Mobile robot for grain depot inspection and gas concentration identification system

Abstract

The utility model relates to technical field of image recognition discloses a kind of mobile robot and gas concentration identification system for granary inspection, comprising: walking car, with self-driving force, for providing bearing base;Telescopic link, with vertical posture fixed in the walking car, and with the adjusting end for moving in vertical direction;Rotary joint, fixed in the adjusting end, and with the first attitude and second attitude of different elevation angle;Visible light camera, fixed with the rotary joint;Infrared camera, fixed with the rotary joint;Gas concentration sensor, fixed with the walking car;Forward-looking camera sensor, fixed in the walking car front side;Communication device, fixed with the walking car and signal connection.In the scheme, the photo with sensor reading is obtained by walking car, to obtain accurate and clear reading, and the current gas concentration is obtained by gas concentration sensor, to assist in determining whether to enter personnel.

Description

Technical Field

[0001] This utility model relates to the technical field of image recognition, and in particular to a mobile robot for grain warehouse inspection and a gas concentration recognition system. Background Technology

[0002] Grain warehouses are enclosed spaces and are fumigated with phosphine gas to kill pests. Traditional grain warehouse inspections rely on staff entering the warehouse to take photos and obtain sensor readings. However, the types of gases other than oxygen in grain warehouses are complex, and there are safety hazards if personnel enter rashly. In addition, there are complex lighting conditions, tilted instrument installation angles, and image noise interference in grain warehouses, which affect the accuracy of sensor readings. Utility Model Content

[0003] In view of this, the present invention provides a mobile robot for grain warehouse inspection. The robot obtains photos with sensor readings through a walking vehicle to obtain accurate and clear readings, and obtains the current gas concentration through a gas concentration sensor to help determine whether personnel can enter.

[0004] To achieve the above objectives, this utility model provides the following technical solution:

[0005] A mobile robot for grain warehouse inspection includes:

[0006] A mobile vehicle, which is self-powered, is used to provide a load-bearing foundation;

[0007] The telescopic pole is fixed to the traveling vehicle in a vertical position and has an adjustment end for moving in the vertical direction;

[0008] The joint is rotated and fixed to the adjustment end, and has a first posture and a second posture with different elevation angles;

[0009] A visible light camera is fixed to the rotating joint and moves synchronously with the rotating joint. The visible light camera is used to acquire real-world images of the front of the vehicle.

[0010] An infrared camera is fixed to the rotating joint and moves synchronously with the rotating joint. The infrared camera is used to acquire infrared images of the front of the vehicle.

[0011] A gas concentration sensor is fixed to the vehicle and used to acquire information about the gas concentration in the environment.

[0012] A forward-facing camera sensor is fixed to the front of the vehicle and is used to acquire real-world video of the front of the vehicle.

[0013] The communication device is fixed to the vehicle and is connected to the visible light camera, the infrared camera, the gas concentration sensor, and the forward-looking camera sensor.

[0014] Preferably, the traveling vehicle is equipped with an external bracket, and there are two external brackets located on both sides of the telescopic rod.

[0015] Preferably, the roof of the vehicle has an inwardly extending gas channel, and the gas concentration sensor is fixed inside the vehicle and exposed to the outside through the gas channel.

[0016] Preferably, the vehicle includes a tracked walking mechanism.

[0017] Preferably, the tracked traveling mechanism has a front side in the straight travel direction, and the infrared camera, the visible light camera, and the forward-looking camera sensor are all arranged facing the front side of the tracked traveling mechanism.

[0018] Preferably, the communication device is fixed inside the vehicle and located at the rear of the vehicle.

[0019] This utility model also provides a gas concentration identification system, applied to the aforementioned mobile robot used for grain warehouse inspection, comprising:

[0020] The image ROI extraction unit is used to extract the digital display area from the scene image;

[0021] An image correction unit is used to perform perspective transformation on the digital display area and output a regular front view to provide a standardized image.

