Full-automatic pneumatic defrosting equipment based on visual identification

Abstract

The utility model discloses full-automatic pneumatic defrosting equipment based on visual identification, which is used for defrosting a refrigeration storage calandria and comprises an identification element used for identifying the frosting thickness of the refrigeration storage calandria; the pneumatic defrosting device outputs gas to the refrigeration house calandria so as to remove frost on the refrigeration house calandria; and the control element is in signal connection with the identification element and the pneumatic defrosting device, and the control element is used for controlling the pneumatic defrosting device to defrost according to the condition that the frosting thickness of the refrigeration storage calandria is higher than or equal to a first threshold value. In the application, the frosting thickness of the refrigeration house can be identified through the identification element, so that the control element can control the pneumatic defrosting device to defrost at the initial stage of frosting, and initial defrosting and automatic defrosting are realized. In the early stage of frosting, the frosting thickness is small, defrosting is convenient, at the moment, defrosting is easier and more thorough, the defrosting effect can be improved, and energy consumption can be reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the defrosting technical field of the cold storage pipe, and particularly relates to a full-automatic pneumatic defrosting equipment based on visual identification. BACKGROUND

[0002] In various cold storages, pipe frost is a very common problem. After frosting, the refrigeration effect is greatly reduced, and energy consumption is increased. Therefore, cold storage defrosting is a problem that needs to be handled frequently.

[0003] At present, the defrosting methods of the cold storage all need to consume a large amount of energy or cost manpower and material resources, are not economic and environmentally friendly, and the main reason is that the cycle is long, the defrosting is difficult, and when the cleaning is not in time, too much energy is easily consumed. CONTENT OF THE UTILITY MODEL

[0004] To solve the above technical problems, the present application provides a full-automatic pneumatic defrosting equipment based on visual identification which can defrost at the initial stage of the frosting of the cold storage pipe, and improves the defrosting effect.

[0005] The present application is implemented through the following technical solutions.

[0006] The present application provides a full-automatic pneumatic defrosting equipment based on visual identification which is used for defrosting the cold storage pipe, and includes: an identification element which is used for identifying the frosting thickness of the cold storage pipe; a pneumatic defrosting device which outputs gas to the cold storage pipe to remove the frosting of the cold storage pipe; and a control element which is in signal connection with the identification element and the pneumatic defrosting device, and is used for controlling the pneumatic defrosting device to defrost according to the frosting thickness of the cold storage pipe being higher than or equal to a first threshold value.

[0007] In the present application, the identification element can identify the frosting thickness of the cold storage, so that the control element can control the pneumatic defrosting device to defrost at the initial stage of the frosting, and realize the initial defrosting and automatic defrosting. At the initial stage of the frosting, the thickness of the frosting is small, and it is convenient to defrost, and defrosting at this time is easier and more complete, and the defrosting effect can be improved and the energy consumption can be reduced.

[0008] In some embodiments of the present application, the pneumatic defrosting device includes an air compressor and an air cylinder, the air inlet of the air cylinder is in communication with the air compressor, and the air outlet of the air cylinder is used for outputting the gas in the air cylinder to the cold storage pipe.

[0009] The air compressor is provided, and the gas with a certain pressure can be provided, so that the pneumatic defrosting device outputs the gas with a certain intensity, and the defrosting effect is improved.

[0010] In some embodiments of the present application, the full-automatic vision-recognized pneumatic defrosting device further comprises a walking device connected with the pneumatic defrosting device, the walking device being movable along the cold storage pipe and moving the pneumatic defrosting device.

[0011] The walking device is movable along the cold storage pipe and moving the pneumatic defrosting device, which helps the pneumatic defrosting device defrost the cold storage pipe as a whole within a certain range, and in addition, the walking device can move the pneumatic defrosting device to the positions of some cold storage pipes which are prone to frost or frost quickly for targeted defrosting.

[0012] In some embodiments of the present application, the pneumatic defrosting device comprises a rotating mechanism, and the air cylinder is arranged on the rotating mechanism. The rotating mechanism is capable of driving the air cylinder to rotate so as to switch the air cylinder between the working position and the avoiding position. When the air cylinder is in the working position, the air outlet of the air cylinder faces the cold storage pipe, and the interval distance between the air outlet of the air cylinder and the cold storage pipe is less than the interval distance between the air outlet of the air cylinder and the cold storage pipe when the air cylinder is in the avoiding position. The rotating mechanism is signal-connected with the control element, and the rotating mechanism rotates according to the control of the control element.

[0013] During the movement of the walking device, the rotating mechanism can be rotated to achieve obstacle avoidance.

[0014] In some embodiments of the present application, when the air outlet of the air cylinder is in the avoiding position, the air cylinder is arranged parallel to the cold storage pipe or at a certain angle. The air cylinder can be arranged parallel to the cold storage pipe or at a certain angle to the cold storage pipe to achieve obstacle avoidance. In some embodiments of the present application, the rotating mechanism comprises a base and a push rod assembly. One end of the push rod assembly is connected with the walking device, the air cylinder is arranged on the base, the base is hinged to the walking device through a fixed shaft, the push rod of the push rod assembly is connected with the base, and the push rod of the push rod assembly is extended to drive the base and the air cylinder to rotate around the fixed shaft so as to move the air cylinder to the avoiding position. The push rod of the push rod assembly is retracted to drive the base and the air cylinder to rotate around the fixed shaft so as to move the air cylinder back to the working position.

[0015] The push rod assembly drives the base and the air cylinder to rotate through extension and retraction, which can achieve obstacle avoidance.

