Hand-held small-sized simple multi-joint video detection probe rod

Abstract

The invention discloses a handheld small simple multi-joint video detection probe rod, and relates to the technical field of detection probe rods, the handheld small simple multi-joint video detection probe rod comprises a handheld module, the handheld module comprises a handle shell, the inner side of the handle shell is fixedly provided with a control circuit board, the handle shell is provided with a plurality of buttons and an electrical connecting piece, and the control circuit board is fixedly connected with the control circuit board; the button is electrically connected with the control circuit board through the electrical connecting piece, and a telescopic rod fixing sleeve is integrally formed on the handle shell. The telescopic rod module comprises a telescopic rod outer pipe, a telescopic rod fixing sleeve is arranged on the outer side of the telescopic rod outer pipe in a sleeving mode, a telescopic rod inner pipe is arranged at the end, away from the telescopic rod fixing sleeve, of the telescopic rod outer pipe, and a telescopic inner sliding sleeve and a telescopic outer sliding sleeve are sequentially arranged on the telescopic rod outer pipe. The system is high in integration degree, can realize multi-angle and large-angle shooting, can also realize flexible and real-time picture splicing operation, and can conveniently complete a panoramic detection image of a detection area.

Description

Technical Field

[0001] The present invention relates to the technical field of detection probes, and in particular to a handheld, small, simple multi-joint video detection probe. Background Art

[0002] For example, the invention patent of a detection rod with a camera, lighting and blowing, with the application number CN112304953A. The invention has a simple structure, is convenient to carry, and is convenient for operators to check the damage of the mold or perform equipment maintenance. Moreover, it can also transmit the photos or videos taken on site to relevant personnel in a timely manner, providing convenient conditions for quickly diagnosing mold faults, saving the time for finding mold damage or equipment maintenance, and greatly reducing the personal safety risk of operators and the equipment damage risk.

[0003] However, most of the existing support rods or detection rods in the market still adopt the application method of pipeline + snake bone probe + support rod: First, it is transformed from a soft pipeline and a support rod, which is not very convenient in use and compatibility; Second, the bending radius of the snake bone joint head at the front end is large, which is not conducive to bending and turning observation in a small space, and there is no way to perform operations such as puzzle assembly; Third, most of the existing ones are fixed and cannot be telescoped, which also limits their scope of use. Therefore, we propose a handheld, small, simple multi-joint video detection probe to solve the problems raised above. Summary of the Invention

[0004] The purpose of the present invention is to provide a handheld, small, simple multi-joint video detection probe to solve the problems raised in the above background art.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions: including:

[0006] A handheld module, the handheld module includes a handle shell, a control circuit board is fixedly arranged inside the handle shell, a plurality of buttons and electrical connectors are arranged on the handle shell, the buttons are electrically connected to the control circuit board through the electrical connectors, and a telescopic rod fixing sleeve is integrally formed on the handle shell;

[0007] A telescopic rod module, the telescopic rod module includes a telescopic rod outer tube, the telescopic rod fixing sleeve is sleeved on the outside of the telescopic rod outer tube, one end of the telescopic rod outer tube away from the telescopic rod fixing sleeve is provided with a telescopic rod inner tube, a telescopic inner sliding sleeve and a telescopic outer sliding sleeve are sequentially arranged on the telescopic rod outer tube, an inner spring telescopic wire is arranged inside the telescopic rod outer tube, and both ends of the inner spring telescopic wire respectively extend to the inside of the telescopic rod fixing sleeve and the telescopic rod inner tube;

[0008] Multi-joint video probe, the multi-joint video probe includes a probe fixing tube connected to the inner tube of the telescopic rod. On the inner side of one end of the probe fixing tube away from the outer tube of the telescopic rod, a rotation fixing seat is provided. A driving large gear is fixedly arranged on the rotation fixing seat. A rotation driving motor is fixedly arranged on the outer side of the rotation fixing seat. A driving small gear meshing with the driving large gear is fixedly arranged on the rotation driving motor. An electrical slip ring is fixedly arranged on the driving large gear. The rotation fixing seat extends to the outside of the probe fixing tube and is sleeved with a swing fixing tube. A swing driving motor and a swing servo driving board are fixedly arranged on the inner side of the swing fixing tube. The output end of the swing driving motor is connected to the swing servo driving board. A camera signal acquisition board electrically connected to the electrical slip ring is also arranged on the inner side of the swing fixing tube. One end of the swing fixing tube away from the probe fixing tube is fixedly provided with a swing fixing seat. A swing probe is rotatably arranged on the swing fixing seat. A video probe and an LED light board are fixedly arranged on the swing probe.