[0022] The illumination normalization and binarization unit is used to perform illumination equalization processing on the standardized image and separate the digital region from the background region through adaptive thresholding and morphological operations to generate a binary image.

[0023] The digital tube segmentation and recognition unit is used to segment the binary image into individual digital tube regions according to a certain ratio, and output the gas concentration value after digital decoding based on seven-segment code feature matching.

[0024] Preferably, the image ROI extraction unit is configured to extract the ROI region of the instrument in a specified coordinate manner and adjust the scaling ratio according to the original size of the ROI region.

[0025] Preferably, the image correction unit is configured to calibrate and arrange the four corner points of the digital display area in a fixed order, calculate the perspective transformation matrix based on the sorted corner point coordinates and the preset output size, and correct the digital display area into a regular front view through perspective transformation.

[0026] Preferably, the digital tube segmentation and recognition unit is configured to add left and right black border compensation to the binary image, divide it into n digital tube regions according to the n equal division ratio, extract the seven-segment code features of each digital tube region, match and generate the corresponding numbers, and concatenate them to convert them into the gas concentration value.

[0027] As can be seen from the above technical solution, the gas concentration identification system provided by this utility model remotely controls the movement of a walking vehicle via a communication device, which in turn moves a telescopic pole, a rotating joint, a visible light camera, an infrared camera, a gas concentration sensor, and a forward-looking camera sensor. The movement of the forward-looking camera sensor can transmit the current environment to the control terminal via the communication device for the user to assist in operating the walking vehicle. The telescopic pole can adjust the height of the visible light camera and the infrared camera, and the rotating joint can adjust the angle of the visible light camera and the infrared camera to make the final imaging effect clearer and easier for the user to distinguish the readings. The gas concentration sensor can sense the target gas concentration at the location of the walking vehicle, making it easier for the user to determine whether it is possible to enter the environment where the walking vehicle is located to perform other operations. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram illustrating the structure of a mobile robot used for grain warehouse inspection, according to one embodiment.

[0030] Figure 2 This is a structural block diagram illustrating a gas concentration identification system according to one embodiment;

[0031] Figure 3 This is a flowchart illustrating a gas concentration identification method according to one embodiment.

[0032] Figure label:

[0033] 1. Image ROI extraction unit; 2. Image correction unit; 3. Illumination normalization and binarization unit; 4. Digital tube segmentation and recognition unit; 5. Walking vehicle; 51. Platform; 52. Tracked walking mechanism; 53. Telescopic rod; 54. Adjustment end; 55. Rotary joint; 56. Gas channel; 57. Communication device; 58. External bracket; 6. Visible light camera; 61. Infrared camera; 62. Gas concentration sensor; 63. Forward-looking camera sensor. Detailed Implementation

[0034] This utility model discloses a mobile robot and a gas concentration identification system for grain warehouse inspection. It obtains accurate and clear readings by taking pictures through a mobile vehicle and obtains the current gas concentration through a gas concentration sensor to help determine whether personnel can enter.

[0035] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0036] This disclosure provides, in exemplary embodiments, a mobile robot for grain warehouse inspection and a gas concentration identification system, such as... Figure 1 As shown, Figure 1 This is a schematic diagram illustrating the structure of a mobile robot used for grain warehouse inspection, according to one embodiment. Figure 2 This is a structural block diagram illustrating a gas concentration identification system according to one embodiment; Figure 3 This is a flowchart illustrating a gas concentration identification method according to one embodiment. The following is in conjunction with... Figures 1 to 3 To explain.

[0037] The specific embodiments described below are intended to help those skilled in the art understand this embodiment, but this embodiment is not limited to the specific embodiments described below.

