CN114570695A - Computer vision protection device and use method - Google Patents
Computer vision protection device and use method Download PDFInfo
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- CN114570695A CN114570695A CN202210203830.9A CN202210203830A CN114570695A CN 114570695 A CN114570695 A CN 114570695A CN 202210203830 A CN202210203830 A CN 202210203830A CN 114570695 A CN114570695 A CN 114570695A
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- sleeve
- transparent cover
- hard tube
- camera
- computer vision
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
- B08B3/022—Cleaning travelling work
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F26—DRYING
- F26B—DRYING SOLID MATERIALS OR OBJECTS BY REMOVING LIQUID THEREFROM
- F26B21/00—Arrangements or duct systems, e.g. in combination with pallet boxes, for supplying and controlling air or gases for drying solid materials or objects
- F26B21/004—Nozzle assemblies; Air knives; Air distributors; Blow boxes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B2203/00—Details of cleaning machines or methods involving the use or presence of liquid or steam
- B08B2203/02—Details of machines or methods for cleaning by the force of jets or sprays
- B08B2203/0217—Use of a detergent in high pressure cleaners; arrangements for supplying the same
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Accessories Of Cameras (AREA)
Abstract
A computer vision protection device comprises a base, a mounting seat, a sleeve, a transparent cover, a camera, a liquid spraying hole, a gas spraying hole, a liquid supply pipe, a gas supply pipe, a liquid supply device, a gas supply device, a first driving mechanism, a second driving mechanism, a power supply, a first radial bearing and a second radial bearing; the using method comprises the following steps: a method for cleaning a transparent cover and a using method on a dredging robot. The invention relates to the technical field of computer vision application estimation, and the invention can automatically clean and blow a transparent cover of a computer vision protection device, so that a camera can quickly recover the vision acquisition function, can be applied to open-air occasions, and is particularly suitable for severe working environments with serious pollution.
Description
Technical Field
The invention relates to the technical field of computer vision application, in particular to a computer vision protection device and a using method thereof.
Background
Computer vision devices are used in a wide variety of applications, and among them, computer vision devices used in open air and in harsh environments need to be protected. The purpose of protection is to avoid the computer vision device from falling off, shifting or other damages in the using process, but for the two occasions, a problem is easy to ignore, namely that the computer vision device is polluted by the acquisition end to cause the work efficiency to be reduced, even effective pictures cannot be acquired, which can cause unacceptable losses in some special occasions. For example, for a computer vision device for safety protection, if a collection end is polluted, a dangerous signal cannot be discriminated, so that great potential safety hazard is caused, and the smooth execution of safety enforcement is also influenced; for example, for a computer vision device used in a pollution discharge occasion, if a collection end is polluted, pollutants needing to be cleaned cannot be identified, and the robot cannot work.
The invention patent with the application number of CN201711360994.8 discloses a visual protection device for a robot for routing inspection and desilting pipelines, which comprises a camera, a hollow revolving frame, a movable protection component and a scraping strip component; the hollow revolving frame is connected with the front end of the robot body, and the camera is arranged in the hollow revolving frame; the two ends of the scraping strip assembly are connected to the hollow rotating frame, and the inner side of the scraping strip assembly is pressed on the end part of the camera; the static protective cover is arranged on the camera, the rotary hinge joint is fixed on the hollow rotary frame, and one end of the movable protective cover is connected to the rotary hinge joint; the movable cover driver is fixed at the rear side of the hollow revolving frame, and extends out or retracts to drive the movable protective cover to open or close; the device prevents the mud dirt from adhering to the lens with dynamic protection, static protection and the coordination of cleaning three in the desilting operation, can automatically clean the lens simultaneously, improves machine vision identification definition and validity, and improves the adaptability of the inspection robot to the complex environment.