[0016] In some embodiments of the present application, the pneumatic defrosting device comprises a first driving device, the first driving device is signal-connected with the control element, and the first driving device drives the push rod of the push rod assembly to extend and retract to drive the base and the air cylinder to rotate according to the control of the control element.

[0017] The control element can control the rotating mechanism to rotate to achieve obstacle avoidance according to the situation of the obstacle.

[0018] In some embodiments of the present application, the pneumatic defrosting device comprises a valve arranged between the air compressor and the air inlet of the air cylinder, the valve is electrically connected with the control element, and the control element is used to control the valve to be opened at different opening degrees according to different frost thicknesses of the cold storage pipe.

[0019] The control element can control the valve to be opened at different opening degrees according to different frost thicknesses, and correspondingly output different intensities of gas, so as to finely defrost.

[0020] In some embodiments of the present application, the cold storage pipe is arranged in multiple, and the pneumatic defrosting device is arranged in multiple, the multiple pneumatic defrosting devices are arranged side by side, the multiple pneumatic defrosting devices correspond to the multiple cold storage pipes, and the multiple pneumatic defrosting devices output gas to the corresponding cold storage pipes to remove the frost on the cold storage pipes.

[0021] The multiple pneumatic defrosting devices can simultaneously defrost the multiple pipes synchronously, so as to improve the defrosting efficiency.

[0022] In some embodiments of the present application, the identification element comprises a camera for acquiring the frost thickness of the cold storage pipe; and / or, the identification element comprises an optical sensor arranged on the surface of the cold storage pipe to sense the frost thickness of the cold storage pipe; and / or, the identification element comprises an ultrasonic sensor that emits ultrasonic waves towards the cold storage pipe and receives reflected ultrasonic signals to acquire the frost thickness of the cold storage pipe.

[0023] The identification element acquires the frost thickness of the cold storage pipe, and the identification element can comprise one or more of a camera, an optical sensor, and an ultrasonic sensor, and can be arranged in a targeted manner according to different cold storages and different cold storage pipes to achieve better identification effect.

[0024] In some embodiments of the present application, the full-automatic pneumatic defrosting equipment based on visual identification comprises a position sensor, and the control element acquires the position of the walking device through the position sensor.

[0025] According to the position of the walking device acquired by the position sensor, the control element can operate the pneumatic defrosting device to perform defrosting, moving, obstacle avoidance, and other work.

[0026] In some embodiments of the present application, the position sensor is arranged at the end of the walking device on the walking path, and the position sensor is used to acquire the position of the walking device and obstacle information on the walking path of the walking device; and / or, the walking device comprises a second driving device, the second driving device drives the walking device to move according to the signal transmitted by the control element, the full-automatic pneumatic defrosting equipment based on visual identification comprises an encoder arranged on the second driving device, and the control element acquires the position of the walking device through the encoder.

[0027] The position sensor is arranged at the end, which is beneficial to accurately obtain the position of the walking device, and can more accurately obtain the distance, size and other information of the obstacle. The encoder is arranged on the second driving device, and the position of the walking device is obtained by obtaining the position of the second driving device, which is beneficial to path control and obstacle avoidance during the defrosting process.

[0028] In some embodiments of the present application, the full-automatic pneumatic defrosting device based on visual recognition comprises a control device, an identification element and a control element are integrated in the control device, and the control device further comprises a display for displaying information obtained by the identification element and the control element.

[0029] By integrating the identification element and the control element in the control device, space can be saved and circuit layout can be simplified. The display displays the information obtained by the identification element and the control element, which is helpful to realize manual real-time monitoring of the defrosting condition of the cold storage pipe. BRIEF DESCRIPTION OF DRAWINGS

[0030] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of the preferred embodiments and are not intended to limit the scope of the present application. Moreover, the same reference numerals are used throughout the various drawings to designate similar or equivalent parts. In the drawings:

[0031] Figure 1 a block diagram of the full-automatic pneumatic defrosting device based on visual recognition provided for some embodiments of the present application;

[0032] Figure 2 a structural schematic diagram of the full-automatic pneumatic defrosting device based on visual recognition provided for some embodiments of the present application for defrosting the cold storage pipe;

[0033] Figure 3 a structural schematic diagram of the full-automatic pneumatic defrosting device based on visual recognition provided for some embodiments of the present application, in which the air outlet of the air cylinder is in a avoiding position when the cold storage pipe is defrosted;

[0034] Figure 4 a top view structural schematic diagram of the full-automatic pneumatic defrosting device based on visual recognition provided for some embodiments of the present application;

[0035] Figure 5 a structural schematic diagram of the full-automatic pneumatic defrosting device based on visual recognition provided for some embodiments of the present application for defrosting the cold storage pipe;

[0036] Figure 6 a sectional structural schematic diagram of the full-automatic pneumatic defrosting device based on visual recognition provided for some embodiments of the present application, in which the air outlet of the air cylinder is in a avoiding position when the cold storage pipe is defrosted;

[0037] Figure 7 Structure diagram of the pushing assembly of the full-automatic vision-recognized pneumatic defrosting device in the extension state according to some embodiments of the present application;

[0038] Figure 8 Structure diagram of the pushing assembly of the full-automatic vision-recognized pneumatic defrosting device in the retraction state according to some embodiments of the present application;

[0039] Figure 9 Structure diagram of the walking wheel according to some embodiments of the present application;

[0040] Figure 10 Block diagram of the full-automatic vision-recognized pneumatic defrosting device according to some embodiments of the present application.