[0038] This disclosure provides an embodiment of a mobile robot for grain warehouse inspection, referring to... Figure 1 Mobile robots used for grain warehouse inspection include:

[0039] The traveling vehicle 5 is self-powered and is used to provide a load-bearing foundation;

[0040] The telescopic pole 53 is fixed to the traveling vehicle 5 in a vertical position and has an adjustment end 54 for moving in the vertical direction;

[0041] Rotate joint 55, fixed to adjustment end 54, and have a first posture and a second posture with different elevation angles;

[0042] Visible light camera 6 is fixed to rotating joint 55 and moves synchronously with rotating joint 55. Visible light camera 6 is used to acquire real-world images in front of the traveling vehicle 5.

[0043] Infrared camera 61 is fixed to rotating joint 55 and moves synchronously with rotating joint 55. Infrared camera 61 is used to acquire infrared images in front of the traveling vehicle 5.

[0044] Gas concentration sensor 62 is fixed to the mobile vehicle 5 and used to acquire information on the gas concentration in the environment;

[0045] A forward-facing camera sensor 63 is fixed to the front of the vehicle 5 and is used to acquire real-world video of the front of the vehicle 5.

[0046] The communication device 57 is fixed to the vehicle 5 and is connected to the visible light camera 6, the infrared camera 61, the gas concentration sensor 62, and the forward-looking camera sensor 63.

[0047] For example, refer to Figure 1 The traveling vehicle 5 includes a tracked walking mechanism 52 for movement and a platform 51 as a support base. A telescopic rod 53 includes a vertically arranged electric push rod. The bottom end of the telescopic rod 53 is fixed to the top surface of the platform 51, and the top end of the telescopic rod 53 extends vertically upward to form an adjustment end 54. The traveling vehicle 5 is divided into a front and rear side based on its straight-line movement direction. A rotating joint 55 is fixed to the side wall of the top end of the telescopic rod 53 and faces the front of the traveling vehicle 5. The rotation axis of the rotating joint 55 is transverse and perpendicular to the straight-line movement direction of the traveling vehicle 5. The rotating joint 55 achieves switching between a first and a second posture through rotation. A visible light camera 6 is fixedly connected to the side of the rotating joint 55 away from the telescopic rod 53 and faces the front of the traveling vehicle 5. An infrared camera 61 is also fixedly connected to this side of the rotating joint 55 and located below the visible light camera 6. The visible light camera 6 and the infrared camera 61 rotate synchronously with the rotation of the rotating joint 55, thereby capturing images from different angles and areas. The top surface of the traveling vehicle 5 has an inwardly extending gas channel 56. A gas concentration sensor 62 is fixed inside the traveling vehicle 5 and exposed to the outside through the gas channel 56. Specifically, the gas channel 56 is located on the top surface of the platform 51 and extends inward. The gas concentration sensor 62 is fixedly connected to the bottom end of the gas channel 56 inside the platform 51. There are two gas channels 56, both located on the side of the platform 51 closest to the front of the traveling vehicle 5. The two gas channels 56 are spaced apart on both sides of the telescopic rod 53 on the platform 51. Similarly, there are two gas concentration sensors 62, each fixed inside one of the two gas channels 56. A forward-looking camera sensor 63 is bolted to the side wall of the platform 51 corresponding to the front of the traveling vehicle 5 and is positioned facing the direction of travel when the traveling vehicle 5 is moving in a straight line. A communication device 57 is fixedly connected inside the platform 51 and located on the side of the platform 51 corresponding to the rear of the traveling vehicle 5, thus forming a counterweight to prevent the traveling vehicle 5 from tilting forward. The traveling vehicle 5 is fixed with an external bracket 58. There are two external brackets 58, which are bolted to the top surface of the platform 51 on both sides of the telescopic rod 53. The structure of the external bracket 58 is not limited. For example, when additional shooting devices are required under the current working conditions, the external bracket 58 can be a sleeve structure for fixing the camera, used to cover and bind the camera. When the working conditions require additional power, the external bracket 58 can be a box structure for fixing the battery.

