[0117]

[0118]

[0119] A typical instruction receipt message is as follows:

[0120] reply$+"code":0(return success)+"index"+"command":0(the command is to take a photo)+"cid"(device ID)+$$.

[0121] In the command receipt message, since the control command is successfully executed, the msg field is not sent to transmit the failure message.

[0122] The above is a detailed introduction to the data interaction of the visual sensor in the normal power working mode and the data formats of various messages. The following is an explanation of the data interaction method in the intermittent mode.

[0123] In intermittent mode, for the sake of battery life, the visual sensor needs to remain dormant during non-working hours. Therefore, the sensor terminal cannot establish a long connection with the platform. The status of the sensor terminal and the configuration parameters of the control platform are communicated through the HTTP protocol, and the control platform does not need to issue instructions in real time. After the sensor terminal enters the working mode from the dormant mode, it requests the control platform to go online. The control platform gives feedback to the sensor terminal. After receiving the feedback information, the sensor terminal determines that the communication is normal, and then automatically executes according to the actual working parameters during working hours, completes the photo taking and uploads the picture to the platform picture receiving interface. Figure 3 As shown, Figure 3 The data interaction flow chart of the system in intermittent mode is shown.

[0124] As a preferred embodiment, when the visual sensor is in the intermittent mode, data interaction with the visual sensor is performed through a preset wake-up communication method, including:

[0125] The visual sensor sends a login message to the control platform;

[0126] The control platform performs identity authentication and feeds back initialization information according to the login message;

[0127] The visual sensor confirms the communication state according to the initialization information and sends a terminal state request to enter a dormant state;

[0128] The control platform sends current configuration parameters after receiving the terminal status request;

[0129] The visual sensor updates the device configuration according to the current configuration parameters and enters a dormant state, performs a wake-up operation within a preset time, and acquires and uploads visual data.

[0130] As a preferred embodiment, the visual sensor performs a wake-up operation within a preset time including:

[0131] The visual sensor sends a status reporting request message to the control platform at intervals of a preset time period;

[0132] The control platform sends a response message to the visual sensor according to the status reporting request message, wherein the response message includes the latest configuration parameters;

[0133] The visual sensor updates device parameter configuration according to the configuration parameters.

[0134] As a specific embodiment, unlike the normal power mode, in the intermittent mode, there is no long connection between the control platform and the visual sensor, and it is impossible to issue real-time instructions and report status. In order to receive the status information of agricultural products and identify the working status of the sensor, after the visual sensor configures the device parameters, it notifies the platform to go offline and enter the dormant state. The sensor terminal wakes up at the specified time, performs the photo taking and uploading operations, and then enters the dormant state again, waiting for the next wake-up operation.

[0135] Similar to the normal power mode, the control platform needs to verify the identity information of the sensor terminal and return token information and initialization information.

[0136] The format of the login message sent by the visual sensor is shown in Table 7:

[0137] Table 7 Data format of login message in intermittent mode

[0138] Field Name type Required illustrate cid string yes Camera ID sver string yes Software Version pver string yes Protocol Version

[0139] Different from the normal power working mode, since there is no need to establish a long connection with the control platform, the login message in the intermittent mode does not contain the login field. A typical login message in the intermittent mode is: "cid" (device name): "A0256DB", + "sver" (software version): "abb5df84", + "pver" (protocol version): "v1.0.1".

[0140] As a preferred embodiment, the status reporting request message includes: visual sensor identity information, power information, signal strength information, online time information and visual data quality information.