[0009] As a preferred solution, an interface sealing plate is fixedly arranged at one end of the handle shell away from the telescopic rod module. A TYPEC connector is fixedly arranged on the interface sealing plate. The TYPEC connector is electrically connected to the control circuit board.

[0010] As a preferred solution, the telescopic inner sliding sleeve is located inside the outer tube of the telescopic rod and is connected to one end of the inner tube of the telescopic rod close to the telescopic fixing sleeve. The telescopic outer sliding sleeve is located outside the inner tube of the telescopic rod, and the telescopic outer sliding sleeve is connected to one end of the outer tube of the telescopic rod away from the telescopic fixing sleeve.

[0011] As a preferred solution, the rotation fixing seat and the swing driving motor are connected by a steel wire rope.

[0012] As a preferred solution, there is also a puzzle method. The puzzle method is used to piece together the images taken by the detection probe rod. The puzzle method includes the following steps:

[0013] Step 1: Start the splicing process;

[0014] Step 2: Feature detection and matching;

[0015] Step 3: Calculation of the homography matrix;

[0016] Step 4: Canvas transformation and calculation;

[0017] Step 5: Image projection and fusion.

[0018] As a preferred solution, in the first step, the user clicks the stitching button to enter the stitching mode. In the stitching mode, the buttons in other directions are blocked, and only the current operation button is valid to prevent misoperation.

[0019] As a preferred solution, in the second step:

[0020] SIFT feature extraction: Detect key points for the initial image and the image to be stitched respectively, and calculate descriptors. Use the Gaussian kernel function to complete detection and descriptor generation;

[0021] Feature matching: Use the FLANN-based matcher to perform nearest neighbor matching on the two sets of descriptors, return the two sets of nearest neighbor matching results, and screen out high-quality matches through Lowe's ratio test;

[0022] Extract the coordinates of the matching points: Extract the corresponding point coordinates of the two sets of images from the high-quality matches.

[0023] As a preferred solution, in the third step, calculate the homography matrix through the RANSAC algorithm.

[0024] As a preferred solution, in the fourth step, first calculate the size of the canvas: Obtain the four corner points of the current image, calculate their positions in the global coordinate system, traverse all transformed corner points, determine the minimum and maximum boundaries of the canvas, and then construct a translation matrix to align the origin of the canvas to the minimum boundary of the canvas to avoid negative coordinates.

[0025] As a preferred solution, in the fifth step, first calculate the global transformation matrix according to the direction buttons, project the image onto the canvas using perspective transformation, then generate a binary mask to mark the valid pixel area, create a feather mask with a gradual change in the weight of the edge area to remove the stitching seam, perform the same perspective transformation on the feather mask to obtain the final weight. Finally, add the transformed image to the panorama according to the weight, and at the same time add the weight to the perspective-transformed image, traverse the panorama, normalize the pixel values, and output the stitching result.

[0026] Compared with the prior art, the present invention has obvious advantages and beneficial effects. Specifically, as can be seen from the above technical solutions, the main ones are:

[0027] The present invention has a high degree of integration. While achieving multi-angle and large-angle shooting, it can also achieve flexible and real-time puzzle operations, and can conveniently complete the panoramic detection image of the detection area.

[0028] To more clearly illustrate the structural features and functions of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. Description of the Drawings

[0029] Figure 1 is a schematic diagram of the overall structure of an embodiment of the present invention;

[0030] Figure 2 is a schematic diagram of the internal structure of the handle housing of an embodiment of the present invention;

[0031] Figure 3 is a schematic diagram of the internal structure of the outer tube of the telescopic rod of an embodiment of the present invention;

[0032] Figure 4 is a schematic diagram of the internal structure of the swing fixing tube of an embodiment of the present invention;

[0033] Figure 5 is a schematic diagram of the button indication of an embodiment of the present invention;

[0034] Figure 6 is a schematic diagram of the flow chart of the jigsaw method of an embodiment of the present invention.