[0048] The telescopic pole 53, rotating joint 55, visible light camera 6, infrared camera 61, gas concentration sensor 62, forward-looking camera sensor 63, and communication device 57 can all have their own power supply or be connected to the same external power supply, for example, the aforementioned electrical components can be powered by the traveling vehicle 5.

[0049] In this embodiment, the communication device 57 remotely controls the movement of the walking vehicle 5, which in turn moves the telescopic rod 53, the rotating joint 55, the visible light camera 6, the infrared camera 61, the gas concentration sensor 62, and the forward-looking camera sensor 63. The movement of the forward-looking camera sensor 63 can transmit the current environment to the control terminal via the communication device 57 for the user to assist in operating the walking vehicle 5. The telescopic rod 53 can adjust the height of the visible light camera 6 and the infrared camera 61, and the rotating joint 55 can adjust the angle of the visible light camera 6 and the infrared camera 61, making the final imaging effect clearer and easier for the user to distinguish the readings. The gas concentration sensor 62 can sense the target gas concentration at the location of the walking vehicle 5, which helps the user determine whether it is possible to enter the environment where the walking vehicle 5 is located to perform other operations.

[0050] One embodiment of this disclosure also provides a gas concentration identification system for a mobile robot used in grain warehouse inspection, referring to... Figure 2 The gas concentration identification system includes:

[0051] Image ROI extraction unit 1 is used to extract the digital display area from the scene image;

[0052] Image correction unit 2 is used to perform perspective transformation on the digital display area and output a regular front view to provide a standardized image;

[0053] The illumination normalization and binarization unit 3 is used to perform illumination equalization processing on the standardized image and separate the digital region from the background region through adaptive thresholding and morphological operations to generate a binary image.

[0054] The digital tube segmentation and recognition unit 4 is used to segment the binary image into individual digital tube regions according to the proportion, and output the gas concentration value after digital decoding based on seven-segment code feature matching.

[0055] For example, refer to Figure 1 and Figure 2 Image ROI extraction unit 1 is configured to extract the ROI region of the instrument using specified coordinates. For example, considering the fixed position of the instrument in the captured image, the ROI region of the instrument's digital display area is extracted using a coordinate-specified method, and a boundary check mechanism is used to avoid image cropping errors caused by coordinate out-of-bounds errors.

[0056] Image ROI extraction unit 1 is also configured to adjust the scaling ratio according to the original size of the ROI region. For example, the scaling ratio is adaptively adjusted according to the original size of the ROI region: when the maximum side length of the ROI is less than 600 pixels, a 2x scale magnification is used based on a bicubic interpolation algorithm to ensure that the details of the digital display area are clear and to provide sufficient resolution support for subsequent processing.

[0057] Image correction unit 2 is configured to calibrate and arrange the four corner points of the digital display area in a fixed order. For example, the coordinates of the four corner points of the instrument's digital display area within the ROI area are pre-calibrated, and the disordered corner points are arranged in a fixed order of "top left - top right - bottom right - bottom left" using a corner point sorting algorithm to ensure the consistency of the transformation reference. In other embodiments, the arrangement order can also be other, as long as the order is fixed.

[0058] Image correction unit 2 calculates the perspective transformation matrix based on the sorted corner coordinates and the preset output size, and corrects the digital display area into a regular front view through perspective transformation, thereby eliminating the influence of angle deviation on subsequent unit processing. The corrected image size is standardized to ensure the uniformity of the digital display area shape under different shooting scenarios.

[0059] The illumination normalization and binarization unit 3 applies color space conversion methods (RGB space and LAB space) and contrast-limited adaptive histogram equalization algorithm (CLAHE) to the standardized image to equalize the brightness channel of the standardized image, thereby suppressing interference such as uneven illumination and reflection in the grain warehouse and improving image contrast.