[0141] As a specific embodiment, in order to report the working status information, the visual sensor needs to transmit the status information. The format of the status reporting request message is shown in Table 8:

[0142] Table 8 Data format of status report request message

[0143] Field Name type Required illustrate cid string yes Camera ID signal int yes Signal strength 0-100 battery int yes Battery level 0-100 pname string yes Project Name cname string yes Camera Name timestamp int yes Timestamp heartbeat int yes Heartbeat interval (seconds) takemode int yes Photo mode: 0. By time point; 1. By frequency takelist array yes According to the time set when (takemode = 0) is valid takefreq int yes Photo frequency, valid when (takemode=1), unit: times / hour upload string yes Image upload address picquality int yes Image quality, 0. HD 1. SD 2. General poweron string yes Device startup time poweroff string yes Equipment shutdown time

[0144] By reporting status information to the control platform, the control platform can grasp the working status information of the visual transmission terminal, compare the platform configuration information, and adjust the configuration parameters that need to be updated. For example, adjust the heartbeat message interval or image quality requirements according to the remaining power information, and shut down the device when the remaining power is low.

[0145] In order to allow the visual sensor to also understand the response of the control platform, this embodiment designs a response message, in which the configuration parameters of the camera are modified through the data field. The specific format is shown in Table 9:

[0146] Table 9 Data format of the data field

[0147] Field Name type Required illustrate pname string no Project Name cname string no Camera Name heartbeat int no Heartbeat interval (seconds), if not transmitted, it will not be modified takemode int no Photo mode: 0. By time point; 1. By frequency takelist array no According to the time set when (takemode = 0) is valid takefreq int no Photo frequency, valid when (takemode=1), unit: times / hour upload string no Image upload address, if not uploaded, it will not be modified picquality int no Image quality, 0. HD 1. SD 2. General poweron string no Device startup time, if not transmitted, it will not be modified poweroff string no Device shutdown time, if not transmitted, it will not be modified

[0148] In addition to the data field, the response message also includes a code field and a msg field. The code field is a return code, 0 represents success, otherwise it represents failure; when a failure is returned, a failure message is returned through msg.

[0149] As a preferred embodiment, the visual sensor uploads the visual data through the HTTP interface; after receiving the visual data, the control platform returns a response message.

[0150] It should be noted that, in order to facilitate the control platform to manage the received visual data, this embodiment also sets a file name rule, which can efficiently search, call and analyze the visual data. The details are as follows:

[0151] File name: Project name_Device name_Device ID_Time.jpg

[0152] The generation rules are determined by the operator, usually in the following way:

[0153] Project Name: Province-Region-Province-Workshop

[0154] Equipment Name: Building-Floor-Point Building-Workstation-Point

[0155] The time is obtained from the terminal system time:

[0156] Time: XX(year)-XX(month)-XX(day)-XX(hour)-XX(minute)-XX(second)

[0157] Note: Avoid using Chinese in all information to save communication bandwidth and improve transmission efficiency.

[0158] As a specific embodiment, when uploading a visual image, the sensor is also required to send a request message and the control platform is required to send a response message. Specifically, the request message includes a request header and a request body:

[0159] Request header: Content-Type: multipart / form-data

[0160] token: Return token information after login

[0161] Request body: Content-Disposition:form-data; name = "device ID"; filename = "image file name"

[0162] Content-Type: image / jpeg

[0163] <Carriage Return Line Feed>

[0164] <Image data>(Base64)

[0165] The response message format of visual data is shown in Table 10:

[0166] Table 10 Response message format of visual data

[0167] Field Name type Required illustrate code int yes Return code, 0 means success, otherwise it means failure msg string no Failure return

[0168] As a preferred embodiment, the visual sensor is provided with a message retransmission mechanism. If the visual sensor does not receive a response message sent by the control platform, the sent message is retransmitted a preset number of times.

[0169] The embodiment of the present invention further provides a method for visually identifying an agricultural product environment, which is applied to the visually identifying an agricultural product environment system described in the above technical solution, and comprises:

[0170] The visual sensor adopts corresponding working modes under different power supply modes, exchanges data with the control platform, and acquires and uploads visual data of agricultural products; wherein the working modes include a normal power mode and an intermittent mode;

[0171] The control platform selects a corresponding connection method according to the working mode of the visual sensor, configures parameters of the visual sensor, sends instructions, and receives visual data; when the visual sensor is in the normal power mode, data interaction is performed by establishing a long connection with the visual sensor; when the visual sensor is in the intermittent mode, data interaction is performed with the visual sensor through a preset wake-up communication method.

