Multispectral camera fused intelligent inspection robot system

Abstract

The utility model relates to a multispectral camera fused intelligent inspection robot system, which comprises an intelligent inspection robot capable of autonomously advancing and a host arranged on the intelligent inspection robot, a support mechanism capable of stretching up and down is arranged at the top of the intelligent inspection robot, and a color image acquisition device and a thermal infrared image acquisition device are arranged at the top of the support mechanism. And the output end of the color image acquisition device and the output end of the thermal infrared image acquisition device are electrically connected with the input end of the host. The host can utilize images acquired by the color image acquisition device and the thermal infrared image acquisition device to perform registration so as to obtain a temperature distribution result of the surface of a living organism, and inspection personnel can accurately and quickly find abnormal conditions of livestock and poultry, so that the inspection efficiency and accuracy are improved; and moreover, the time for the inspection personnel to stay in a bad environment in the livestock and poultry farm can be greatly shortened.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of livestock intelligent perception technology, especially a kind of intelligent inspection robot system of multispectral camera fusion. BACKGROUND

[0002] Livestock breeding industry is a major industry supporting China's national economy, and high-quality consumer demand and scarce labor resources promote the transformation of livestock breeding industry to information, refinement and intelligence, and the demand for intelligent monitoring technology of livestock physiological health status is particularly urgent. Among them, the multi-source image fusion technology of livestock is crucial.

[0003] Chinese invention patent application CN202110776643.5 discloses a chicken three-dimensional reconstruction method containing RGBDT information, which constructs a chicken point cloud model containing RGBDT information, solves the registration problem of visible light and thermal infrared image, and uses adaptive aggregation network AANet+ for stereo matching, improves the robustness of the algorithm, and the chicken point cloud model containing RGBDT information can intuitively reflect the color of chicken feathers, the temperature of each part and the body shape, to realize automatic and intelligent management of breeding process.

[0004] However, there is still a lack of intelligent inspection equipment based on multi-source image fusion technology for detecting living organisms in livestock breeding sites. UTILITY MODEL CONTENT

[0005] The utility model solves the technical problems that the present application provides a kind of intelligent inspection robot system of multispectral camera fusion.

[0006] The utility model solves the technical problems that the present application provides a kind of intelligent inspection robot system of multispectral camera fusion.

[0007] Preferably, the multispectral camera fusion intelligent inspection robot system further comprises a switch, the output end of the color image acquisition device and the output end of the thermal infrared image acquisition device are electrically connected with the input end of the switch, and the output end of the switch is electrically connected with the input end of the host. The switch can be used for fast transmission of multi-source data.

[0008] Preferably, the multispectral camera fusion intelligent inspection robot system further comprises a terminal module and a cloud module, the output end of the host computer is signal connected with the input end of the terminal module, and the output end of the host computer is signal connected with the input end of the cloud module. In the embodiment, the host computer is configured to: register the image data output by the color image acquisition device and the thermal infrared image acquisition device to obtain the temperature distribution result of the living organism surface; the data received by the host computer and the temperature distribution result of the living organism surface obtained by registration can be saved in the cloud module; and the data received by the host computer and the temperature distribution result of the living organism surface obtained by registration can be sent to the terminal module, so that the staff can know the situation in the livestock and poultry breeding site even without entering the livestock and poultry breeding site.

[0009] Preferably, the thermal infrared image acquisition device comprises a thermal infrared camera with a resolution of 384*288px. The multispectral camera fusion intelligent inspection robot system is equipped with a thermal infrared camera with a resolution of 384*288px, which has a high-pixel-density thermal infrared sensor and can accurately measure the temperature distribution of the living organism surface and the environment.

[0010] Preferably, the color image acquisition device comprises a color camera with a resolution of 1920*1080px. The multispectral camera fusion intelligent inspection robot system is equipped with a color camera with a resolution of 1920*1080px, which can capture rich details of the living organism and the surrounding environment and provide data in JPEG image format; the color camera has functions such as automatic focusing and exposure compensation, ensuring that high-quality color images can be obtained under different lighting conditions.