[0060] The digital tube segmentation and recognition unit 4 is configured to add left and right black border compensation to the binary image, and divide it into n digital tube regions according to an n-equal ratio. After extracting the seven-segment code features of each digital tube region, it matches and generates the corresponding numbers, which are then concatenated and converted into gas concentration values. For example, existing 3-digit digital tubes have the problem of uneven display area segmentation. The digital tube segmentation and recognition unit 4 is used to add fixed-width black borders on the left and right sides of the binary image, and based on the compensated image width, divide it into 3 independent digital tube regions in a 1:1:1 ratio to ensure that the aspect ratio of each digital tube is consistent, providing standardized input for seven-segment code feature extraction.

[0061] The mobile robot for grain warehouse inspection disclosed in this application has a control device. The control device can be a control unit integrated in the walking vehicle 5, or a control center that is connected to the mobile robot for grain warehouse inspection disclosed in this application via a communication component 57. The gas concentration identification system disclosed in this embodiment can be built into the aforementioned control unit or the aforementioned control center.

[0062] In this embodiment, the image ROI extraction unit 1 accurately captures the digital display area of ​​the gas monitoring instrument, reducing interference from irrelevant backgrounds; the image correction unit 2 solves the image tilt problem caused by shooting angle deviation; the illumination normalization and binarization unit 3 achieves efficient separation of the digital area from the background; and the digital tube segmentation and recognition unit 4 extracts features and generates the required sensor readings.

[0063] Reference Figure 3 This disclosure also provides a gas concentration identification method, adapted to the gas concentration identification system disclosed in this application, and applied to a mobile robot for grain warehouse inspection, to explain the gas concentration identification system disclosed in this application and the mobile robot for grain warehouse inspection, including the following steps:

[0064] S100: Collect images of the grain warehouse scene.

[0065] S200: Based on preset coordinates, capture the digital display area of ​​the instrument and adaptively adjust the scale.

[0066] S300: Based on preset corner coordinates, the digital display area is corrected into a regular front view through four-point perspective transformation.

[0067] S400, Perform illumination equalization processing on the front view.

[0068] S500 generates binary images through adaptive thresholding and morphological operations.

[0069] S600: Extract the seven-segment code features from the binary image, generate the actual gas concentration value, and send it to the control device of the aforementioned mobile robot used for grain warehouse inspection.

[0070] For example, additional reference Figure 1 and Figure 2 Step S100 specifically includes: after the mobile vehicle 5 moves to the expected position, it collects images of the grain warehouse scene through the visible light camera 6 and / or infrared camera 61 and then transmits them to the gas concentration recognition system, for example, through the communication device 57 to the aforementioned control center.

[0071] Step S200 specifically includes: taking into account the fixed position of the instrument in the captured image, extracting the ROI region of the instrument using a coordinate specification method, and adaptively adjusting the scaling ratio according to the original size of the ROI region. For example, when the maximum side length of the ROI region is less than 600 pixels, a 2x scale magnification is adopted based on the bicubic interpolation algorithm.

[0072] Step S300 specifically includes: calibrating the coordinates of the four corner points of the instrument's digital display area within the ROI area; arranging the unordered corner points in a fixed order of "top left - top right - bottom right - bottom left" using a corner point sorting algorithm; then calculating the perspective transformation matrix based on the sorted corner point coordinates and the preset output size; and correcting the digital display area into a regular front view through perspective transformation.

[0073] Step S400 specifically includes: applying a color space conversion method (RGB space and LAB space) and a contrast-limited adaptive histogram equalization algorithm (CLAHE) to the standardized image to equalize the brightness channel of the front view.

[0074] Step S600 specifically includes: adding black borders of fixed width on the left and right sides of the binarized image; dividing the image into three independent digital tube regions in a 1:1:1 ratio based on the compensated image width, ensuring that the aspect ratio of each digital tube is consistent; then extracting the seven-segment code features of each digital tube region, matching and generating the corresponding numbers, splicing them together and converting them into actual gas concentration values, and outputting them to the control device of the mobile robot for grain warehouse inspection described in this application.