[0041] Explanation of reference signs

[0042] 1. Full-automatic vision-recognized pneumatic defrosting device; 10. Recognition element; 2. Cold storage pipe; 20. Control element; 3. Rack; 30. Pneumatic defrosting device; 300. Rotation mechanism; 301. Base; 310. Fixed shaft; 302. Push rod; 321. Base; 31. First driving device; 32. Air cylinder; 33. Air outlet; 40. Walking device; 401. Second driving device; 42. Walking wheel; 43. Bracket; 402. Driving sprocket; 403. Driving chain; 404. Guide wheel; 50. Position sensor; X. First direction; Y. Second direction; Z. Third direction; A. Working position; B. Avoidance position. DETAILED DESCRIPTION

[0043] The embodiments of the technical solutions of the present application will be described in detail below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present application, and therefore cannot be used to limit the protection scope of the present application.

[0044] In large cold storages, pipe frost is a very common problem. After frosting, it will cause a big discount in refrigeration effect and increase energy consumption. Therefore, cold storage defrosting is a problem that needs to be handled frequently.

[0045] At present, the defrosting methods of cold storages all consume a large amount of energy or cost manpower and material resources, which is not economic and environmentally friendly. The main reason is that the cycle is long and defrosting is difficult, and when it cannot be cleaned in time, it is easy to consume too much energy.

[0046] To solve the above technical problems, the present application provides a full-automatic vision-recognized pneumatic defrosting device which can defrost at the initial stage of frosting of the cold storage pipe, thereby improving the defrosting effect.

[0047] The application provides a full-automatic pneumatic defrosting device based on visual recognition, which is used for defrosting a cold storage pipe and comprises an identification element, a pneumatic defrosting device and a control element.

[0048] In the application, the identification element can identify the frost thickness of the cold storage, so that the control element can control the pneumatic defrosting device to defrost in the initial stage of frost, thereby realizing initial defrosting and automatic defrosting. In the initial stage of frost, the frost thickness is small, which is convenient for defrosting, and defrosting at this time is easier and more complete, so that the defrosting effect can be improved and energy consumption can be reduced.

[0049] Figure 1 A block diagram of the full-automatic pneumatic defrosting device based on visual recognition is provided for some embodiments of the application. Figure 2 A structure schematic diagram of the full-automatic pneumatic defrosting device based on visual recognition for defrosting the cold storage pipe is provided for some embodiments of the application. Figure 3 A structure schematic diagram of the full-automatic pneumatic defrosting device based on visual recognition for defrosting the cold storage pipe is provided for some embodiments of the application. Figure 4 A top view structure schematic diagram of the full-automatic pneumatic defrosting device based on visual recognition is provided for some embodiments of the application. Figure 5 A structure schematic diagram of the full-automatic pneumatic defrosting device based on visual recognition for defrosting the cold storage pipe is provided for some embodiments of the application. Figure 6 A structure schematic diagram of the full-automatic pneumatic defrosting device based on visual recognition for defrosting the cold storage pipe is provided for some embodiments of the application. Figure 7 A structure schematic diagram of the full-automatic pneumatic defrosting device based on visual recognition is provided for some embodiments of the application. Figure 8 A structure schematic diagram of the full-automatic pneumatic defrosting device based on visual recognition is provided for some embodiments of the application. Figure 9 A structure schematic diagram of the full-automatic pneumatic defrosting device based on visual recognition is provided for some embodiments of the application. Figure 10 A block diagram of the full-automatic pneumatic defrosting device based on visual recognition is provided for some embodiments of the application.

[0050] As Figures 1 to 9As shown, the full-automatic visual recognition-based pneumatic defrosting device 1 of the present application can include a recognition element 10, a control element 20, and a pneumatic defrosting device 30. The control element 20 can be signal connected with the recognition element 10 and the pneumatic defrosting device 30, for example, can be electrically connected, and the control element 20 can transmit signals to the recognition element 10 and the pneumatic defrosting device 30 through electrical signals. However, the present application is not limited to this, and in some embodiments, the control element 20 can be WiFi connected or Bluetooth connected with the recognition element 10 and the pneumatic defrosting device 30.

[0051] In the present application, the recognition element 10 can recognize the frost thickness of the cold storage coil 2, and the recognition element 10 can include one or more of a camera, an optical sensor, and an ultrasonic sensor, and can be set specifically according to different cold storage and different cold storage coils to achieve better recognition effect.

[0052] In the present application, the recognition element 10 can have the ability to recognize the cold storage coil 2, for example, the recognition element 10 can continuously recognize without interruption and can continuously deliver signals to the control element 20 without interruption, but the present application is not limited to this, and in some embodiments, the recognition element 10 can recognize intermittently, for example, the recognition element 10 can recognize at regular intervals or at random intervals. In some embodiments, if the frost thickness obtained by the recognition element 10 is greater than or equal to a first threshold value, the control element 20 will control the pneumatic defrosting device 30 to defrost, and in this case, the recognition element 10 can extend the recognition time.

[0053] In some embodiments of the present application, the recognition element 10 can recognize the frost thickness of the cold storage coil 2 through visual recognition. For example, the recognition element 10 can include a camera for obtaining the frost thickness of the cold storage coil 2. The frost thickness of the cold storage coil 2 is obtained by taking a picture of the cold storage coil 2 through the camera. The camera can be a high-definition camera, for example, the high-definition camera is used to take a picture of the on-site condensing pipe, which is compared with the picture when there is no frost, and a relevant model is established to identify the frost thickness of the condensing pipe (cold storage coil).

