Small-sized dual-light vision module for four-footed bionic robot and use method of small-sized dual-light vision module

Abstract

The invention discloses a small-sized dual-light vision module for a four-footed bionic robot and a use method of the small-sized dual-light vision module. An infrared and visible light dual-spectrum imaging technology and an image processing and target identification technology are applied, and a video image network flow pushing mode is used; the infrared video image and the visible light video image are respectively acquired by the four-footed bionic robot by switching the IP addresses, and then heating is performed through the visible light window glass, so that the working capability of the four-footed bionic robot in a complex environment is expanded, and the capability of a user for performing situation awareness and reconnaissance outside hundreds of meters in the field is improved. The problems that when a quadruped bionic robot works in the field, if the quadruped bionic robot is provided with a conventional visible light imaging unit and an infrared imaging unit which are high in power consumption, large in weight and large in size, the endurance time of the quadruped bionic robot is short, and the working efficiency is low are solved.

Description

Technical Field

[0001] The invention belongs to the technical field of dual-light vision imaging of a quadruped bionic robot, and in particular relates to a small dual-light vision module for a quadruped bionic robot and a use method thereof. Background Art

[0002] With the development of technology in the field of unmanned platforms, quadrupedal bionic robots have been widely used in many application scenarios such as military reconnaissance, police security, search and rescue, and power maintenance due to their excellent maneuverability and good controllability. The relevant technologies of quadrupedal bionic robots have been developed over the years. In addition to the development of the quadrupedal bionic robot platform itself, the performance of the optoelectronic equipment responsible for environmental perception is also constantly improving, thereby improving the adaptability of quadrupedal bionic robots in a variety of complex environments. However, according to the current situation, since quadrupedal bionic robots have the requirement to identify human targets hundreds of meters away in the field of military reconnaissance, their optoelectronic sensing equipment is required to have the characteristics of small size, light weight and high integration:

[0003] 1. In order to adapt to various application scenarios, the quadruped bionic robot has a small size to ensure the flexibility of the movement process. Therefore, the size, weight and shape of the photoelectric sensing equipment it carries are limited;

[0004] 2. The optoelectronic payloads carried by quadruped bionic robots all have weight requirements. A small weight can reduce the power consumption of the platform and increase battery life.

[0005] From the above characteristics, it can be seen that when the quadruped bionic robot is working in the field, if it is equipped with conventional high-power, heavy, and large-volume visible light imaging units and infrared imaging units, it will be detrimental to the quadruped bionic robot in terms of battery life and operating efficiency. Moreover, the single-function visible light imaging unit and infrared imaging unit cannot well solve the environmental perception function requirements of the quadruped bionic robot in a variety of complex environments. Summary of the invention

[0006] The purpose of the present invention is to provide a small integrated small dual-light vision module for a quadruped bionic robot and a use method thereof.

[0007] The object of the present invention is achieved by the following technical means: a small dual-light vision module for a quadruped bionic robot, comprising a housing,

[0008] An infrared window and a visible light window are arranged on the front of the shell, an infrared imaging unit and a visible light imaging unit are arranged inside the shell, and the lenses of the infrared imaging unit and the visible light imaging unit are respectively aimed at the infrared window and the visible light window;

[0009] An image processing board is also provided in the housing, and the image processing board is electrically connected to the infrared imaging unit and the visible light imaging unit;

[0010] The housing is also provided with a connection socket, the image processing board and the connection socket, and the connection socket is used to connect with an external device;

[0011] The image processing board receives images from the infrared imaging unit and the visible light imaging unit, identifies and selects the image targets, then encodes and compresses the identified images and sends them to external devices through network streaming.

[0012] The infrared window and the visible light window are also connected to the shell at the connection points with a conductive sealing strip.

[0013] The visible light window is heated glass.

[0014] The heated glass includes a glass plate, a heating power supply, a relay and a temperature sensor. The glass plate is connected to the visible light window. The back of the glass plate, that is, the side inside the shell, is coated with a conductive film. The back of the glass plate is also connected to a first heating electrode and a second heating electrode. The first heating electrode and the second heating electrode are located at both ends of the conductive film and are electrically connected to the conductive film. The first heating electrode is also electrically connected to the relay. The relay is electrically connected to the heating power supply and the image processing board. The temperature sensor is electrically connected to the image processing board.

