Imitated dragonfly compound eye endoscope probe capable of distance measurement and posture recognition

Abstract

The invention relates to the technical field of endoscope probes, and discloses a dragonfly-simulating compound eye endoscope probe capable of distance measurement and posture recognition, which comprises a shell, an opening is formed in the end part of the shell, a polygonal lens is fixedly connected to the inner wall, located at the opening, of the shell, and a controller is fixedly connected to the inner wall of the shell. A connecting plug is arranged at the end of the shell, the controller is electrically connected with the connecting plug, a communicating frame is fixedly connected to the side wall of the controller, a connecting piece is fixedly connected to the end, away from the controller, of the communicating frame, an electric wire is electrically connected to the side wall of the controller, and the end, away from the controller, of the electric wire is electrically connected with the connecting piece. The simulated dragonfly compound eye endoscope probe capable of distance measurement and posture recognition can carry out multi-view comparative analysis and more accurate and stable recognition and distance measurement judgment on a to-be-observed object, meanwhile, the observation angle can be flexibly adjusted, and the influence of the optical environment can be reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of endoscope probe, in particular to a dragonfly-like compound eye endoscope probe capable of distance measurement and attitude recognition. BACKGROUND

[0002] The endoscope probe is the core execution unit of the endoscope system, which undertakes key functions such as image acquisition, signal transmission and auxiliary operation, and directly determines the detection accuracy, applicable scene and operation experience of the endoscope. Its design needs to balance the three core demands of miniaturization, imaging quality and functional expansion, and is widely used in medical diagnosis and surgery, industrial detection, security detection and other fields.

[0003] At present, in the use process of the endoscope probe, the camera lens inside the endoscope probe has only one viewing angle and cannot be flexibly adjusted, which is easily affected by the optical environment or obstacles, and it is difficult to accurately identify and judge the observed object, which will affect the distance measurement and recognition quality of the probe. SUMMARY

[0004] (I) Technical problems solved In view of the shortcomings of the prior art, the present application provides a dragonfly-like compound eye endoscope probe capable of distance measurement and attitude recognition, which has the advantages of multi-view comparison and analysis, more accurate and stable identification and distance measurement of the observed object, flexible adjustment of the observation angle, and reduction of the influence of the optical environment. The problem of the camera lens inside the endoscope probe having only one viewing angle and being unable to be flexibly adjusted, being easily affected by the optical environment or obstacles, and being difficult to accurately identify and judge the observed object, which will affect the distance measurement and recognition quality of the probe, is solved.

[0005] (II) Technical solutions In order to achieve the above-mentioned purpose, the present application provides the following technical scheme: a dragonfly-like compound eye endoscope probe capable of distance measurement and attitude recognition, comprising a shell, an opening is formed in the end of the shell, a multi-surface lens is fixedly connected to the inner wall of the opening of the shell, a controller is fixedly connected to the inner wall of the shell, a connecting plug is arranged at the end of the shell, the controller is electrically connected with the connecting plug, a communication frame is fixedly connected to the side wall of the controller, a connecting piece is fixedly connected to the end of the communication frame away from the controller, an electric wire is electrically connected to the side wall of the controller, and the end of the electric wire away from the controller is electrically connected with the connecting piece; a main camera is fixedly connected to the center of the multi-surface lens; a fixing frame is fixedly connected to the inner wall of the shell; a connecting frame is fixedly connected to the side wall of the fixing frame; the connecting frame extends into the interior of the multi-surface lens and is provided with a plurality of openings; a plurality of fixed rods are fixedly connected to the interiors of the plurality of openings, respectively; the ends of the plurality of fixed rods are rotatably connected with auxiliary cameras, respectively; range finders are fixedly connected to the gaps between the plurality of auxiliary cameras, respectively; electric wires are electrically connected to the side walls of the auxiliary cameras and the range finders, respectively; an electric power receiving seat is electrically connected to the end of the electric wire away from the range finder and the auxiliary camera; a helical wire is electrically connected to the side wall of the electric power receiving seat; and the helical wire and the main camera are electrically connected with the connecting piece.

[0006] Preferably, an electric push rod is fixedly connected to the inner wall of the top end of the shell, a rack is fixedly connected to the end of the piston rod of the electric push rod, and a rotating rod is rotatably connected to the inner wall of the shell.

[0007] Preferably, a rotating shaft is rotatably connected to the interior of the shell, an annular frame is fixedly sleeved on the shaft wall of the rotating shaft, the connecting frame is arranged outside the annular frame, a plurality of first teeth are fixedly connected to the side wall of the annular frame, and the plurality of first teeth are rotatably connected with the gear, respectively.