The above documents solve the self-protection problem of the vision protection device in the sewage environment to a certain extent, but still have the following disadvantages:
1. although the scraping strip assembly can clean the large sludge attached to the static protective cover, the scraping strip assembly is polluted by the sludge along with the increase of the working time, and in this case, the static protective cover is only polluted more though the static protective cover is frequently scraped;
2. the movable cover protects the static protective cover through the mode of buckling the static protective cover after removing the driver, however, under this condition, the camera has lost the effect, and the robot can only rely on previous visual signal to carry out the desilting, leads to the work of robot to have certain blindness, and not only the unable continuous work of computer vision device has still had the potential safety hazard.
In view of the above, the applicant has found that the prior art lacks a computer vision protection device which can be continuously applied to open pollution occasions or severe working environments, and once the computer vision protection device is polluted, a robot or related devices must be repaired, which causes problems of reduced working efficiency, increased economic cost, increased safety risk and the like, so that the prior art needs to be improved.
Disclosure of Invention
The invention provides a computer vision protection device and a using method thereof, and aims to solve the problems in the prior art.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a computer vision protection device comprises a base, a mounting seat integrally formed on the upper surface of the base, and a sleeve transversely and fixedly arranged at the top end of the mounting seat, wherein a sleeve is connected in the sleeve in a sliding manner, a transparent cover is arranged at the front end of the sleeve, a camera is arranged in the sleeve, the acquisition end of the camera is opposite to the center of the transparent cover, the transparent cover is positioned at the front end of the sleeve, a plurality of liquid spraying holes and a plurality of gas spraying holes are uniformly distributed at the front end of the sleeve, the liquid spraying holes and the gas spraying holes are arranged at intervals, the rear ends of the liquid spraying holes extend backwards along the wall of the sleeve to form a liquid supply pipe, the rear ends of the gas spraying holes extend backwards along the wall of the sleeve to form a gas supply pipe, and the rear ends of the liquid supply pipe and the gas supply pipe are respectively connected with a liquid supply device and a gas supply device; the sleeve respectively realizes the forward and backward movement along the axis of the sleeve and the rotation around the axis of the sleeve through a first driving mechanism and a second driving mechanism, and the camera, the first driving mechanism, the second driving mechanism, the liquid supply device and the gas supply device are respectively connected with a power supply through leads; the camera is rotationally connected with the sleeve through a first radial bearing and a second radial bearing; the transparent cover is spherical, and the jet direction of the jet holes and the jet liquid holes is opposite to the surface of the transparent cover.
Preferably, the device further comprises a controller, the camera is in signal connection with the controller through a lead, and the controller is electrically connected with the first driving mechanism, the second driving mechanism, the liquid supply device and the gas supply device through leads respectively.
Preferably, the front part of the inner surface of the sleeve is provided with a limiting ring, the outer surface of the limiting ring is fixedly connected with the inner surface of the sleeve, the inner surface of the limiting ring is rotatably and slidably connected with the outer surface of the sleeve, the outer surfaces of the sleeve where the front side and the rear side of the limiting ring are respectively and fixedly connected with a first annular sliding block and a second annular sliding block, the inner side ends of the first annular sliding block and the second annular sliding block are integrally formed with the outer surface of the sleeve, the outer side end surface of the first annular sliding block and the outer side end surface of the second annular sliding block are rotatably and slidably connected with the inner surface of the sleeve, and the limiting ring limits the moving distance of the sleeve along the axis of the sleeve through the distance between the limiting ring and the first annular sliding block and the second annular sliding block.
Preferably, the coaxial fixedly connected with first hard tube in sheathed tube rear end, the surface cover of first hard tube be equipped with thrust bearing, telescopic internal surface and be located the sleeve pipe rear side still fixed electric putter that is equipped with, electric putter's flexible end pass through the outer lane fixed connection of connecting rod with thrust bearing, the surface of first hard tube and thrust bearing's inner circle fixed connection, when electric putter is flexible, make the sleeve pipe drive the translucent cover and remove in the spray regime of hydrojet hole and fumarole.
Preferably, the sleeve internal surface at electric putter rear side place still fixed be equipped with step motor, step motor's the fixed driving gear that is equipped with of output shaft, be located the surface of first hard tube and still fix with the relative department of driving gear and be equipped with driven gear, the driving gear be connected with driven gear meshing, when electric putter drives the sleeve pipe and removes, the scope of removal satisfies in: the driving gear and the driven gear are always meshed.