[0015] The shell is also connected with a nitrogen filling nozzle and a deflation hole.

[0016] The top of the shell is a detachable upper cover plate, and the image processing board is connected to the inner surface of the upper cover plate.

[0017] The visible light imaging unit has a size of 50mm×36mm×36mm, a resolution of 1920×1080, a designed lens field of view angle of 50°×29°, and a lens focal length of 5.5mm; the infrared imaging unit has a size of 40mm×26mm×26mm, a resolution of 640×512, a designed lens field of view angle of 33°×26°, and a lens focal length of 13mm.

[0018] In the first step, the quadruped bionic robot is turned on, the dual-light vision module is started, and the infrared imaging unit and the visible light imaging unit inside the shell collect external image information through the infrared window and the visible light window, and transmit the video image signal to the image processing board;

[0019] The second step is to push and output the visible light and infrared video. The image processing board recognizes the received image and selects the target, encodes and compresses the processed image, and transmits the compressed image to the main control computer of the quadruped bionic robot through the network push stream.

[0020] In the third step, the main control computer of the quadruped bionic robot receives the video stream and sends it to the control end.

[0021] The compressed images include visible light imaging images and infrared imaging images. Different IP addresses and serial ports are assigned to the two images respectively. The control end obtains infrared and visible light video images respectively through the two IP addresses.

[0022] When the dual-light vision module is working, the ambient temperature is also detected. When the temperature sensor detects that the temperature is too low, it sends a signal to the image processing board. The image processing board turns on the relay, and the heating power supply, conductive film, first heating electrode and second heating electrode form a circuit, and the visible light window starts to heat and defrost.

[0023] The beneficial effects of the present invention are: integrating infrared and visible light dual-spectrum imaging technology, image processing and target recognition technology, etc., breaking through the technical difficulties of small size and light weight, and adapting to the harsh environment of military scenes. The innovative application of video image network streaming mode enables the quadruped bionic robot to obtain infrared video images and visible light video images respectively by switching IP addresses, and can identify and select personnel targets 100 meters away, as well as heat the visible light window glass, which expands the operation ability of the quadruped bionic robot in complex environments and improves the user's ability to conduct situational awareness and reconnaissance 100 meters away in the field. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a front view of the structure of a small dual-light vision module for a quadruped bionic robot;

[0025] Figure 2 The rear view of the small dual-light vision module structure for a quadruped bionic robot;

[0026] Figure 3 This is the schematic diagram of the heated glass structure;

[0027] Figure 4 This is the electrical connection diagram of a small dual-light vision module for a quadruped bionic robot;

[0028] Figure 5 This is a schematic diagram of the working process of a small dual-light vision module for a quadruped bionic robot;

[0029] In the figure, 1 is an infrared window; 2 is an infrared imaging unit; 3 is a housing; 4 is a visible light imaging unit; 5 is a visible light window; 6 is an image processing board; 7 is an upper cover; 8 is a conductive sealing strip; 9 is a nitrogen gas filling nozzle; 10 is a vent hole; 11 is a connecting socket; 12 is a first heating electrode; 13 is a second heating electrode; 14 is a heating power supply; 15 is a relay; 16 is a temperature sensor; 17 is a conductive film;

[0030] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. DETAILED DESCRIPTION

[0031] [Example 1]

[0032] like Figure 1 and Figure 2 As shown, a small dual-light vision module for a quadruped bionic robot comprises a housing 3,

[0033] An infrared window 1 and a visible light window 5 are arranged on the front of the housing 3, and an infrared imaging unit 2 and a visible light imaging unit 4 are arranged inside the housing 3, and the lenses of the infrared imaging unit 2 and the visible light imaging unit 4 are respectively aimed at the infrared window 1 and the visible light window 5;

[0034] An image processing board 6 is also disposed in the housing 3, and the image processing board 6 is electrically connected to the infrared imaging unit 2 and the visible light imaging unit 4;

[0035] The housing 3 is also provided with a connection socket 11, and the image processing board 6 is connected to the connection socket 11, and the connection socket 11 is used to connect with an external device;

[0036] The image processing board 6 receives the images from the infrared imaging unit 2 and the visible light imaging unit 4, identifies and selects the image targets, and then encodes and compresses the identified images and sends them to external devices through network streaming.