[0054] In the present application, the recognition element 10 can include a recognition module, which can compare the picture with the picture when there is no frost, and establish a relevant model to identify the frost thickness of the condensing pipe (cold storage coil). However, the present application is not limited to this, and in some embodiments, the recognition element 10 can also deliver the picture to the control element 20, and the recognition module of the control element 20 compares the picture with the picture when there is no frost, and establishes a relevant model to identify the frost thickness of the condensing pipe (cold storage coil).

[0055] In the present application, the picture taken by the camera can be transmitted to a display (for example, the display of the control device) for manual identification of the frost thickness of the cold storage tube 2 by the operator in some embodiments.

[0056] In the present application, the identification element 10 can be a visual identification system, for example, a chip, a circuit or a circuit board with identification function.

[0057] In the present application, the visual identification system can be composed of several parts such as high-definition camera, high-definition camera, industrial computer, large-screen display, embedded computer, etc. Its main function is to take pictures of the condensing tube on site by high-definition camera, compare with the picture when no frost, and establish a relevant model to identify the frost thickness of the condensing tube.

[0058] In the present application, the identification element 10 can identify the frost thickness of the cold storage tube 2 by optical element. For example, the identification element 10 can include an optical sensor which can be arranged on the surface of the cold storage tube 2 to sense the thickness of the frost on the cold storage tube 2.

[0059] For example, the identification element 10 can be an optical sensor which can sense the intensity of ambient light. After frosting, the intensity of light sensed by the optical sensor will decrease, and the intensity of light sensed by the optical sensor will be different for different thickness of frost, so the thickness of frost can be obtained.

[0060] In the present application, the optical sensor can be arranged as a single one, for example, which can be arranged at a position of the cold storage tube 2 where frost is easy to form. The optical sensor can also be arranged as multiple ones, and the multiple optical sensors can be distributed at different positions of the cold storage tube 2 to more accurately obtain the thickness of frost.

[0061] In the present application, the identification element 10 can identify the frost thickness of the cold storage tube 2 by ultrasonic wave. For example, the identification element 10 can include an ultrasonic sensor which emits ultrasonic wave towards the cold storage tube and receives the reflected ultrasonic signal to obtain the thickness of frost on the cold storage tube.

[0062] In the present application, the control element 20 can be an element capable of controlling the pneumatic defrosting device to defrost when the frost thickness of the cold storage tube is higher than or equal to the first threshold value, for example, a chip (main control chip), a circuit board or a circuit. The control element 20 can include one or more of the following: a receiving module for receiving signals transmitted by other elements; a processing module for processing, operating and comparing the received signals, and obtaining the results after processing, operating and comparing; a control module for outputting corresponding signals to other elements according to the results obtained by the processing module to control other elements to perform corresponding operations.

[0063] In the present application, the control element 20 (intelligent control system) is composed of PLC, touch screen, sensor, circuit breaker, relay and the like. The main function of the control element 20 is to obtain the specific position of the trolley through the sensor, and to control the cleaning system and the running driving system.

[0064] As shown in Figure 1 , the control element 20 can receive the frost status (for example, the frost picture) of the refrigeration pipeline 2 input by the recognition element 10, and derive the thickness of the frost according to the frost status, and control the pneumatic defrosting device 30 to defrost based on the thickness of the frost being greater than or equal to the first threshold value.

[0065] In the present application, the first threshold value can be 2mm. The frost thickness less than or equal to 2mm can be considered as the initial stage of frost, in which case the defrosting is relatively easy, the defrosting effect is good and the energy consumption of defrosting can be reduced. The present application is set to start defrosting when the thickness of the frost is greater than or equal to 2mm, and the automatic pneumatic defrosting device based on visual recognition is started when the threshold is exceeded, which is beneficial to energy saving. It should be pointed out that the first threshold value of the present application is not specifically limited and can be set according to the specific conditions of the refrigeration pipeline.

[0066] In the present application, as shown in Figure 1 , after receiving the picture of the refrigeration pipeline 2, the control element 20 can process the picture, extract the picture information, etc. If the picture is not clear or has other problems, the control element 20 can transmit a signal to the recognition element 10 to control the recognition element 10 to take a picture again.

[0067] In the present application, as mentioned above, the recognition element 10 can also directly derive the thickness of the frost or directly derive whether defrosting is needed, and can transmit the thickness or defrosting signal to the control element 20, and the control element 20 can drive the pneumatic defrosting device 30 to defrost accordingly.

[0068] In some embodiments of the present application, the automatic pneumatic defrosting device based on visual recognition 1 can include a control device (not shown), and the recognition element 10 and the control element 20 can be integrated in the control device. The control device can also include a display, and the display can be used to display the information obtained by the recognition element 10 and the control element 20.

[0069] By integrating the recognition element and the control element in the control device, the space can be saved and the circuit layout can be simplified. The display displays the information obtained by the recognition element and the control element, which is helpful to realize manual real-time monitoring of the defrosting condition of the refrigeration pipeline.

[0070] In the present application, the pneumatic defrosting device 30 outputs gas to the refrigeration pipeline to remove the frost on the refrigeration pipeline.

[0071] In some embodiments of the present application, as shown in Figures 1 to 3 The pneumatic defrosting device 30 can include an air compressor and an air cylinder 32, the air inlet of the air cylinder 32 is communicated with the air compressor, and the air outlet 33 of the air cylinder 32 is used to output the gas in the air cylinder 32 to the cold storage pipe 2.