[0011] Preferably, the lenses of the color image acquisition device and the thermal infrared image acquisition device are both directed to the left side of the direction in which the intelligent inspection robot travels; or the lenses of the color image acquisition device and the thermal infrared image acquisition device are both directed to the right side of the direction in which the intelligent inspection robot travels. With the above scheme, during the travel of the intelligent inspection robot, the color image acquisition device and the thermal infrared image acquisition device collect images of livestock and poultry on one side of the travel path of the intelligent inspection robot, and the images collected by the thermal infrared image acquisition device and the color image acquisition device have high matching degree, which facilitates the registration of the host computer.

[0012] Preferably, the color image acquisition device comprises two color camera lenses corresponding to the left and right sides of the intelligent inspection robot traveling direction respectively; the thermal infrared image acquisition device comprises two thermal infrared camera lenses corresponding to the left and right sides of the intelligent inspection robot traveling direction respectively. With the above scheme, during the traveling of the intelligent inspection robot, the color image acquisition device and the thermal infrared image acquisition device can inspect the livestock and poultry on both sides of the intelligent inspection robot traveling path, which is more efficient than single side inspection.

[0013] Preferably, the support mechanism comprises a fixed rod fixedly connected to the intelligent inspection robot, an upper end of the fixed rod being provided with a downwardly extending connecting hole; a movable rod movably inserted into the connecting hole; a support plate located at the top of the movable rod and provided with the color image acquisition device and the thermal infrared image acquisition device; and a positioning member provided on the fixed rod and used for fixing the height of the movable rod. Since the heights of livestock and poultry in different livestock and poultry breeding sites are different, or in the same livestock and poultry breeding site, livestock and poultry are divided into multiple layers; for the above situation, the support mechanism needs to be adjusted to the corresponding height, so that the color image acquisition device and the thermal infrared image acquisition device are directly opposite the livestock and poultry.

[0014] Preferably, a display is provided on the fixed rod, and an output end of the host is electrically connected to an input end of the display. The display can be used to display the temperature distribution result of the living body surface obtained by the host.

[0015] Preferably, the multispectral camera fusion intelligent inspection robot system further comprises a laser radar and a controller, the laser radar is arranged at the front end of the intelligent inspection robot, and the controller is used for controlling the traveling speed and direction of the intelligent inspection robot; an output end of the laser radar is electrically connected to an input end of the host, and an output end of the host is electrically connected to an input end of the controller. The laser radar sends the collected data to the host, and the host can complete self positioning and environment map construction at the same time through the SLAM algorithm, and further plan the traveling path and help the intelligent inspection robot avoid obstacles, so as to realize autonomous traveling.

[0016] The intelligent inspection robot moves anywhere when working, so it is not suitable for connection and insertion of a fixed power supply. Preferably, a mobile power supply is further provided on the intelligent inspection robot. The mobile power supply provides continuous power supply for each power consumption component on the intelligent inspection robot.

[0017] Compared with existing technologies, the advantages of this invention are as follows: The intelligent inspection robot system of this invention uses a color image acquisition device and a thermal infrared image acquisition device. The host computer registers the images acquired by the color image acquisition device and the thermal infrared image acquisition device to obtain the temperature distribution results on the surface of living organisms. This allows inspection personnel to quickly identify abnormal temperature areas in livestock and poultry farms based on the temperature distribution results, thereby accurately and quickly detecting abnormal conditions in livestock and poultry. This invention's multispectral camera fusion intelligent inspection robot system not only improves inspection efficiency and accuracy but also significantly reduces the time inspection personnel spend in livestock and poultry farms or adverse environments. Furthermore, this invention's multispectral camera fusion intelligent inspection robot system is equipped with a vertically extendable support mechanism, making it suitable for inspecting livestock and poultry at different heights, thus having a wide range of applications. Attached Figure Description

[0018] Fig. 1 This is a schematic diagram showing the connection relationship of each component in the intelligent inspection robot system in this embodiment of the utility model;

[0019] Fig. 2 This is a partial structural schematic diagram of the intelligent inspection robot in an embodiment of this utility model. Detailed Implementation

[0020] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0021] like Figs. 1-2 The present invention is shown as a preferred embodiment of the intelligent inspection robot system based on multispectral camera fusion. The intelligent inspection robot system based on multispectral camera fusion includes an intelligent inspection robot that can move autonomously and a terminal module 9 and a cloud module 10 that are electrically connected to the intelligent inspection robot.