Preferably, the rear end of the camera is also fixedly connected with a second hard tube, the front end of the second hard tube is fixedly connected with the camera, and the rear end of the second hard tube extends out of the rear end of the first hard tube along the inner side of the first hard tube, penetrates through the rear end of the sleeve and is connected with a hose through a joint; the rear end of feed pipe and air supply pipe run through telescopic internal surface to run through into in the second hard tube of first hard tube rear side, second hard tube and sleeve internal surface between feed pipe and air supply pipe be the hard tube structure, the tip that is located feed pipe and air supply pipe in the sleeve is connected with liquid supply device and air feeder's output through the soft feed pipe and the soft air supply pipe of laying along the hose inboard respectively.
Preferably, the rear end of camera be equipped with the third hard tube, the front end and the camera fixed connection of third hard tube, the rear end outwards extends to the preceding port of hose along the inboard of second hard tube, camera, electric putter and step motor respectively through the wire and the power electric connection that run through the third hard tube.
A method of using a computer vision protection device, comprising: the method for cleaning the transparent cover and the use method on the dredging robot are as follows:
the method for cleaning the transparent cover comprises the following steps:
(1) and a static cleaning mode: under the condition that the transparent cover is kept static, firstly, washing is carried out by spraying washing liquid through the liquid spraying holes, and then, drying is carried out by spraying air through the air spraying holes;
(2) linear movement cleaning mode: in the process that the transparent cover moves in a reciprocating manner under the driving of the electric push rod, firstly, washing liquid is sprayed through the liquid spraying holes to wash the transparent cover, and then, air is sprayed through the air spraying holes to dry the transparent cover;
(3) and a rotary cleaning mode: in the process that the transparent cover is driven by the stepping motor to rotate, firstly, washing liquid is sprayed through the liquid spraying holes to wash, and then, air is sprayed through the air spraying holes to dry;
(4) and a compound cleaning mode: under the state that the transparent cover rotates while moving linearly, firstly, washing liquid is sprayed through the liquid spraying holes to wash, and then, drying is carried out through the air spraying holes;
the cleaning mode is started when the controller receives a signal of the camera and judges that the transparent cover needs to be cleaned;
the use method on the dredging robot comprises the following steps: set up 3 at least computer vision protector on the robot, when the controller received the signal of camera and judged that need clear up the translucent cover, clean the translucent cover through the static clean mode of comprehensive application, linear movement clean mode, rotatory clean mode and combined type clean mode, it is intact to keep the vision function of robot through the clean in turn of a plurality of cameras.
The invention relates to a computer vision protection device and a use method thereof, which have the following beneficial effects:
the invention can automatically clean and blow-dry the transparent cover of the computer vision protection device, so that the camera can quickly recover the vision acquisition function, can be applied to outdoor occasions, is particularly suitable for severe working environments with serious pollution, can ensure the safe operation of the robot dredging work by arranging a plurality of computer vision protection devices, and continuously keeps the vision function normal in the dredging process; in various use occasions, the equipment does not need to be detached or shut down for cleaning, so that the maintenance cost is saved, the working efficiency is improved, and the monitoring and construction safety is guaranteed.
Drawings
FIG. 1 is a side sectional view of the present invention (in the direction of A-A);
FIG. 2 is a schematic side view of the present invention;
FIG. 3 is a schematic top view of the present invention;
FIG. 4 is a schematic front view of the present invention;
1. a base; 2. a mounting seat; 3. a sleeve; 4. a liquid supply tube; 5. a liquid ejection hole; 6. a gas supply pipe; 7. a gas injection hole; 8. a transparent cover; 9. a camera; 10. a first radial bearing; 11. a second radial bearing; 12. a second rigid tube; 13. a third rigid tube; 14. an electric push rod; 15. a thrust bearing; 16. a driven gear; 17. a driving gear; 18. a stepping motor; 19. a wire; 20. a joint; 21. a hose; 22. a first rigid tube; 23. a second annular slider; 24. a first annular slider; 25. a limiting ring; 26. a sleeve.