[0072] In the present application, during the defrosting process, the air outlet 33 of the air cylinder 32 can be arranged towards the cold storage pipe 2, the air cylinder 32 is closer to the cold storage pipe 2 than the air compressor, and the air compressor and the air cylinder 32 can be connected by a pipeline, so that the arrangement position of the air cylinder 32 can be more flexible.

[0073] In the present application, the air compressor is arranged to provide gas with a certain pressure, so that the pneumatic defrosting device outputs gas with a certain intensity to improve the defrosting effect.

[0074] In some embodiments of the present application, the pneumatic defrosting device 30 can include a valve, which can be arranged between the air compressor and the air inlet of the air cylinder 32. The valve can be signal connected with the control element 20, and the control element 20 can control the valve to be opened at different degrees according to the different frost thickness of the cold storage pipe 2.

[0075] In the present application, the opening degree is the opening degree of the valve, and the control element 20 can control the valve to be opened at different degrees according to the different frost thickness according to the received signal about the frost thickness, so that the intensity of the blown gas is different. For example, if the frost thickness is low, the opening degree of the valve is low, and the intensity of the blown gas is low, which can reduce the energy consumption while meeting the defrosting effect. If the frost thickness is high, the opening degree of the valve is high, and the intensity of the blown gas is high, which can achieve good defrosting effect.

[0076] In the present application, the control element 20 can control the valve to be opened at different degrees according to the different frost thickness, so as to output gas with different intensities and fine defrosting.

[0077] In some embodiments of the present application, the cold storage pipe 2 has a plurality of pneumatic defrosting devices 30 arranged in parallel, and the plurality of pneumatic defrosting devices 30 correspond to the plurality of cold storage pipes 2. One of the plurality of pneumatic defrosting devices can output gas to the corresponding cold storage pipe 2 to remove the frost on the cold storage pipe 2.

[0078] In the present application, as shown in Figure 3 , Figure 5 and Figure 6As shown, the cold storage pipe 2 can be provided with two rows, the two rows of cold storage pipes 2 are stacked in the third direction Z, and a plurality of pneumatic defrosting devices 30 can be arranged side by side, and one of the plurality of pneumatic defrosting devices can output gas to the cold storage pipes 2 in the corresponding two rows to remove the frost of the cold storage pipes 2.

[0079] The plurality of pneumatic defrosting devices can simultaneously defrost the plurality of pipes synchronously, thereby improving the defrosting efficiency.

[0080] In some embodiments of the present application, as shown, Figures 2 to 10 The full-automatic pneumatic defrosting device 1 based on visual recognition can also include a walking device 40, the walking device 40 can be connected with the pneumatic defrosting device 30, and the walking device 40 can move along the cold storage pipe 2 and drive the pneumatic defrosting device 30 to move.

[0081] In the present application, the walking device 40 can move along the cold storage pipe 2 and drive the pneumatic defrosting device 30 to move, which helps the pneumatic defrosting device 30 to defrost the entire pipe with a certain length, and in addition, for some positions of the pipe that are easy to frost or frost quickly, the walking device 40 can move the pneumatic defrosting device 30 to these positions for targeted defrosting.

[0082] In the present application, as shown, Figures 1 to 10 The walking device 40 can include a second driving device 401, walking wheels 42 and a support 43. The second driving device 401 can be a motor, the second driving device 401 can be signal connected with the control element 20, and the walking wheels 42 are driven to rotate according to the signal transmitted by the control element 20 to realize the movement of the walking device 40.

[0083] In the present application, the support 43 can extend in the first direction X, a plurality of pneumatic defrosting devices 30 are arranged on the support 43, and the plurality of pneumatic defrosting devices 30 are arranged in the first direction X. The pneumatic defrosting device 30 extends in the second direction Y.

[0084] In the present application, a plurality of cold storage pipes 2 are arranged in the first direction X, the cold storage pipe 2 extends in the second direction Y, and the full-automatic pneumatic defrosting device 1 based on visual recognition moves along the second direction Y.

[0085] In the present application, as shown, Figures 2 to 9 The walking wheels 42 can have a pair, and the pair of walking wheels 42 can be arranged at opposite ends of the support 43 respectively. The walking wheels 42 can include a driving sprocket 402 and a driving chain 403. The two sides of the driving sprocket 402 can be designed with guide wheels 404 to prevent the driving sprocket 402 from skipping teeth.

[0086] In the present application, the second driving device 401 can have a pair, and the pair of second driving devices 401 are respectively arranged at opposite ends of the support 43, and respectively control the rotation of the pair of walking wheels 42.

[0087] In the present application, the walking device 40 walking driving system mainly consists of driving motor, driving sprocket, chain and other parts, adopts double-sided double motor design scheme, and electric control synchronization design. The driving sprocket is designed with guide wheels on both sides to prevent chain skipping.

[0088] In some embodiments of the present application, as shown in Figure 2 and Figure 3 , the pneumatic defrosting device 30 can include a rotating mechanism 300, and the air cylinder 32 is arranged in the rotating mechanism 300. The rotating mechanism 300 can drive the air cylinder 32 to rotate to switch the air outlet 33 between the working position A and the avoiding position B. When the air outlet 33 of the air cylinder 32 is in the working position A, the air outlet 33 of the air cylinder 32 faces the cold storage pipe 2, and the interval distance between the air outlet 33 of the air cylinder 32 and the cold storage pipe 2 is less than the interval distance between the air outlet 33 of the air cylinder 32 and the cold storage pipe 2 when the air outlet 33 of the air cylinder 32 is in the avoiding position B.