[0035] Explanation of reference numerals: 1. Handheld module; 101. Handle housing; 102. Interface sealing plate; 103. TYPEC connector; 104. Control circuit board; 105. Button; 106. Electrical connector; 107. Telescopic rod fixing sleeve; 2. Telescopic rod module; 201. Outer tube of telescopic rod; 202. Inner tube of telescopic rod; 203. Inner sliding sleeve for telescoping; 204. Outer sliding sleeve for telescoping; 205. Inner spring telescopic wire; 3. Multi-joint video probe; 301. Probe fixing tube; 302. Rotating fixing seat; 303. Driving large gear; 304. Driving small gear; 304. Rotating driving motor; 306. Electrical slip ring; 307. Swing fixing tube; 308. Swing driving motor; 309. Swing servo driving board; 310. Camera signal acquisition board; 311. Swing fixing seat; 312. Swing probe; 313. Video probe; 314. LED light board. Detailed implementation manners

[0036] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0037] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there can also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are only for the purpose of illustration.

[0038] Please refer to Figures 1 to 6, an embodiment of the present invention provides a handheld small and simple multi-joint video detection probe rod, comprising:

[0039] A handheld module 1, the handheld module 1 includes a handle shell 101, a control circuit board 104 is fixedly arranged inside the handle shell 101, a plurality of buttons 105 and electrical connectors 106 are arranged on the handle shell 101, the buttons 105 are electrically connected to the control circuit board 104 through the electrical connectors 106, and a telescopic rod fixing sleeve 107 is integrally formed on the handle shell 101;

[0040] A telescopic rod module 2, the telescopic rod module includes a telescopic rod outer tube 201, the telescopic rod fixing sleeve 107 is sleeved on the outside of the telescopic rod outer tube 201, one end of the telescopic rod outer tube 201 away from the telescopic rod fixing sleeve 107 is provided with a telescopic rod inner tube 202, a telescopic inner sliding sleeve 203 and a telescopic outer sliding sleeve 204 are sequentially arranged on the telescopic rod outer tube 201, an inner spring telescopic wire 205 is arranged inside the telescopic rod outer tube 201, and both ends of the inner spring telescopic wire 205 respectively extend to the inside of the telescopic rod fixing sleeve 107 and the telescopic rod inner tube 202;

[0041] A multi-joint video probe 3, the multi-joint video probe 3 includes a probe fixing tube 301 connected to the telescopic rod inner tube 202, a rotating fixing seat 302 is arranged inside one end of the probe fixing tube 301 away from the telescopic rod outer tube 201, a driving large gear 303 is fixedly arranged on the rotating fixing seat 302, a rotating driving motor 305 is fixedly arranged outside the rotating fixing seat 302, a driving small gear 304 meshing with the driving large gear 303 is fixedly arranged on the rotating driving motor 305, an electrical slip ring 306 is fixedly arranged on the driving large gear 303, a swinging fixing tube 307 is sleeved outside the rotating fixing seat 302 extending to the outside of the probe fixing tube 301, a swinging driving motor 308 and a swinging servo driving board 309 are fixedly arranged inside the swinging fixing tube 307, an output end of the swinging driving motor 308 is connected to the swinging servo driving board 309, a camera signal acquisition board 310 electrically connected to the electrical slip ring 306 is further arranged inside the swinging fixing tube 307, a swinging fixing seat 311 is fixedly arranged at one end of the swinging fixing tube 307 away from the probe fixing tube 301, a swinging probe 312 is rotatably arranged on the swinging fixing seat 311, and a video probe 313 and an LED lamp board 314 are fixedly arranged on the swinging probe 312;

[0042] When this device is in use, the handheld module 1 is used for the user to hold the device and extend it into the area to be detected to obtain images. The handheld module 1 includes a handle shell 101 for protecting its internal components. The control circuit board 104 fixedly arranged on the inner side of the handle shell 101 is used for processing data, including data input and output and executing operation commands on this device. The multiple buttons 105 arranged on the handle shell 101 are used to control this device to execute the image stitching command. The electrical connector 106 is used to achieve the electrical connection between the electronic components in this device. The telescopic rod fixed sleeve 107 integrally formed on the handle shell 101 is used to cooperate with the telescopic rod module 2 for connection, so that this device has a wider application range;