Detailed Description
In the following, embodiments of the present invention are described in detail in a stepwise manner, which is merely a preferred embodiment of the present invention and is not intended to limit the scope of the present invention, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "top", "bottom", "inside", "outside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for the purpose of describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation and a specific orientation configuration and operation, and thus, should not be construed as limiting the present invention.
In the initial embodiment, the computer vision protecting device of the present invention, as shown in fig. 1-4, includes a base 1, a mounting base 2 integrally formed on the upper surface of the base 1, and a sleeve 3 transversely and fixedly disposed on the top end of the mounting base 2, wherein a sleeve 26 is slidably connected to the sleeve 3, a transparent cover 8 is disposed at the front end of the sleeve 26, a camera 9 is disposed in the sleeve 26, a collecting end of the camera 9 is opposite to the center of the transparent cover 8, the transparent cover 8 is disposed at the front end of the sleeve 3, a plurality of liquid spraying holes 5 and a plurality of gas spraying holes 7 are uniformly distributed at the front end of the sleeve 3, the liquid spraying holes 5 and the gas spraying holes 7 are disposed at intervals, the rear ends of the liquid spraying holes 5 extend backwards along the cylindrical wall of the sleeve 3 to form a liquid supply pipe 4, the rear ends of the gas spraying holes 7 extend backwards along the cylindrical wall of the sleeve 3 to form a gas supply pipe 6, the rear ends of the liquid supply pipe 4 and the gas supply pipe 6 are respectively connected with a liquid supply device (not shown) and a gas supply device (not shown); the sleeve 26 respectively realizes the forward and backward movement along the axis of the sleeve 3 and the rotation around the axis of the sleeve 3 through a first driving mechanism and a second driving mechanism, and the camera 9, the first driving mechanism, the second driving mechanism, the liquid supply device and the gas supply device are respectively connected with a power supply through leads; the camera is rotationally connected with the sleeve 26 through a first radial bearing 10 and a second radial bearing 11; the transparent cover is spherical, and the jet direction of the jet holes and the jet liquid holes is opposite to the surface of the transparent cover.
As shown in fig. 3, the base 1 is used for connecting with an installation site (such as a dredging robot, a monitoring frame), and the base 1 may be provided with bolt holes. The mounting seat 2 can be a supporting block with an arc-shaped curved surface structure at the top, and the sleeve 3 is clamped in the arc-shaped curved surface structure and is fixed with the mounting seat in a welding or bolt connection mode.
In a further embodiment, the device further comprises a controller (not shown in the figure), the camera 9 is in signal connection with the controller through a wire, and the controller is electrically connected with the first driving mechanism, the second driving mechanism, the liquid supply device and the gas supply device through wires respectively. When the signal detected by the camera 9 does not meet the standard in the preset program of the controller, the controller starts the first driving mechanism, the second driving mechanism, the liquid supply device and the gas supply device to clean the outer surface of the transparent cover.
In a further embodiment, as shown in fig. 1, a limiting ring 25 is disposed at a front portion of an inner surface of the sleeve 3, an outer surface of the limiting ring 25 is fixedly connected with the inner surface of the sleeve, an inner surface of the limiting ring 25 is rotatably and slidably connected with an outer surface of the sleeve 26 (i.e., can rotate relatively and slide linearly relatively), a first annular slider 24 and a second annular slider 23 are respectively and fixedly connected with the outer surface of the sleeve 26 at front and rear sides of the limiting ring 25, inner ends of the first annular slider 24 and the second annular slider 23 are integrally formed with the outer surface of the sleeve 26, an outer end surface of the first annular slider 24 and the second annular slider 23 is rotatably and slidably connected with the inner surface of the sleeve 3, and a distance of the sleeve 26 moving along an axis of the sleeve 3 is limited by a distance between the limiting ring 25 and the first annular slider 24 and the second annular slider 23.