[0037] The front of the housing 3 is provided with an infrared window 1 and a visible light window 5, which are installed on the outer surface of the housing 3. The two windows are separated from the inside and outside of the housing 3 by glass plates.

[0038] The infrared imaging unit 2 and the visible light imaging unit 4 are installed at the bottom of the housing 3 , with the lens of the infrared imaging unit 2 aimed at the infrared window 1 , and the lens of the visible light imaging unit 4 aimed at the visible light window 5 .

[0039] The image processing board 6 is electrically connected to the infrared imaging unit 2 and the visible light imaging unit 4, and is used to receive image data transmitted by the infrared imaging unit 2 and the visible light imaging unit 4, process the image, and then send it to an external device, namely, a quadruped bionic robot.

[0040] The connection socket 11 is an air plug, which supplies power to the entire small dual-light vision IPC module. The image processing board 6 is connected to the quadruped bionic robot through a network cable to transmit the video image data to the robot.

[0041] The infrared window 1 and the visible light window 5 are connected to the housing 3 with conductive sealing strips 8 .

[0042] The outer ring of the connection between the two windows and the shell 3 is connected to a conductive sealing strip 8, and the sealing of the shell 3 is ensured by the conductive sealing strip 8.

[0043] [Example 2]

[0044] On the basis of Example 1, Figure 3 As shown, the visible light window 5 is heated glass.

[0045] The heated glass includes a glass plate, a heating power supply 14, a relay 15 and a temperature sensor 16. The glass plate is connected to the visible light window 5. The back of the glass plate, that is, the surface inside the shell 3, is coated with a conductive film 17. The back of the glass plate is also connected to a first heating electrode 12 and a second heating electrode 13. The first heating electrode 12 and the second heating electrode 13 are located at both ends of the conductive film 17 and are electrically connected to the conductive film 17. The first heating electrode 12 is also electrically connected to the relay 15. The relay 15 is electrically connected to the heating power supply 14 and the image processing board 6. The temperature sensor 16 is electrically connected to the image processing board 6.

[0046] When the quadruped bionic robot is operating in a cold outdoor environment and the ambient temperature is below 0°C, the heated glass starts to heat up, playing a defrosting and defogging function, ensuring clear imaging within the field of view of the visible light imaging unit.

[0047] The back of the glass plate is connected to a conductive film 17, which can achieve a heating function after being energized. The transmittance of the conductive film 17 to visible light is ≥90%.

[0048] The first heating electrode 12, the second heating electrode 13 and the conductive film 17 are all connected to the back of the glass plate by electroplating. The surfaces of the first heating electrode 12 and the second heating electrode 13 can be connected to the wires by tinning.

[0049] The two ends of the conductive film 17 are the first heating electrode 12 and the second heating electrode 13, and the surface thereof can be connected to the wire through tinning treatment. The heating power supply 14 is connected to the connecting socket 11, that is, the aviation socket, to supply power for heating the glass.

[0050] The relay 15 acts as a switch to control the conduction of the circuits among the first heating electrode 12 , the second heating electrode 13 , the heating power source 14 , the relay 15 and the conductive film 17 .

[0051] The temperature sensor 16 is arranged inside the shell 3, near the position of the heated glass. When the temperature sensor 16 detects that the temperature is too low, it sends a signal to the image processing board 6 through the UART serial port. The image processing board 6 sends a level to the relay 15IO serial port, so that the relay is turned on, the circuit is connected, and the glass plate starts to be heated.

[0052] The housing 3 is also connected with a nitrogen filling nozzle 9 and a venting hole 10 .

[0053] A nitrogen filling nozzle 9 and a deflation hole 10 are connected to the back of the housing 3 for filling and deflation of gas into the housing.