[0089] In the present application, Figure 5 a schematic diagram of the pneumatic defrosting device 30 defrosting is shown, Figure 5 in which the air outlet 33 in the working position A is shown.

[0090] In the present application, Figure 6 a schematic diagram of the pneumatic defrosting device 30 avoiding during defrosting is shown, Figure 6 in which the air outlet 33 in the avoiding position B is shown. When the air outlet 33 is in the avoiding position B, the air outlet 33 can be arranged in parallel with the cold storage pipe 2.

[0091] In the present application, the air outlet 33 in the avoiding position B and in the working position A can have 90°. But the present disclosure is not limited thereto, and in some embodiments, the air outlet 33 in the avoiding position B and in the working position A can have other angles.

[0092] In the present application, the rotating mechanism 300 can be signal connected with the control element 20, and the rotating mechanism 300 rotates according to the control of the control element 20.

[0093] The cold storage is usually provided with various equipment, devices, components, frozen goods, supports, etc. For example, the cold storage pipe 2 is usually supported by the rack 3. During the movement of the walking device 40, that is, during the defrosting process of the full-automatic visual recognition-based pneumatic defrosting device 1, the pneumatic defrosting device 30 of the full-automatic visual recognition-based pneumatic defrosting device 1 is particularly close to the cold storage pipe 2, and the air cylinder 32 of the pneumatic defrosting device 30 has a risk of colliding with various equipment, devices, components, frozen goods, supports, etc. The rotating mechanism 300 can drive the air cylinder 32 to rotate, thereby achieving obstacle avoidance.

[0094] In some embodiments of the present application, the pneumatic defrosting device 30 can include a first driving device 31, which can be signal-connected with the control element 20. The first driving device 31 can drive the rotating mechanism 300 to rotate according to the control of the control element 20.

[0095] The first driving device 31 can be an electric motor, which can be signal-connected with the control element 20 and drive the push rod assembly to move to drive the air cylinder to rotate and achieve obstacle avoidance according to the signal transmitted by the control element 20. In embodiments with multiple pneumatic defrosting devices 30, each pneumatic defrosting device 30 can have a first driving device. In some embodiments of the present application, as shown in Figure 1 and Figure 6 The full-automatic visual recognition-based pneumatic defrosting device 1 can include a position sensor 50, and the control element 20 can obtain the position of the walking device 40 through the position sensor 50.

[0096] According to the position of the walking device 40 obtained by the position sensor 50, the control element 20 can operate the pneumatic defrosting device 30 to perform defrosting, movement, obstacle avoidance, and other work. The position sensor 50 can be one or more of an optical sensor, an infrared sensor, a camera, etc.

[0097] In some embodiments of the present application, the position sensor 50 can be arranged at the end of the walking device 40 on the walking path, for example, at the end of the walking device 40 in the second direction Y. In this way, the position sensor 50 can obtain the position of the walking device 40 and the obstacle information on the walking path of the walking device 40.

[0098] The position sensor 50 is arranged at the end, which is conducive to accurately obtaining the position of the walking device 40 and more accurately obtaining the distance, size, etc. of the obstacle.

[0099] In the present application, the control element 20 can control the rotating mechanism 300 to rotate to achieve obstacle avoidance according to the information obtained by the position sensor 50.

[0100] In the present application, the full-automatic vision-recognized pneumatic defrosting device 1 comprises an encoder (not shown) which can be arranged on the second driving device 401, and the control element 20 can obtain the position of the walking device 40 through the encoder. The encoder can be a device that encodes signals (such as bit streams) or data into a signal form that can be used for communication, transmission, and storage. The encoder can convert displacement into an electrical signal and transmit the converted electrical signal to the control element 20.

[0101] In some embodiments of the present application, the rotating mechanism 300 can comprise a base 301 and a push rod assembly, one end of the push rod assembly is connected with the walking device 40, and the air cylinder 32 is arranged on the first side of the base 301. The push rod assembly is arranged to be telescopically movable along the cold storage pipe 2 relative to the walking device 40, and when the push rod assembly moves, it can drive the base 301 and the air cylinder 32 to rotate so as to switch the air cylinder 32 between the obstacle avoidance position and the working position.

[0102] In the present application, as shown in Figure 2 , Figure 3 , Figures 5 to 8 , the push rod assembly can comprise a base 321 and a push rod 302, the push rod 302 is contained in the base 321 and can be extended from the base 321 or retracted towards the base 321 to telescopically or reciprocally move in the second direction Y.

[0103] As shown in Figure 7 and Figure 8 , the base 301 can be connected with the walking device 40 through a fixed shaft 310, one end of the push rod assembly is connected with the walking device 40, the other end of the push rod assembly is connected with the base 301, and the push rod 302 of the push rod assembly can be extended to push the base 301 and the air cylinder 32 to rotate and make the air cylinder 32 rotate to the obstacle avoidance position B. In the case of obstacle avoidance, the push rod 302 of the push rod assembly is retracted to drive the base 301 and the air cylinder 32 to rotate around the fixed shaft 310 to return to the working position A.

[0104] As shown in Figure 7 and Figure 8 , the base 301 can rotate around the fixed shaft 310. One side of the base 301 is provided with an air cylinder, and the other side of the base 301 can be connected with the push rod 302 to make the base 301 rotate with the push rod 302.

[0105] In the present application, as shown in Figure 7 , the push rod assembly can be connected with the base 301, and the push rod 302 of the push rod assembly is extended relative to the walking device 40 along the cold storage pipe 2 to drive the base 301 to rotate around the fixed shaft 310, so that the air outlet 33 of the air cylinder 32 is located at the obstacle avoidance position B.