[0008] Preferably, a plurality of sector gears are fixedly connected to the side of the annular frame relative to the plurality of auxiliary cameras, respectively, a plurality of second teeth are fixedly connected to the side wall of the annular frame, and the plurality of second teeth are rotatably connected with the sector gears, respectively.

[0009] Preferably, the electric power receiving seat is fixedly connected to the inner wall of the annular frame.

[0010] Preferably, a connecting port is formed in the inner wall of the connecting plug, a metal clamping strip is fixedly connected to the inner wall of the connecting plug, and the metal clamping strip is arranged in a curved shape.

[0011] Preferably, the inner wall of the connecting frame at the opening is arranged in an arc shape.

[0012] Preferably, the ring frame has multiple storage holes inside, and the main camera extends into the storage holes.

[0013] (III) Beneficial Effects Compared with the prior art, the present invention provides a dragonfly compound eye-like endoscope probe capable of ranging and attitude recognition, which has the following beneficial effects: 1. This dragonfly compound eye-like endoscope probe, capable of ranging and attitude recognition, is fixedly connected to the center of a multi-faceted lens via a main camera to acquire a clear core image of the detection area. Multiple secondary cameras are rotatably connected to the opening of a connecting frame via a fixing rod. The connecting frame extends into the interior of the multi-faceted lens, and its inner wall is curved to avoid blocking light. The fixing frame is fixed to the inner wall of the housing to provide stable support for the connecting frame. The multiple secondary cameras are distributed around the main camera to capture image information from different angles. Through multi-view image stitching, all-round coverage of the detection area is achieved, improving imaging integrity.

[0014] 2. This dragonfly compound eye-like endoscope probe, capable of distance measurement and attitude recognition, utilizes multiple rangefinders for distance measurement. These rangefinders are fixed to the connecting frame at the gap between the secondary cameras, and are synchronously distributed around the secondary cameras. They can measure the distance data between the probe and various points on the object being detected in real time, providing distance reference for attitude recognition. The secondary cameras and rangefinders are electrically connected to a power connector via wires. The power connector is fixed to the inner wall of the ring frame and electrically connected to the connector via a spiral. The spiral can adapt to the expansion and contraction of the wiring during structural rotation, preventing damage from wire pulling and ensuring stable transmission of image and distance data to the controller.

[0015] 3. This dragonfly-inspired compound eye endoscope probe, capable of ranging and attitude recognition, is activated by an electric push rod. Its piston rod drives a rack to move linearly, and the rack meshes with a gear fixedly fitted onto the wall of a rotating rod, causing the rotating rod and gear to rotate. The gear meshes with the first tooth on the side wall of the ring frame. The ring frame is rotatably connected inside the housing via a rotating shaft and fitted onto the outside of the connector. The main camera extends into the storage hole of the ring frame to avoid structural interference when the ring frame rotates. When the ring frame rotates, the second tooth on its side wall meshes with a sector gear on the secondary cameras, causing multiple secondary cameras to rotate synchronously around the fixed rod, achieving unified adjustment of the shooting angle and adapting to the viewing angle requirements of different detection scenarios. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of a dragonfly compound eye-like endoscope probe structure that can measure distances and recognize postures, as proposed in this invention. Figure 2 for Figure 1 Enlarged view of part A of the structure; Figure 3 for Figure 1 Enlarged view of the structure of part B in the local area; Figure 4 For Figure 1 The structure perspective view of the elastic card strip.