[0043] The telescopic rod module 2 is used for the extension of this device, which can achieve a wider image detection range. The telescopic rod module includes a telescopic rod outer tube 201 for connecting with the telescopic rod fixed sleeve 107, so that the handheld module 1 and the telescopic rod module 2 are connected into a whole, making the integration degree of this device higher. Physically, it can achieve multi-angle and large-range shooting. Software-wise, it can stitch images in real time to conveniently form a complete panoramic high-quality image, making it more convenient to use. The telescopic rod fixed sleeve 107 is sleeved on the outside of the telescopic rod outer tube 201. The telescopic rod inner tube 202 arranged at the end of the telescopic rod outer tube 201 away from the telescopic rod fixed sleeve 107 is used to cooperate with the telescopic rod outer tube 201 so that this device can be extended to expand the image shooting range. The telescopic inner sliding sleeve 203 and the telescopic outer sliding sleeve 204 successively arranged on the telescopic rod outer tube 201 are used to hold the telescopic rod outer tube 201 and the telescopic rod inner tube 202, so that while they can slide smoothly to achieve telescoping, they can also prevent direct wear between them, affecting the service life of this device. The inner spring telescopic wire 205 arranged on the inner side of the telescopic rod outer tube 201 is used to control the displacement of the telescopic rod inner tube 202 in the telescopic rod outer tube 201, that is, the telescoping action, and both ends of the inner spring telescopic wire 205 extend to the inside of the telescopic rod fixed sleeve 107 and the telescopic rod inner tube 202 respectively;

[0044] The multi-joint video probe 3 realizes 360-degree and large-angle swinging under the cooperation of the handheld module 1 and the telescopic rod module 2 to capture images in the detection area. The probe fixing tube 301 is used to connect with the inner tube 202 of the telescopic rod. The rotation fixing seat 302 arranged on the inner side of one end of the probe fixing tube 301 away from the outer tube of the telescopic rod is used to load and fix the driving large gear 303 and is used to receive the swinging fixing tube 307. The driving large gear 303 fixedly arranged on the rotation fixing seat 302 is used to drive the driving small gear 304 to rotate, so that the swinging fixing tube 307 and its internal components can rotate within a full range of 360 degrees around the probe fixing tube 301, facilitating the all-round capture of images by the video probe 313. The rotation driving motor 305 fixedly arranged on the outer side of the rotation fixing seat 302 is used to drive the driving large gear 303 to rotate. The driving small gear 304 fixedly arranged on the rotation driving motor 305 and meshed with the driving large gear 303 is meshed with the rotation driving motor 305. After the rotation driving motor 305 is started, the rotation driving motor 305 drives the driving small gear 304 to rotate, the driving small gear 304 drives the driving large gear 303 to rotate, and the swinging fixing tube 307 rotates following the rotation of the driving large gear 303. The electrical slip ring 306 fixedly arranged on the driving large gear 303 is used to ensure the data connection between the camera signal acquisition board 310 and the control circuit board 104, thus ensuring the normal transmission of data. The swinging fixing tube 307 extending to the outside of the probe fixing tube 301 is used to protect its internal components. The swinging driving motor 308 fixedly arranged on the inner side of the swinging fixing tube 307 is used to drive the video probe 313 to rotate under the traction of the steel wire rope arranged thereon. The swinging servo driving board 309 is the swinging output component of the swinging driving motor 308 and is used to make the steel wire rope drive the video probe 313 to realize large-angle rotation. The output end of the swinging driving motor 308 is connected to the swinging servo driving board 309. The camera signal acquisition board 310 electrically connected to the electrical slip ring 306 is also arranged on the inner side of the swinging fixing tube 307 and is used to collect and process the image information captured by the video probe 313 and transmit the image information to the control circuit board 104. The swinging fixing seat 311 fixedly arranged at one end of the swinging fixing tube 307 away from the probe fixing tube 301 is used to limit the swinging driving motor 308. The swinging probe 312 rotatably arranged on the swinging fixing seat 311 is used to load and fix the video probe 313 and the LED lamp board 314. The video probe 313 fixedly arranged on the swinging probe 312 is used to capture images. The LED lamp board 314 is used to illuminate the video probe 313 during the image capture process, thus ensuring the clarity of image capture;

[0045] This device has a high degree of integration. While achieving multi-angle and large-angle shooting, it can also perform flexible and real-time puzzle operations, and can conveniently complete panoramic detection images of the detection area.