[0022] The intelligent inspection robot is provided with a host computer 1, a supporting mechanism 2, a color image acquisition device 3, a thermal infrared image acquisition device 4, a switch 5, a display 6, a laser radar 7 and a controller. Specifically, the intelligent inspection robot comprises a chassis 101 and a tire 102 rotatably connected to the chassis 101, the switch 5 and the host computer 1 are arranged on the chassis 101, and the host computer 1 is located above the switch 5; a supporting mechanism 2 that can be extended up and down is arranged on the chassis 101 behind the switch 5, the supporting mechanism 2 comprises a fixed rod 21, a movable rod 22, a supporting plate 23 and a positioning piece 24, the fixed rod 21 is fixedly connected to the chassis 101, the upper end of the fixed rod 21 is provided with a connecting hole (not shown in the figure) extending downward, the movable rod 22 is movably inserted into the connecting hole, the top of the movable rod 22 is provided with the supporting plate 23, and the supporting plate 23 is provided with the color image acquisition device 3 and the thermal infrared image acquisition device 4; wherein the positioning piece 24 is arranged on the fixed rod 21, and after the movable rod 22 is moved up and down to a target height in the connecting hole, the positioning piece 24 can fix the height of the movable rod 22. In the livestock and poultry breeding site, the height of the livestock and poultry is different, and the inspection personnel can adjust the positioning piece to adjust the supporting plate 23 to the corresponding height of the livestock and poultry so that the color image acquisition device 3 and the thermal infrared image acquisition device 4 face the livestock and poultry.

[0023] The output end of the color image acquisition device 3 and the output end of the thermal infrared image acquisition device 4 are electrically connected with the input end of the switch 5, and the output end of the switch 5 is electrically connected with the input end of the host computer 1. The switch 5 can be used for fast transmission of multi-source data; the host computer 1 performs registration according to the image data output by the color image acquisition device 3 and the thermal infrared image acquisition device 4 to obtain the temperature distribution result of the surface of the living body, help the inspection personnel to timely find the abnormal condition of the living body, and improve the inspection efficiency and accuracy.

[0024] In the embodiment, the thermal infrared image acquisition device 4 is a thermal infrared camera with a resolution of 384*288px; and the color image acquisition device 3 is a color camera with a resolution of 1920*1080px. The multispectral camera fusion intelligent inspection robot system is provided with a thermal infrared camera with a resolution of 384*288px, the thermal infrared camera has a high-pixel-density thermal infrared sensor and can accurately measure the temperature distribution of the surface of the living body and the environment. The multispectral camera fusion intelligent inspection robot system is provided with a color camera with a resolution of 1920*1080px, which can capture rich details of the living body and the surrounding environment and provide data in JPEG image format; the color camera has functions of automatic focusing and exposure compensation, and can ensure that high-quality color images are obtained under different light conditions.

[0025] In addition, the chassis 101 is provided with a laser radar 7 in front of the switch 5, and a controller (not shown in the figure) for controlling the tires 102 is arranged inside the chassis 101, which can control the speed and direction of the intelligent inspection robot; the output end of the laser radar 7 is electrically connected with the input end of the host computer 1, and the output end of the host computer 1 is electrically connected with the input end of the controller. The laser radar 7 sends the collected data to the host computer 1, and the host computer 1 uses the SLAM algorithm to enable the intelligent inspection robot to complete self-positioning and environment map construction at the same time, and provide path planning; the host computer 1 transmits the path planning information to the controller to control the intelligent inspection robot.

[0026] When the intelligent inspection robot works, the color image acquisition device 3 and the thermal infrared image acquisition device 4 acquire image data of livestock and poultry on both sides of the intelligent inspection robot travel path. The color image acquisition device 3 has two color camera lenses, and the two color camera lenses correspond to the left and right sides of the intelligent inspection robot travel direction respectively; the thermal infrared image acquisition device 4 has two thermal infrared camera lenses, and the two thermal infrared camera lenses correspond to the left and right sides of the intelligent inspection robot travel direction respectively. With the above scheme, during the intelligent inspection robot travels, the color image acquisition device 3 and the thermal infrared image acquisition device 4 simultaneously inspect the livestock and poultry on both sides of the intelligent inspection robot travel path, improving the inspection efficiency.