In a further embodiment, as shown in fig. 1, the rear end of the sleeve 26 is coaxially and fixedly connected with a first hard tube 22, the outer surface of the first hard tube 22 is sleeved with a thrust bearing 15, the inner surface of the sleeve 3 and the rear side of the sleeve 26 are further fixedly provided with an electric push rod 14, the telescopic end of the electric push rod 14 is fixedly connected with the outer ring of the thrust bearing 15 through a connecting rod, the outer surface of the first hard tube 22 is fixedly connected with the inner ring of the thrust bearing 15, and when the electric push rod 14 is telescopic, the sleeve 26 drives the transparent cover to move within the spraying range of the liquid spraying hole 5 and the gas spraying hole 7.
In a further embodiment, as shown in fig. 1, a stepping motor 18 is further fixedly disposed on an inner surface of the sleeve at the rear side of the electric push rod 14, an output shaft of the stepping motor 18 is fixedly disposed with a driving gear 17, a driven gear 16 is further fixedly disposed on an outer surface of the first hard tube 22 and opposite to the driving gear 17, the driving gear 17 is engaged with the driven gear 16, and when the electric push rod 14 drives the sleeve 26 to move, a moving range is satisfied: the driving gear 17 and the driven gear 16 are always meshed.
In a further embodiment, as shown in fig. 1, the rear end of the camera 9 is further fixedly connected with a second hard tube 12, the front end of the second hard tube 12 is fixedly connected with the camera, and the rear end extends out of the rear end of the first hard tube along the inner side of the first hard tube, penetrates through the rear end of the sleeve 3, and is connected with a hose 21 through a joint 20; the rear ends of the liquid supply pipe 4 and the gas supply pipe 6 penetrate through the inner surface of the sleeve 3 and penetrate into the second hard pipe 12 on the rear side of the first hard pipe, the liquid supply pipe 4 and the gas supply pipe 6 between the second hard pipe and the inner surface of the sleeve are of hard pipe structures, the second hard pipe is fixed while conveying cleaning liquid and gas through the hard pipe structures, and the camera is guaranteed not to rotate along with the sleeve 26; the ends of the supply tube 4 and the supply tube 6 located inside the sleeve are connected to the output ends of the supply device and the supply device, respectively, via a flexible supply tube (not shown) and a flexible supply tube (not shown) arranged along the inside of the hose 21.
In a further embodiment, as shown in fig. 1, a third hard tube 13 is disposed at a rear end of the camera 9, a front end of the third hard tube 13 is fixedly connected with the camera, a rear end of the third hard tube extends outwards to a front port of the flexible tube 21 along an inner side of the second hard tube, and the camera 9, the electric push rod 14 and the stepping motor 18 are electrically connected to a power supply through a lead 19 penetrating through the third hard tube 13.
In a further embodiment, as shown in fig. 1-4, a method of using a computer vision protection device, comprises: the method for cleaning the transparent cover and the use method on the dredging robot are as follows:
the method for cleaning the transparent cover comprises the following steps:
(1) and a static cleaning mode: under the condition that the transparent cover is kept static, firstly, washing is carried out by spraying washing liquid through the liquid spraying holes, and then, drying is carried out by spraying air through the air spraying holes;
(2) linear movement cleaning mode: in the process that the transparent cover moves in a reciprocating manner under the driving of the electric push rod, firstly, washing liquid is sprayed through the liquid spraying holes to wash the transparent cover, and then, air is sprayed through the air spraying holes to dry the transparent cover;
(3) and a rotary cleaning mode: in the process that the transparent cover rotates under the driving of the stepping motor, firstly, washing liquid is sprayed through the liquid spraying holes to wash, and then, drying is carried out through the air spraying holes;
(4) and a compound cleaning mode: under the state that the transparent cover moves linearly and rotates, firstly, washing liquid is sprayed through the liquid spraying holes to wash, and then, drying is carried out through air spraying of the air spraying holes;
the cleaning mode is started when the controller receives a signal of the camera and judges that the transparent cover needs to be cleaned;
the use method of the dredging robot comprises the following steps: set up 3 at least computer vision protector on the robot, when the controller received the signal of camera and judged need clear up the translucent cover, clean the translucent cover through the static clean mode of comprehensive application, linear movement clean mode, rotatory clean mode and combined type clean mode, it is intact to keep the visual function of robot in succession through the alternate cleanness of a plurality of cameras (the reason is, nearly very little probability enables a plurality of cameras and is polluted to the unable degree of using simultaneously, the camera is more, the probability is less).