[0017] In the figure: 1 housing, 2 multi-faceted lens, 3 controller, 4 connecting plug, 5 communication frame, 6 connecting piece, 7 electric wire, 8 main camera, 9 fixing frame, 10 connecting frame, 11 fixed rod, 12 secondary camera, 13 range finder, 14 wire, 15 power seat, 16 helical wire, 17 electric push rod, 18 rack, 19 rotating rod, 20 gear, 21 ring frame, 22 first tooth, 23 rotating shaft, 24 sector gear, 25 second tooth, 26 metal card strip. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0019] Referring Figures 1-4 A dragonfly-like compound eye endoscope probe capable of distance measurement and attitude recognition comprises a housing 1, an opening is formed in the end of the housing 1, a multi-faceted lens 2 is fixedly connected to the inner wall of the housing 1 at the opening, a controller 3 is fixedly connected to the inner wall of the housing 1, a connecting plug 4 is arranged at the end of the housing 1, the controller 3 is electrically connected to the connecting plug 4, a communication frame 5 is fixedly connected to the side wall of the controller 3, a connecting piece 6 is fixedly connected to the end of the communication frame 5 away from the controller 3, an electric wire 7 is electrically connected to the side wall of the controller 3, the end of the electric wire 7 away from the controller 3 is electrically connected to the connecting piece 6, a main camera 8 is fixedly connected to the center of the multi-faceted lens 2, a fixing frame 9 is fixedly connected to the inner wall of the housing 1, a connecting frame 10 is fixedly connected to the side wall of the fixing frame 9, the connecting frame 10 extends to the inside of the multi-faceted lens 2 and is provided with a plurality of openings, a plurality of fixed rods 11 are fixedly connected to the inside of the plurality of openings, respectively, a secondary camera 12 is rotatably connected to the end of each of the plurality of fixed rods 11, a range finder 13 is fixedly connected to the gap between the plurality of secondary cameras 12, respectively, wires 14 are electrically connected to the side walls of the secondary cameras 12 and the range finder 13, respectively, a power seat 15 is electrically connected to the end of each of the wires 14 away from the range finder 13 and the secondary cameras 12, a helical wire 16 is electrically connected to the side wall of the power seat 15, and the helical wire 16 and the main camera 8 are electrically connected to the connecting piece 6, respectively.

[0020] An electric push rod 17 is fixedly connected to the top inner wall of the housing 1, a rack 18 is fixedly connected to the piston rod end of the electric push rod 17, a rotating rod 19 is rotatably connected to the inner wall of the housing 1, a gear 20 is fixedly sleeved on the rod wall of the rotating rod 19, and the gear 20 is arranged in meshing relationship with the rack 18.

[0021] The inside of the shell 1 is rotatably connected with a rotating shaft 23, and an annular frame 21 is fixedly sleeved on the shaft wall of the rotating shaft 23. The annular frame 21 is sleeved on the outer side of the connecting piece 6, the connecting frame 10 is arranged on the outer side of the annular frame 21, a plurality of first teeth 22 are fixedly connected on the side wall of the annular frame 21 and are arranged in meshing with the gear 20 respectively, a plurality of receiving holes are formed in the inside of the annular frame 21, and the main camera 8 extends into the inside of the receiving hole.

[0022] A plurality of fan-shaped gears 24 are fixedly connected on one side of the annular frame 21 respectively with respect to the plurality of secondary cameras 12, a plurality of second teeth 25 are fixedly connected on the side wall of the annular frame 21 and are arranged in meshing with the fan-shaped gears 24 respectively, and the electric connector 15 is fixedly connected on the inner wall of the annular frame 21.

[0023] The inner wall of the connecting plug 4 is provided with a connecting opening, and a metal clamping strip 26 is fixedly connected on the inner wall of the connecting plug 4 located in the connecting opening. The metal clamping strip 26 is arranged in a curved shape, and the connecting frame 10 is arranged in an arc surface on the inner wall of the opening.

[0024] The shell 1 is a core bearing and protection structure of the probe, provides a stable installation space and a protection barrier for all functional components, the multi-faceted lens 2 fixed on the inner wall of the opening at one end of the shell 1 simulates the compound eye structure of a dragonfly, provides a light transmission channel for the camera and the range finder, and simultaneously plays a dustproof and anti-scratching protection role. The controller 3 fixed on the inner wall of the shell 1 is a core control unit of the probe, is electrically connected with the connecting piece 6 through the electric wire 7, serves as a signal centralized transmission node, realizes signal intercommunication of each functional module and the controller 3, the connecting plug 4 at one end of the shell 1 is used for interfacing with an external device, the curved metal clamping strip 26 at the connecting opening in the inner wall of the connecting plug 4 can enhance the connection stability with an external interface, ensures smooth signal and power transmission, the controller 3 is electrically connected with the connecting plug 4, and instruction interaction and data transmission of the probe and the external device are realized.

[0025] The imaging system of the probe is composed of the main camera 8 and the plurality of secondary cameras 12, simulates the multi-view imaging characteristics of the compound eye of a dragonfly, the main camera 8 is fixedly connected at the center of the multi-faceted lens 2 and is used for acquiring a core clear image of a detection area, the plurality of secondary cameras 12 are rotatably connected in the opening of the connecting frame 10 through the fixing rod 11, the connecting frame 10 extends into the inside of the multi-faceted lens 2, the opening inner wall thereof is arranged in an arc surface, light is avoided from being blocked, the fixing frame 9 is fixed on the inner wall of the shell 1 and provides stable support for the connecting frame 10, the plurality of secondary cameras 12 are distributed around the main camera 8 and can capture image information at different angles, through multi-view image splicing, the detection area is realized to be covered in all directions, and the imaging integrity is improved.