[0075] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A mobile robot for grain warehouse inspection, characterized in that, include: The traveling vehicle (5) has self-driving power and is used to provide a load-bearing foundation; The telescopic rod (53) is fixed to the traveling vehicle (5) in a vertical position and has an adjustment end (54) for moving in the vertical direction. Rotate the joint (55), fix it to the adjustment end (54), and have a first posture and a second posture with different elevation angles; A visible light camera (6) is fixed to the rotating joint (55) and moves synchronously with the rotating joint (55). The visible light camera (6) is used to acquire real-scene images in front of the vehicle (5). An infrared camera (61) is fixed to the rotating joint (55) and moves synchronously with the rotating joint (55). The infrared camera (61) is used to acquire infrared images in front of the vehicle (5). A gas concentration sensor (62) is fixed to the vehicle (5) and used to acquire gas concentration information in the environment; A forward-facing camera sensor (63) is fixed to the front of the vehicle (5) and is used to acquire real-world video of the front of the vehicle (5); The communication device (57) is fixed to the vehicle (5) and is connected to the visible light camera (6), the infrared camera (61), the gas concentration sensor (62), and the forward-looking camera sensor (63).

2. The mobile robot for grain warehouse inspection according to claim 1, characterized in that, The traveling vehicle (5) is fixed with an external bracket (58), and there are two external brackets (58) which are respectively located on both sides of the telescopic rod (53).

3. The mobile robot for grain warehouse inspection according to claim 1, characterized in that, The top surface of the vehicle (5) is provided with an inwardly extending gas channel (56), and the gas concentration sensor (62) is fixed inside the vehicle (5) and exposed to the outside through the gas channel (56).

4. The mobile robot for grain warehouse inspection according to claim 1, characterized in that, The traveling vehicle (5) includes a tracked traveling mechanism (52).

5. The mobile robot for grain warehouse inspection according to claim 4, characterized in that, The tracked walking mechanism (52) has a front side in a straight travel direction, and the infrared camera (61), the visible light camera (6) and the forward-looking camera sensor (63) are all arranged facing the front side of the tracked walking mechanism (52).

6. The mobile robot for grain warehouse inspection according to claim 5, characterized in that, The communication device (57) is fixed inside the vehicle (5) and located at the rear of the vehicle (5).

7. A gas concentration identification system, characterized in that, The mobile robot for grain warehouse inspection as described in any one of claims 1-6 further includes: An image ROI extraction unit is installed inside the visible light camera (6) and the infrared camera (61) and is used to extract the digital display area from the scene image; An image correction unit is used to perform perspective transformation on the digital display area and output a regular front view to provide a standardized image. The illumination normalization and binarization unit is used to perform illumination equalization processing on the standardized image and separate the digital region from the background region through adaptive thresholding and morphological operations to generate a binary image. The digital tube segmentation and recognition unit is used to segment the binary image into individual digital tube regions according to a certain ratio, and output the gas concentration value after digital decoding based on seven-segment code feature matching.

8. The gas concentration identification system according to claim 7, characterized in that, The image ROI extraction unit is configured to extract the ROI region of the instrument in a specified coordinate manner, and adjust the scaling ratio according to the original size of the ROI region.

9. The gas concentration identification system according to claim 8, characterized in that, The image correction unit is configured to calibrate and arrange the four corner points of the digital display area in a fixed order, calculate the perspective transformation matrix based on the sorted corner point coordinates and the preset output size, and correct the digital display area into a regular front view through perspective transformation.

10. The gas concentration identification system according to claim 9, characterized in that, The digital tube segmentation and recognition unit is configured to add left and right black border compensation to the binary image, divide it into n digital tube regions according to the n equal division ratio, extract the seven-segment code features of each digital tube region, match and generate the corresponding numbers, and concatenate them to convert them into the gas concentration value.

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