[0054] The top of the housing 3 is a detachable upper cover plate 7 , and the image processing board 6 is connected to the inner surface of the upper cover plate 7 .

[0055] The image processing board 6 is connected to the inner surface of the upper cover 7. Firstly, it can facilitate heat dissipation. Secondly, there is no other available space inside the product. Installing the image processing board 6 on the upper cover 7 can make full use of the space and achieve the purpose of miniaturization of the product.

[0056] The visible light imaging unit 4 has a size of 50mm×36mm×36mm, a resolution of 1920×1080, a designed lens field of view angle of 50°×29°, and a lens focal length of 5.5mm; the infrared imaging unit 2 has a size of 40mm×26mm×26mm, a resolution of 640×512, a designed lens field of view angle of 33°×26°, and a lens focal length of 13mm.

[0057] The image plane resolution of the visible light imaging unit 4 is 1920×1080, the design lens field of view angle is 50°×29°, the lens focal length is 5.5mm, the pixel size is 2.7μm×2.7μm, the frame rate is 60fps, and it can work normally in the range of -40℃ to +65℃. The visible light imaging unit 4 can realize the imaging and recognition of personnel targets at a distance of 100 meters, and the brightness, saturation and contrast of the image can be adjusted using serial port commands.

[0058] The infrared imaging unit 2 has an image resolution of 640×512, a designed lens field of view of 33°×26°, a lens focal length of 13mm, a pixel size of 12μm×12μm, a frame rate of 50fps, and can operate normally in the range of -40℃ to +60℃. The infrared imaging unit 2 can realize imaging and recognition of human targets 100 meters away.

[0059] The visible light imaging unit 4 and the infrared imaging unit 2 are also miniaturized. While the overall structure is miniaturized, it can better adapt to the harsh military and outdoor environments, ensuring the normal operation of the entire device.

[0060] [Example 3]

[0061] On the basis of Example 2, Figure 4 and Figure 5 As shown, in the first step, the quadruped bionic robot is turned on, the dual-light vision module is started, and the infrared imaging unit 2 and the visible light imaging unit 4 inside the shell 3 collect external image information through the infrared window 1 and the visible light window 5, and transmit the video image signal to the image processing board 6;

[0062] The visible light imaging unit 4 outputs an SDI video image signal, and the infrared imaging unit 2 outputs a PAL video image signal.

[0063] The second step is to push and output the visible light and infrared video streams. The image processing board 6 recognizes the received image and selects the target, encodes and compresses the processed image, and transmits the compressed image to the main control computer of the quadruped bionic robot through the network push stream;

[0064] After receiving the video image signal, the image processing board 6 analyzes and processes the regional features of the received video image signal, extracts the target feature points using the image processing algorithm, and compares and identifies the target feature points with the target recognition library, and finally realizes the automatic recognition and selection of human targets by the dual-light vision module. The recognized video image is encoded and compressed and then output to the quadruped bionic robot through the network.

[0065] In the third step, the main control computer of the quadruped bionic robot receives the video stream and sends it to the control end.

[0066] After receiving the video stream from the dual-light vision module, the main control computer of the quadruped bionic robot sends the video stream to the control end through a radio station or other means.

[0067] The compressed images include visible light imaging images and infrared imaging images. Different IP addresses and serial ports are assigned to the two images respectively. The control end obtains infrared and visible light video images respectively through the two IP addresses.

[0068] The control end can switch between infrared and visible light video images by switching the IP address.

[0069] When the dual-light vision module is working, the ambient temperature is also detected. When the temperature sensor 16 detects that the temperature is too low, for example, zero degrees, a signal is sent to the image processing board 6. The image processing board 6 turns on the relay 15, and the heating power supply 14, the conductive film 17, the first heating electrode 12 and the second heating electrode 13 form a circuit, and the visible light window begins to heat and defrost.