[0172] The present invention provides an environmental visual recognition system and method for agricultural products. In the system, a visual sensor adopts a corresponding working mode according to different power supply modes, determines a corresponding data transmission method based on the working mode, performs data interaction with a control platform, and acquires and uploads visual data of the agricultural products; the control platform selects a corresponding connection mode according to the working mode of the visual sensor, performs parameter configuration, instruction transmission, and visual data reception on the visual sensor; when the visual sensor is in a normal power mode, data interaction is performed by establishing a long connection with the visual sensor; when the visual sensor is in an intermittent mode, data interaction is performed with the visual sensor through a preset wake-up communication mode.

[0173] The present invention determines the working mode of the visual sensor according to the power supply mode of the visual sensor, performs parameter configuration, command sending and visual data receiving according to the working mode through the control platform, adopts different data link connection modes for different working modes, and performs data interaction with the visual sensor. The working status of the visual sensor can be grasped in real time, and parameter setting and command sending are performed based on the working status of the visual sensor to ensure the effectiveness of data transmission. The environmental monitoring conditions of agricultural products can be efficiently obtained, and corresponding strategy adjustments can be made according to the monitoring conditions to improve monitoring efficiency and reliability.

[0174] The trapping box 410 is provided with a trapping cavity 411, a trapping port 412, a disassembly port 413 and a trapping plate 421. The trapping plate 421 is connected to the trapping box 410 through the disassembly port 413 to form a relatively sealed trapping cavity 411. The trapping port 412 and the disassembly port 413 are connected to the trapping cavity 411. The insect monitoring device can trap insects through the trapping plate 421. The insects enter the trapping cavity 411 through the trapping port 412 under the trapping of the trapping plate 421 and are trapped by the trapping plate 421. The trapping plate 421 can slide out of the trapping cavity 411 through the disassembly port 413 to realize the disassembly of the trapping plate 421, thereby facilitating the replacement and cleaning of the trapping plate 421.

[0175] It can be understood that the trapping plate 421 can be an adhesive plate, an electric shock plate, etc., and the insects can be trapped by gluing them to the adhesive plate or by electrocuting them with the electric shock plate. It can be any plate-like structure that can trap insects.

[0176] In one embodiment, the trapping box 410 includes an upper shell and a bottom cover, the bottom cover is detachably fixed to the bottom of the upper shell, and is enclosed with the bottom cover to form a trapping chamber 411, and the trapping plate 421 is slidably connected to the bottom cover. Specifically, since fine particles such as tobacco can easily enter the trapping chamber 411 and pollute the trapping chamber 411, by setting the trapping box 410 as an upper shell and a bottom cover detachably connected to the upper shell, when the trapping chamber 411 needs to be cleaned, only the bottom cover needs to be removed, which provides convenience for cleaning the trapping chamber 411.

[0177] It can be understood that the bottom cover can be detachably connected to the upper shell by threaded connection with the upper shell through fasteners such as screws.

[0178] In one embodiment, the bottom cover is provided with a plurality of snap-in protrusions on the circumference, and the upper shell is provided with a plurality of snap-in grooves adapted to the snap-in protrusions on the side wall, and each snap-in protrusion is in the snap-in groove. Specifically, the bottom cover can be detachably fixed to the upper shell by snapping the snap-in protrusions in the snap-in grooves. With this fixing form, the snap-in protrusions can be snap-into the snap-in grooves simply by pressing the upper shell, which facilitates the separation of the bottom cover and the upper shell.

[0179] In some embodiments, an air quality detector is provided on the side of the robot body 100 away from the trapping box 410. The air quality detector can monitor the temperature, humidity and dust conditions in the warehouse, and can timely identify local temperature and humidity abnormalities to provide a better environment for the storage of tobacco.