[0106] As shown in Figure 2 andFigure 8 As shown, the push rod 302 of the push rod assembly retracts along the walking device 40 along the cold storage pipe 2 to drive the base 301 to rotate around the fixed shaft 310, so that the air outlet 33 of the air cylinder 32 is located in the working position A. In the present application, Figure 2 As shown, the air outlet 33 of the air cylinder 32 is in the working position A, Figure 8 As shown, the air outlet 33 of the air cylinder 32 is in the working position A, Figure 8 As shown, the air outlet 33 of the air cylinder 32 is in the working position A,

[0107] It should be pointed out that the present application is not limited to the above-mentioned scheme of the push rod driving the base to rotate around the fixed shaft, and in some embodiments, the rotating mechanism can also be other structures as long as it can achieve the rotation of the air cylinder to avoid obstacles. For example, in some embodiments, the rotating mechanism can include a base and an elastic member, and the elastic member can be provided as a pair, one pair of elastic members being located on both sides of the base, the air cylinder being fixed by the pair of elastic members and being driven to rotate by the elongation and shortening of the elastic member. For example, the elastic member is elongated or shortened to drive the air cylinder to rotate to achieve obstacle avoidance, and after passing through the obstacle, the elastic member is shortened or elongated to automatically reset the air cylinder to the working position.

[0108] In the present application, the air outlet 33 of the air cylinder 32 can be aligned with any one of the two in the same column of the two rows of cold storage pipes 2, as long as the blowing range of the air outlet 33 can cover the two cold storage pipes 2.

[0109] In the present application, when the air outlet 33 is in the avoidance position B, the air cylinder 32 can be parallel to the cold storage pipe 2, so that it can pass through smoothly and avoid collision with the rack 3 supporting the cold storage pipe 2. In some embodiments, the air outlet 33 is switched by 90° between the working position A and the avoidance position B, but the present disclosure is not limited to this, and in some embodiments, the air outlet is switched by other angles between the working position and the avoidance position, as long as it can achieve the effect of obstacle avoidance.

[0110] However, the present application is not limited to this, and in some embodiments, when the air outlet 33 is in the avoidance position, the air cylinder 32 can be at an angle to the cold storage pipe 2. For example, the fully automatic pneumatic defrosting device 1 based on visual recognition moves below the cold storage pipe 2 for defrosting, and when the air outlet 33 is in the avoidance position, the air outlet 33 of the air cylinder 32 can be directed away from the cold storage pipe 2, for example, the air cylinder 32 can be at an angle to the cold storage pipe 2 and the air outlet 33 can be directed away from the cold storage pipe 2 and towards the ground.

[0111] The rotating mechanism 300 can drive the air cylinder 32 to rotate so that the air outlet 33 switches between the working position A and the avoiding position B. When the air outlet 33 of the air cylinder 32 is in the working position A, the air outlet 33 of the air cylinder 32 faces the refrigeration duct 2, and the interval distance between the air outlet 33 of the air cylinder 32 and the refrigeration duct 2 is less than the interval distance between the air outlet 33 of the air cylinder 32 and the refrigeration duct 2 when the air outlet 33 of the air cylinder 32 is in the avoiding position B.

[0112] In the present application, the push rod can be an electric push rod.

[0113] In the present application, the push rod assembly is movable along the refrigeration duct 2, and pushes the base 301 and the air cylinder 32 to rotate when moving, which is beneficial to save the space for rotation. Specifically, the movement of the push rod assembly and the movement of the walking device are in the same direction, so that no other space is occupied to realize the rotation of the air cylinder, which is suitable for narrow space near the refrigeration duct.

[0114] In the present application, the pneumatic defrosting device 30 can be composed of an air compressor, an air cylinder, a valve, an air outlet, an air cylinder seat, an electric push rod, a base and the like. The air valve is located on the trolley frame (walking device), and the air cylinder air inlet is connected with the air valve. The air cylinder is connected with the air cylinder seat to form an integral whole, the electric push rod connects the air cylinder seat with the base, and the extension or shortening of the electric push rod can push the air cylinder seat and the air cylinder to overturn as a whole. When the air cylinder is overturned to 90°, the air cylinder can avoid the obstacle of the duct support.

[0115] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the specification herein is for describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising," "having," "including," and "containing" and any variations thereof in the present specification are intended to cover a non-exclusive inclusion; the terms "consisting of" and "consisting essentially of" and any variations thereof in the present specification are intended to cover a complete inclusion.

[0116] In the description of the embodiments of the present application, the technical terms "first", "second", "third" and the like are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the technical features indicated. In the description of the embodiments of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly and specifically limited.

[0117] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily mutually exclusive or alternative embodiments. It is expressly understood that the embodiments described herein are merely examples from a whole class of comparable embodiments which those skilled in the art will readily appreciate. It is also expressly understood that the terms "comprise", "comprising", "comprises", "including", "include", "includes" or any variation thereof are intended to cover a non-exclusive inclusion.

[0118] In the description of the embodiments of the present application, the term "and / or" is merely an association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A existing alone, A and B existing simultaneously, and B existing alone. In addition, the character " / " in this paper generally represents that the front and rear associated objects are "or" relationship.

[0119] In the description of the embodiments of the present application, the technical terms "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "circumferential", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the embodiments of the present application and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed in a particular orientation, be operated or used, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0120] In the description of the embodiments of the present application, unless otherwise explicitly specified and limited, the technical terms "mounting", "connecting", "connecting", "fixing", and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication or interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0121] In the description of the embodiments of the present application, unless otherwise explicitly specified and limited, the technical term "contact" should be understood in a broad sense, which can be direct contact or contact through an intermediate medium layer, which can be contact between two objects in contact without interaction force, or contact between two objects in contact with interaction force.