[0027] In addition, the output end of the host computer 1 is signal connected with the input end of the terminal module 9, and the output end of the host computer 1 is signal connected with the input end of the cloud module 10. The data received by the host computer and the temperature distribution result of the living body surface obtained by registration can be saved in the cloud module 10; the data received by the host computer and the temperature distribution result of the living body surface obtained by registration can be sent to the terminal module 9, so that the inspection personnel can know the situation in the livestock and poultry breeding site outside the livestock and poultry breeding site. At the same time, the fixed rod 21 is provided with a display 6, and the input end of the display 6 is electrically connected with the output end of the host computer 1. The display 6 can be used to display the temperature distribution result of the living body surface obtained by the host computer.

[0028] Because the intelligent inspection robot moves everywhere when it works, it is not suitable to be connected to the fixed power supply. The intelligent inspection robot is also provided with a mobile power supply 8, which is responsible for providing continuous power supply for each power consumption component on the intelligent inspection robot.

Claims

1. A multispectral camera fused intelligent inspection robot system, characterized in that: The application relates to an intelligent inspection robot capable of autonomous travel and a host (1) arranged on the intelligent inspection robot, wherein a support mechanism (2) capable of up-down telescopic movement is arranged on the top of the intelligent inspection robot, a color image acquisition device (3) and a thermal infrared image acquisition device (4) are arranged on the top of the support mechanism (2), and the output ends of the color image acquisition device (3) and the thermal infrared image acquisition device (4) are electrically connected with the input end of the host (1) respectively.

2. The multispectral camera fused intelligent patrol robot system of claim 1, wherein: A switch (5) is further arranged, and the output ends of the color image acquisition device (3) and the thermal infrared image acquisition device (4) are electrically connected with the input end of the switch (5), and the output end of the switch (5) is electrically connected with the input end of the host (1).

3. The multispectral camera fused intelligent patrol robot system of claim 1, wherein: A terminal module (9) and a cloud module (10) are further arranged, the output end of the host (1) is signal-connected with the input end of the terminal module (9), and the output end of the host (1) is signal-connected with the input end of the cloud module (10).

4. The multispectral camera fused intelligent patrol robot system of claim 1, wherein: The thermal infrared image acquisition device (4) comprises a thermal infrared camera with a resolution of 384*288px, and the color image acquisition device (3) comprises a color camera with a resolution of 1920*1080px.

5. The multispectral camera fused intelligent patrol robot system of claim 1, wherein: The lenses of the color image acquisition device (3) and the thermal infrared image acquisition device (4) are both directed to the left side of the travel direction of the intelligent inspection robot, or the lenses of the color image acquisition device (3) and the thermal infrared image acquisition device (4) are both directed to the right side of the travel direction of the intelligent inspection robot.

6. The multispectral camera fused intelligent patrol robot system of claim 5, wherein: The color image acquisition device (3) comprises two color camera lenses, and the two color camera lenses are respectively directed to the left side and the right side of the travel direction of the intelligent inspection robot. The thermal infrared image acquisition device (4) comprises two thermal infrared camera lenses, and the two thermal infrared camera lenses are respectively directed to the left side and the right side of the travel direction of the intelligent inspection robot.

7. The multispectral camera fused intelligent roving robot system of claim 1, wherein: The support mechanism (2) comprises: A fixed rod (21) is fixedly connected with the intelligent inspection robot, and the upper end of the fixed rod (21) is provided with a connecting hole extending downward; An active rod (22) is movably inserted into the connecting hole of the fixed rod; A support plate (23) is arranged on the top of the active rod (22), and the support plate (23) is provided with the color image acquisition device (3) and the thermal infrared image acquisition device (4); A positioning member (24) is arranged on the fixed rod (21) and used for fixing the height of the active rod (22).

8. The multispectral camera fused intelligent patrol robot system of claim 7, wherein: A display (6) is arranged on the fixed rod (21), and the output end of the host (1) is electrically connected with the input end of the display (6).

9. The multispectral camera fused intelligent roving robot system of claim 1, wherein: A laser radar (7) and a controller for controlling the travel speed and the travel direction of the intelligent inspection robot are further arranged, the laser radar (7) is arranged on the front end of the intelligent inspection robot, the output end of the laser radar (7) is electrically connected with the input end of the host (1), and the output end of the host (1) is electrically connected with the input end of the controller.

10. The multispectral camera fused intelligent patrol robot system of claim 9, wherein: A mobile power supply (8) is further arranged on the intelligent inspection robot.

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