[0046] Please refer to Figures 1 to 6 , at one end of the handle shell 101 away from the telescopic rod module 2, an interface sealing plate 102 is fixedly arranged. A TYPEC connector 103 is fixedly arranged on the interface sealing plate 102, and the TYPEC connector 103 is electrically connected to the control circuit board 104. When this device is in use, the convenience and compatibility issues in use are solved through the USB universal interface and protocol. It can not only be docked with mobile phones, tablets, and computers for use, but also be used in combination with professional detection instruments, or be used as an accessory for professional instruments. Mobile phones, tablets, and computers are all mature existing technologies and will not be elaborated in this article.

[0047] Please refer to Figures 1 to 6 , the telescopic inner sliding sleeve 203 is located inside the telescopic rod outer tube 201 and is connected to one end of the telescopic rod inner tube 202 close to the telescopic rod fixing sleeve 107. The telescopic outer sliding sleeve 204 is located outside the telescopic rod inner tube 202, and the telescopic outer sliding sleeve 204 is connected to one end of the telescopic rod outer tube 201 away from the telescopic rod fixing sleeve 107.

[0048] Please refer to Figures 1 to 6 , the swinging probe 312 is connected to the swinging servo drive board 309 through a steel wire rope. When this device is in use, the swinging probe 312 is connected to the swinging servo drive board 309 through a steel wire rope. Specifically, the steel wire rope realizes the transmission of swinging through the connection between the swinging servo drive board 309 and the swinging drive motor 308.

[0049] Please refer to Figures 1 to 6 , it also includes a puzzle method. The puzzle method is used to perform puzzles on the images captured by the probe rod. The puzzle method includes the following steps:

[0050] Step 1: Start the splicing process;

[0051] Step 2: Feature detection and matching;

[0052] Step 3: Calculation of the homography matrix;

[0053] Step 4: Canvas transformation and calculation;

[0054] Step 5: Image projection and fusion.

[0055] Please refer to Figures 1 to 6 , in Step 1, the user clicks the splicing button 105 to enter the splicing mode. In the splicing mode, the buttons 105 in other directions are blocked, and only the current operation button 105 is valid to prevent misoperation.

[0056] Please refer to Figures 1 to 6 , in Step 2:

[0057] SIFT feature extraction: Detect key points for the initial image and the image to be stitched respectively, and calculate descriptors. Use the Gaussian kernel function to complete detection and descriptor generation;

[0058] In this step, the expression for detecting the extreme value of the difference of Gaussians is as follows:

[0059] D(x, y, σ) = (G(x, y, kσ) - G(x, y, σ)) * I(x, y)

[0060] (Local extreme value);

[0061] Where: I(x, y) is the input image, specifically the initial image and the image to be stitched;

[0062] G(x, y, σ) is the Gaussian kernel function, implemented by SIFT;

[0063] D(x, y, σ) is the difference-of-Gaussians image;

[0064] The expression for descriptor generation is as follows:

[0065]

[0066] (Normalization),

[0067] Where: d i is the 128-dimensional descriptor of the i-th key point;

[0068] Feature matching: Use the FLANN-based matcher to perform nearest neighbor matching on the two sets of descriptors, return the two sets of nearest neighbor matching results, and screen out high-quality matches through Lowe’s ratio test;

[0069] Extract the coordinates of the matching points: Extract the corresponding point coordinates of the two images from the high-quality matches;

[0070] In this step, the feature matching expression is as follows:

[0071] Match i = {(q i , t i1 ), (q i , t i2 )}, where

[0072] Where: q i is the key point index in the query image;

[0073] t i1 , ti2 are the indices of the nearest and the next-nearest key points in the image to be matched;

[0074] ||·|| 2 is the Euclidean distance between descriptors;

[0075] Ratio filtering:

[0076] Keep the match if and only if

[0077] where: ||·||2 is the Euclidean distance between descriptors;

[0078] 0.7 is Lowe’s ratio threshold in this embodiment.