Claims

1. A small dual-light vision module for a quadruped bionic robot, characterized in that : comprising a housing (3), An infrared window (1) and a visible light window (5) are arranged on the front of the housing (3); an infrared imaging unit (2) and a visible light imaging unit (4) are arranged inside the housing (3); lenses of the infrared imaging unit (2) and the visible light imaging unit (4) are respectively aligned with the infrared window (1) and the visible light window (5); An image processing board (6) is also provided in the housing (3), and the image processing board (6) is electrically connected to the infrared imaging unit (2) and the visible light imaging unit (4); The housing (3) is also provided with a connection socket (11), the image processing board (6) is connected to the connection socket (11), and the connection socket (11) is used to connect to an external device; The image processing board (6) receives images from the infrared imaging unit (2) and the visible light imaging unit (4), identifies and selects the image targets, and then encodes and compresses the identified images and sends them to external devices via network streaming.

2. A small dual-light vision module for a quadruped bionic robot according to claim 1, characterized in that: The infrared window (1) and the visible light window (5) are also connected to a conductive sealing strip (8) at the connection points with the housing (3).

3. A small dual-light vision module for a quadruped bionic robot according to claim 1 or 2, characterized in that: The visible light window (5) is heated glass.

4. A small dual-light vision module for a quadruped bionic robot according to claim 1, characterized in that: The heated glass comprises a glass plate, a heating power supply (14), a relay (15) and a temperature sensor (16); the glass plate is connected to the visible light window (5); a conductive film (17) is plated on the back of the glass plate, i.e., a surface inside the shell (3); a first heating electrode (12) and a second heating electrode (13) are also connected to the back of the glass plate; the first heating electrode (12) and the second heating electrode (13) are located at two ends of the conductive film (17) and are electrically connected to the conductive film (17); the first heating electrode (12) is also electrically connected to the relay (15); the relay (15) is electrically connected to the heating power supply (14) and the image processing board (6); and the temperature sensor (16) is electrically connected to the image processing board (6).

5. The small dual-light vision module for a quadruped bionic robot according to claim 1, characterized in that: The housing (3) is also connected with a nitrogen filling nozzle (9) and a deflation hole (10).

6. A small dual-light vision module for a quadruped bionic robot according to claim 1, characterized in that: The top of the housing (3) is a detachable upper cover plate (7), and the image processing board (6) is connected to the inner surface of the upper cover plate (7).

7. A small dual-light vision module for a quadruped bionic robot according to claim 1, characterized in that: The visible light imaging unit (4) has a size of 50 mm×36 mm×36 mm, a resolution of 1920×1080, a designed lens field of view angle of 50°×29°, and a lens focal length of 5.5 mm; the infrared imaging unit (2) has a size of 40 mm×26 mm×26 mm, a resolution of 640×512, a designed lens field of view angle of 33°×26°, and a lens focal length of 13 mm.

8. A method for using a small dual-light vision module for a quadruped bionic robot, characterized in that: In the first step, the quadruped bionic robot is turned on, the dual-light vision module is activated, and the infrared imaging unit (2) and the visible light imaging unit (4) inside the housing (3) collect image information from the outside through the infrared window (1) and the visible light window (5), and transmit the video image signal to the image processing board (6); The second step is to push and output the visible light and infrared video streams. The image processing board (6) recognizes the received image and selects the target, encodes and compresses the processed image, and transmits the compressed image to the main control computer of the quadruped bionic robot through the network push stream. In the third step, the main control computer of the quadruped bionic robot receives the video stream and sends it to the control end.

9. The method for using a small dual-light vision module for a quadruped bionic robot according to claim 8, characterized in that: The compressed images include visible light imaging images and infrared imaging images. Different IP addresses and serial ports are assigned to the two images respectively. The control end obtains infrared and visible light video images respectively through the two IP addresses.

10. The method for using a small dual-light vision module for a quadruped bionic robot according to claim 8, characterized in that: When the dual-light vision module is in operation, the ambient temperature is also detected. When the temperature sensor (16) detects that the temperature is too low, a signal is sent to the image processing board (6). The image processing board (6) turns on the relay (15), and the heating power supply (14), the conductive film (17), the first heating electrode (12) and the second heating electrode (13) form a circuit, and the visible light window starts to heat and defrost.

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