Under the static clean mode, the hydrojet hole is from transparent shining around liquid spray simultaneously, with the silt filth sanitization on the translucent cover, then through the jet-propelled quick drying of fumarole to make the collection function of camera resume fast. However, in a severe environment, the sludge is more and the viscous force is stronger, the cleaning can be performed in a linear moving cleaning mode, the impact force of the cleaning solution on the surface of the stain can be increased in the process of repeatedly moving the transparent cover, and meanwhile, the surface of the transparent cover is fully washed, and the cleaning speed of the stain is increased; in the state of the rotary cleaning mode, the rotation of the transparent cover can cause the cleaning solution to impact stains from different angles, so that the disruption of the stains is accelerated; in the combined type cleaning mode, the transparent cover rotates and moves in a reciprocating manner at the same time, so that the impact force of the cleaning solution is increased, the impact angle is diversified, and the process of breaking up stains can be accelerated further.
Claims (8)
1. A computer vision protection device characterized by: the liquid supply device comprises a base, a mounting seat integrally formed on the upper surface of the base, and a sleeve transversely and fixedly arranged at the top end of the mounting seat, wherein the sleeve is connected with the sleeve in a sliding manner, the front end of the sleeve is provided with a transparent cover, a camera is arranged in the sleeve, the acquisition end of the camera is opposite to the center of the transparent cover, the transparent cover is positioned at the front end of the sleeve, a plurality of liquid spraying holes and a plurality of gas spraying holes are uniformly distributed at the front end of the sleeve, the liquid spraying holes and the gas spraying holes are arranged at intervals, the rear end of each liquid spraying hole extends backwards along the wall of the sleeve to form a liquid supply pipe, the rear end of each gas spraying hole extends backwards along the wall of the sleeve to form a gas supply pipe, and the rear ends of the liquid supply pipe and the gas supply pipe are respectively connected with a liquid supply device and a gas supply device; the sleeve respectively realizes the forward and backward movement along the axis of the sleeve and the rotation around the axis of the sleeve through a first driving mechanism and a second driving mechanism, and the camera, the first driving mechanism, the second driving mechanism, the liquid supply device and the gas supply device are respectively connected with a power supply through leads; the camera is rotationally connected with the sleeve through a first radial bearing and a second radial bearing; the transparent cover is spherical, and the jet direction of the jet holes and the jet liquid holes is opposite to the surface of the transparent cover.
2. A computer vision protection device as defined in claim 1, wherein: the camera is in signal connection with the controller through a wire, and the controller is electrically connected with the first driving mechanism, the second driving mechanism, the liquid supply device and the gas supply device through wires respectively.
3. A computer vision protection device as defined in claim 2, wherein: the front part of the inner surface of the sleeve is provided with a limiting ring, the outer surface of the limiting ring is fixedly connected with the inner surface of the sleeve, the inner surface of the limiting ring is rotatably connected with the outer surface of the sleeve in a sliding manner, the outer surfaces of the sleeve at the front side and the rear side of the limiting ring are respectively and fixedly connected with a first annular sliding block and a second annular sliding block, the inner side ends of the first annular sliding block and the second annular sliding block are integrally formed with the outer surface of the sleeve, the outer side end surface of the first annular sliding block and the outer side end surface of the second annular sliding block are rotatably connected with the inner surface of the sleeve in a sliding manner, and the distance of the sleeve moving along the axis of the sleeve is limited by the limiting ring through the distance between the limiting ring and the first annular sliding block and the second annular sliding block.