[0079] Please refer to Figures 1 to 6 , in the third step, calculate the homography matrix through the RANSAC algorithm;

[0080] In this step, the RANSAC objective function is as follows:

[0081]

[0082] where is the homography matrix;

[0083] p 1，i , p 2,i are matching point pairs;

[0084] 3.0 is the RANSAC inlier threshold, initially set to 3.0 in this embodiment;

[0085] ρ(r) is the inlier marking function.

[0086] Please refer to Figures 1 to 6 , in the fourth step, first calculate the size of the canvas: obtain the four corner points of the current image, calculate their positions in the global coordinate system, traverse all transformed corner points, determine the minimum and maximum boundaries of the canvas, and then construct a translation matrix to align the origin of the canvas to the minimum boundary of the canvas to avoid negative coordinates;

[0087] In this step, the canvas boundaries are expressed as:

[0088]

[0089] where: x comers , are the four corner points in the image;

[0090] min x , max x are the minimum and maximum boundaries of the canvas;

[0091] The offset matrix is expressed as:

[0092]

[0093] Wherein: Offset is the offset matrix.

[0094] Please refer to Figures 1 to 6 In the fifth step, first calculate the global transformation matrix according to the direction button 105, project the image onto the canvas using perspective transformation, then generate a binary mask to mark the valid pixel area, create a feather mask with a gradual weight change in the edge area to remove the stitching seam, perform the same perspective transformation on the feather mask to obtain the final weight. Finally, accumulate the transformed image into the panorama according to the weight, and at the same time accumulate the weight into the perspective-transformed image. Traverse the panorama, normalize the pixel values, and output the stitching result;

[0095] In this step, the perspective transformation expression is:

[0096] p′ = H·p, p = [x, y, 1] T ;

[0097] Wherein: p′ is the image after perspective transformation.

[0098] The weight expression of the feather mask is:

[0099]

[0100] Wherein, w(x, y) is the pixel weight;

[0101] 80 is the width of the feathering area;

[0102] The weighted fusion is calculated through the following expression:

[0103] If ∑w i > 0;

[0104] Wherein: I panorma is the cumulative panorama.

[0105] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A small and simple handheld multi-joint video detection probe, characterized in that: include: A handheld module (1), the handheld module (1) comprising a handle shell (101), a control circuit board (104) being fixedly arranged on the inner side of the handle shell (101), a plurality of buttons (105) and electrical connectors (106) being arranged on the handle shell (101), the buttons (105) being electrically connected to the control circuit board (104) via the electrical connectors (106), and a telescopic rod fixing sleeve (107) being integrally formed on the handle shell (101); A telescopic rod module (2), the telescopic rod module comprising a telescopic rod outer tube (201), the telescopic rod fixing sleeve (107) being sleeved on the outer side of the telescopic rod outer tube (201), a telescopic rod inner tube (202) being arranged at one end of the telescopic rod outer tube (201) away from the telescopic rod fixing sleeve (107), a telescopic inner sliding sleeve (203) and a telescopic outer sliding sleeve (204) being arranged in sequence on the telescopic rod outer tube (201), an inner spring telescopic wire (205) being arranged on the inner side of the telescopic rod outer tube (201), and two ends of the inner spring telescopic wire (205) respectively extending to the inner sides of the telescopic rod fixing sleeve (107) and the telescopic rod inner tube (202); A multi-joint video probe (3), the multi-joint video probe (3) comprising a probe fixing tube (301) connected to the telescopic rod inner tube (202), a rotating fixed seat (302) being arranged on the inner side of the probe fixing tube (301) away from one end of the telescopic rod outer tube (201), a transmission gear (303) being fixedly arranged on the rotating fixed seat (302), a rotating drive motor (305) being fixedly arranged on the outer side of the rotating fixed seat (302), a transmission pinion (304) meshing with the transmission gear (303) being fixedly arranged on the rotating drive motor (305), an electrical slip ring (306) being fixedly arranged on the transmission gear (303), the rotating fixed seat (302) extending to the probe fixing tube (301) ) is sleeved on the outer side of the swing fixing tube (307), a swing driving motor (308) and a swing servo driving board (309) are fixedly arranged on the inner side of the swing fixing tube (307), the output end of the swing driving motor (308) is connected to the swing servo driving board (309), a camera signal acquisition board (310) electrically connected to the electrical slip ring (306) is also arranged on the inner side of the swing fixing tube (307), a swing fixing seat (311) is fixedly arranged at one end of the swing fixing tube (307) away from the probe fixing tube (301), a swing probe (312) is rotatably arranged on the swing fixing seat (311), and a video probe (313) and an LED light board (314) are fixedly arranged on the swing probe (312).