[0180] Workflow: First, fix the guide rail 600 on the ceiling of the tobacco warehouse, and the guide rail 600 is arranged around the warehouse. Then, install the moving component 500 on the guide rail 600, and the guide wheel 521 can drive the robot body 100 to move along the guide rail 600 by relative rotation. When the robot body 100 is moving, the jet part 210 can spray towards the guide rail 600 to clean the guide rail 600 in real time. The lifting unit 310 can lift the moving part 320 as needed, and the shooting head 330 can rotate relative to the moving part 320, so that the shooting head 330 can obtain a better viewing angle. The trapping box 410 can trap pests and analyze the types and quantities of the pests.

[0181] The above description is only a preferred specific implementation of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed in the present invention should be covered by the present invention.

Claims

1. A track inspection robot, characterized in that: include: A robot body is movably connected to the guide rail, and the robot body can move along the guide rail; A cleaning component, the cleaning component comprising an air jet component connected to the top of the robot body, the air jet component being arranged relative to the guide rail to spray air relative to the guide rail to clean the guide rail; A monitoring component, the monitoring component includes a lifting unit, a moving part and a rotatable shooting head, the shooting head is rotatably connected to the moving part, and two ends of the lifting unit are respectively connected to the moving part and the bottom of the robot body to drive the moving part to move up and down relative to the ground; The insect monitoring component is arranged on the robot body, and the insect monitoring component can trap pests so as to assess the pest situation.

2. A track inspection robot according to claim 1, characterized in that: The jet component is connected to the top of the robot body through a bracket, and a fan is arranged inside the jet component.

3. A track inspection robot according to claim 1, characterized in that: The lifting unit includes a driving member and a guiding member, wherein two ends of the guiding member are respectively connected to the moving member and the robot body to limit the moving direction of the moving member, and the driving member acts on the moving member or the guiding member to drive the moving member to move relative to the robot body.

4. A track inspection robot according to claim 3, characterized in that: The guide member is at least one guide column, and two ends of the driving member are respectively connected to the moving member and the robot body.

5. A track inspection robot according to claim 3, characterized in that: The guide member is a scissor-fork structure, two ends of the scissor-fork structure are respectively connected to the moving member and the robot body, and two ends of the driving member are respectively connected to the scissor-fork structure and the robot body.

6. A track inspection robot according to claim 1, characterized in that: A moving component is provided between the robot body and the guide rail, and the moving component includes a clamping part adapted to the guide rail and a rotating unit. One end of the clamping part is fixedly connected to the robot body, and the guide rail is slidably clamped in the other end of the clamping part. The rotating unit is arranged in the clamping part to drive the clamping part to move relative to the guide rail.

7. A track inspection robot according to claim 6, characterized in that: The rotating unit comprises a plurality of groups of rotatable guide wheels, the guide wheels are rotatably connected to the clamping member, the upper side of the guide wheels abuts against the clamping member, and the lower side of the guide wheels abuts against the guide rail.

8. The track inspection robot according to claim 1, characterized in that: The insect monitoring component includes a trapping box, an insect attracting unit and a camera identification module arranged in the trapping box. The trapping box is connected to the robot body. The insect attracting unit can lure pests into the trapping box. The camera identification module can take pictures of the pests and estimate the types and numbers of the pests.

9. A track inspection robot according to claim 8, characterized in that: The trapping box is provided with a trapping cavity, a trapping port, a disassembly port and a trapping plate. The trapping plate is connected to the trapping box through the disassembly port to form a relatively sealed trapping cavity. The trapping port and the disassembly port are connected to the trapping cavity. The trapping port is provided for insects to enter the trapping cavity.

10. The track inspection robot according to claim 8, characterized in that: The insect trap unit comprises a trapping plate for trapping insects, and the trapping plate is slidably inserted in the trapping box.

Images