4. A computer vision protection device as defined in claim 3, wherein: the coaxial fixedly connected with first hard tube in sheathed tube rear end, the surface cover of first hard tube be equipped with thrust bearing, telescopic internal surface and be located the sleeve pipe rear side still fixed electric putter that is equipped with, electric putter's flexible end pass through the outer lane fixed connection of connecting rod and thrust bearing, the surface of first hard tube and thrust bearing's inner circle fixed connection, when electric putter is flexible, make the sleeve pipe drive the translucent cover and remove in the spray regime of hydrojet hole and fumarole.
5. A computer vision protection device as defined in claim 4, wherein: the sleeve internal surface at electric putter rear side place still fixed be equipped with step motor, step motor's the fixed driving gear that is equipped with of output shaft, the surface that is located first hard tube and the relative department of driving gear still fixed be equipped with driven gear, the driving gear be connected with driven gear meshing, when electric putter drives the sleeve pipe and removes, the scope of removal satisfies in: the driving gear and the driven gear are always meshed.
6. A computer vision protection device as defined in claim 5, wherein: the rear end of the camera is also fixedly connected with a second hard tube, the front end of the second hard tube is fixedly connected with the camera, and the rear end of the second hard tube extends out of the rear end of the first hard tube along the inner side of the first hard tube, penetrates through the rear end of the sleeve and is connected with a hose through a joint; the rear end of feed pipe and air supply pipe run through telescopic internal surface to run through into in the second hard tube of first hard tube rear side, second hard tube and sleeve internal surface between feed pipe and air supply pipe be the hard tube structure, the tip that is located feed pipe and air supply pipe in the sleeve is connected with liquid supply device and air feeder's output through the soft feed pipe and the soft air supply pipe of laying along the hose inboard respectively.
7. A computer vision protection device as defined in claim 6, wherein: the rear end of camera be equipped with the third hard tube, the front end and the camera fixed connection of third hard tube, the rear end outwards extends to the front end mouth of hose along the inboard of second hard tube, camera, electric putter and step motor respectively through the wire and the power electric connection that run through the third hard tube.
8. A method of using a computer vision protection device, comprising: the computer vision protection device of claim 7, comprising a transparent cover cleaning method and a use method on a dredging robot, wherein the transparent cover cleaning method comprises the following steps:
the method for cleaning the transparent cover comprises the following steps:
(1) and a static cleaning mode: under the condition that the transparent cover is kept static, firstly, washing is carried out by spraying washing liquid through the liquid spraying holes, and then, drying is carried out by spraying air through the air spraying holes;
(2) linear movement cleaning mode: in the process that the transparent cover moves in a reciprocating manner under the driving of the electric push rod, firstly, washing liquid is sprayed through the liquid spraying holes to wash the transparent cover, and then, air is sprayed through the air spraying holes to dry the transparent cover;
(3) and a rotary cleaning mode: in the process that the transparent cover rotates under the driving of the stepping motor, firstly, washing liquid is sprayed through the liquid spraying holes to wash, and then, drying is carried out through the air spraying holes;
(4) and a compound cleaning mode: under the state that the transparent cover rotates while moving linearly, firstly, washing liquid is sprayed through the liquid spraying holes to wash, and then, drying is carried out through the air spraying holes;
the cleaning mode is started when the controller receives a signal of the camera and judges that the transparent cover needs to be cleaned;
the use method of the dredging robot comprises the following steps: set up 3 at least computer vision protector on the robot, when the controller received the signal of camera and judged that need clear up the translucent cover, clean the translucent cover through the static clean mode of comprehensive application, linear movement clean mode, rotatory clean mode and combined type clean mode, it is intact to keep the vision function of robot through the clean in turn of a plurality of cameras.
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| CN202210203830.9A CN114570695B (en) | 2022-03-03 | 2022-03-03 | Computer vision protection device and use method |
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| CN202210203830.9A CN114570695B (en) | 2022-03-03 | 2022-03-03 | Computer vision protection device and use method |
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