2. According to claim 1, a small and simple handheld multi-joint video detection probe, characterized in that: An interface sealing plate (102) is fixedly provided at one end of the handle shell (101) away from the telescopic rod module (2), and a TYPEC connector (103) is fixedly provided on the interface sealing plate (102), and the TYPEC connector (103) is electrically connected to the control circuit board (104).

3. According to claim 1, a small and simple handheld multi-joint video detection probe, characterized in that: The telescopic inner sliding sleeve (203) is located on the inner side of the telescopic rod outer tube (201) and is connected to one end of the telescopic rod inner tube (202) close to the telescopic rod fixing sleeve (107); the telescopic outer sliding sleeve (204) is located on the outer side of the telescopic rod inner tube (202) and is connected to one end of the telescopic rod outer tube (201) away from the telescopic rod fixing sleeve (107).

4. The handheld small and simple multi-joint video detection probe according to claim 1 is characterized in that: The rotating fixed seat (302) and the swing driving motor (308) are connected via a steel wire rope.

5. A small and simple handheld multi-joint video detection probe according to any one of claims 1 to 4, characterized in that: Also included is a jigsaw puzzle method, which is used to puzzle the images taken by the detection probe, and the jigsaw puzzle method includes the following steps: Step 1: Start the splicing process; Step 2: Feature detection and matching; Step 3: Calculate the homography matrix; Step 4: Canvas transformation and calculation; Step 5: Image projection and fusion.

6. A jigsaw puzzle method according to claim 5, characterized in that: In step 1, the user clicks the splicing button (105) to enter the splicing mode. In the splicing mode, buttons (105) in other directions are shielded, and only the current operation button (105) is kept valid to prevent misoperation.

7. A jigsaw puzzle method according to claim 5, characterized in that: In the step 2: SIFT feature extraction: detect key points of the initial image and the image to be spliced, calculate descriptors, and use Gaussian kernel function to complete detection and descriptor generation; Feature matching: Use the FLANN-based matcher to perform nearest neighbor matching on two sets of descriptors, return two sets of nearest neighbor matching results, and use the Lowe's ratio test to select high-quality matches; Extract matching point coordinates: Extract the corresponding point coordinates of the two sets of images from the high-quality matching.

8. A jigsaw puzzle method according to claim 5, characterized in that: In the step three, the homography matrix is ​​calculated by using the RANSAC algorithm.

9. A jigsaw puzzle method according to claim 5, characterized in that: In step 4, the size of the canvas is first calculated: the four corner points of the current image are obtained, their positions in the global coordinate system are calculated, all transformed corner points are traversed, the minimum and maximum boundaries of the canvas are determined, and then a translation matrix is ​​constructed to align the origin of the canvas to the minimum boundary of the canvas to avoid negative coordinates.

10. A jigsaw puzzle method according to claim 5, characterized in that: In step five, first, according to the direction button (105), the global transformation matrix is ​​calculated, and the image is projected onto the canvas using perspective transformation. Then, a binary mask is generated, the effective pixel area is marked, a feathered mask is created, and the weight of the edge area is gradually changed to remove the stitching seams. The feathered mask is subjected to the same perspective transformation to obtain the final weight. Finally, the transformed image is accumulated into the panorama according to the weight, and the weight is accumulated into the image after perspective transformation. The panorama is traversed, the pixel values ​​are normalized, and the stitching result is output.

Images