[0122] The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should be covered in the scope of the claims and the description of the present application. Especially, as long as there is no structural conflict, each technical feature mentioned in each embodiment can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A fully automated vision recognition based pneumatic defrosting device, characterized in that, A defrosting device for defrosting a cold storage tube, comprising: a recognition element for recognizing the frost thickness of the cold storage tube; a pneumatic defrosting device, which outputs gas to the cold storage tube to remove the frost on the cold storage tube; and a control element connected in signal with the recognition element and the pneumatic defrosting device, which controls the defrosting of the pneumatic defrosting device according to whether the frost thickness of the cold storage tube is higher than or equal to a first threshold value.

2. The full-automatic pneumatic defrosting device based on visual recognition according to claim 1, wherein the pneumatic defrosting device comprises an air compressor and an air cylinder, the air inlet of the air cylinder is in communication with the air compressor, and the air outlet of the air cylinder is used to output the gas in the air cylinder to the cold storage tube.

3. The fully automated vision recognition based pneumatic defrosting apparatus as claimed in claim 2, wherein, The defrosting device further comprises: a walking device connected with the pneumatic defrosting device, which is movable along the cold storage tube and drives the pneumatic defrosting device to move.

4. The full-automatic pneumatic defrosting device based on visual recognition according to claim 3, wherein the pneumatic defrosting device comprises a rotating mechanism, the air cylinder is arranged on the rotating mechanism, and the rotating mechanism can drive the air cylinder to rotate to switch the air cylinder between a working position and an avoiding position, the air outlet of the air cylinder faces the cold storage tube when the air cylinder is in the working position, and the interval distance between the air outlet of the air cylinder and the cold storage tube is smaller than the distance interval between the air outlet of the air cylinder and the cold storage tube when the air cylinder is in the avoiding position, wherein the rotating mechanism is connected in signal with the control element, and the rotating mechanism rotates according to the control of the control element.

5. The full-automatic pneumatic defrosting device based on visual recognition according to claim 4, wherein the rotating mechanism comprises a base and a push rod assembly, the push rod assembly is connected with the walking device, the air cylinder is arranged on the base, the base is hinged to the walking device through a fixed shaft, the push rod of the push rod assembly is connected with the base, and the push rod of the push rod assembly is extended to drive the base and the air cylinder to rotate around the fixed shaft to move the air cylinder to the avoiding position; the push rod of the push rod assembly is retracted to drive the base and the air cylinder to rotate around the fixed shaft to return the air cylinder to the working position.

6. The full-automatic pneumatic defrosting device based on visual recognition according to claim 5, wherein when the air outlet of the air cylinder is in the avoiding position, the air cylinder is arranged parallel to the cold storage tube or at an angle.

7. The full-automatic pneumatic defrosting device based on visual recognition according to claim 5, wherein the pneumatic defrosting device comprises a first driving device connected in signal with the control element, which drives the push rod of the push rod assembly to extend or retract to drive the base and the air cylinder to rotate according to the control of the control element.

8. The full-automatic pneumatic defrosting device based on visual recognition according to claim 2, wherein The air defrosting device comprises a valve, which is arranged between the air compressor and the air inlet of the air cylinder, and is electrically connected with the control element, which is used to control the valve to open at different opening degrees according to the different frost thicknesses of the cold storage pipes.

9. The full-automatic visual recognition-based pneumatic defrosting device according to any one of claims 1-8, characterized in that, The cold storage pipes are arranged in multiple, and the air defrosting devices are arranged in multiple, the air defrosting devices are arranged side by side, and the air defrosting devices correspond to the cold storage pipes, and the air defrosting devices output air to the corresponding cold storage pipes to remove the frost on the cold storage pipes.

10. The full-automatic visual recognition-based pneumatic defrosting device according to any one of claims 1-8, characterized in that, The recognition element comprises a camera, which is used to acquire the frost thickness of the cold storage pipes; And / or The recognition element comprises an optical sensor, which is arranged on the surface of the cold storage pipes to sense the thickness of the frost on the cold storage pipes; and / or The recognition element comprises an ultrasonic sensor, which emits ultrasonic waves towards the cold storage pipes and receives reflected ultrasonic signals to acquire the thickness of the frost on the cold storage pipes.

11. The full-automatic visual recognition-based pneumatic defrosting device according to claim 3, characterized in that, The full-automatic visual recognition-based pneumatic defrosting device comprises a position sensor, and the control element acquires the position of the walking device through the position sensor; and / or The walking device comprises a second driving device, which drives the walking device to move according to the signal transmitted by the control element, and the full-automatic visual recognition-based pneumatic defrosting device comprises an encoder, which is arranged on the second driving device, and the control element acquires the position of the walking device through the encoder.

12. The full-automatic visual recognition-based pneumatic defrosting device according to claim 11, characterized in that, The position sensor is arranged on the end of the walking device on the walking path, and is used to acquire the position of the walking device and the obstacle information on the walking path of the walking device.

13. The full-automatic visual recognition-based pneumatic defrosting device according to any one of claims 1-8, characterized in that, The full-automatic visual recognition-based pneumatic defrosting device comprises a control device, and the recognition element and the control element are integrated in the control device, The control device further comprises a display, which is used to display the information acquired by the recognition element and the control element.

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