[0026] The distance measuring function is realized by a plurality of distance meters 13 fixed at the gap of the connecting frame 10 located at the sub-camera 12, which is synchronously distributed around the sub-camera 12, and can measure the distance data of each point of the probe and the detection object in real time to provide a distance reference for attitude recognition. The sub-camera 12 and the distance meter 13 are electrically connected with the power connection seat 15 through the wire 14, the power connection seat 15 is fixed on the inner wall of the ring-shaped frame 21, and is electrically connected with the connecting piece 6 through the spiral wire 16. The spiral wire 16 can adapt to the line expansion during the structure rotation, avoid the damage caused by the wire pulling, and ensure the stable transmission of the image and distance data to the controller 3.

[0027] The attitude adjusting structure is used to adjust the shooting angle of the sub-camera 12 to realize flexible switching of the detection view angle. After the electric push rod 17 fixed on the inner wall of the top end of the shell 1 is started, the piston rod drives the rack 18 to move linearly. The rack 18 is engaged with the gear 20 fixedly sleeved on the wall of the rotating rod 19 to drive the rotating rod 19 and the gear 20 to rotate. The gear 20 is engaged with the first tooth 22 on the side wall of the ring-shaped frame 21. The ring-shaped frame 21 is rotatably connected inside the shell 1 and is sleeved outside the connecting piece 6. The main camera 8 extends into the receiving hole of the ring-shaped frame 21 to avoid structural interference when the ring-shaped frame 21 rotates. When the ring-shaped frame 21 rotates, the second tooth 25 on the side wall thereof is engaged with the sector gear 24 on the sub-camera 12 to drive the plurality of sub-cameras 12 to synchronously rotate around the fixed rod 11, thereby realizing unified adjustment of the shooting angle and adapting to the view angle requirement of different detection scenes.

[0028] In operation, the external device sends instructions to the controller 3 through the connecting plug 4. The controller 3 starts the main camera 8, the sub-camera 12 and the distance meter 13. The main camera 8 shoots the core area image, the plurality of sub-cameras 12 capture the surrounding image from different angles, and the distance meter 13 synchronously collects distance data. After all the images and distance data are processed by the connecting piece 6 and the controller 3, they are transmitted to the external device through the connecting plug 4. The external device can control the electric push rod 17 to work through the controller 3 to adjust the shooting angle of the sub-camera 12 and realize view angle optimization. At the same time, the controller 3 can analyze and calculate the relative attitude of the probe and the detection object in combination with the image difference of the multi-camera and the distance data of the distance meter 13 to complete the attitude recognition function.

[0029] The entire device realizes omnidirectional imaging through the multi-camera design of the simulated dragonfly compound eye, realizes accurate distance measurement through the distance meter 13, and realizes attitude adjustment through the gear transmission structure driven by the electric push rod. The cooperation of the structures not only ensures the integrity and clarity of the detection imaging, but also has flexible view angle adjustment and attitude recognition capability, which adapts to the precise detection requirement of the endoscope in complex environment.

[0030] It is to be understood that the terminology "including", "comprising", or other derivatives from the term "contain" are inclusive and that, in addition to the stated combinations, other combinations are also contemplated. It is to be further understood that the term "comprising" or "comprises" does not exclude other elements being present in addition to those listed. It is to be further understood that the term "including" or "includes" does not exclude other elements being present in addition to those listed.

[0031] While embodiments of the application have been shown and described, it is to be understood that the application is not limited to the details of the embodiments described, since the scope of the application is defined with respect to the appended claims.

Claims

1. A dragonfly-inspired compound eye endoscope probe capable of ranging and attitude recognition, comprising a housing (1), characterized in that: The housing (1) has an opening at one end. A multi-faceted lens (2) is fixedly connected to the inner wall of the housing (1) at the opening. A controller (3) is fixedly connected to the inner wall of the housing (1). A connector (4) is provided at the end of the housing (1). The controller (3) is electrically connected to the connector (4). A connecting frame (5) is fixedly connected to the side wall of the controller (3). A connector (6) is fixedly connected to the end of the connecting frame (5) away from the controller (3). A wire (7) is electrically connected to the side wall of the controller (3). The end of the wire (7) away from the controller (3) is electrically connected to the connector (6). A main camera (8) is fixedly connected to the center of the multi-faceted lens (2). A fixing frame (9) is fixedly connected to the inner wall of the housing (1). The side wall of the fixing frame (9) A connecting frame (10) is fixedly connected to the upper part. The connecting frame (10) extends into the interior of the multi-faceted lens (2) and has multiple openings. A fixing rod (11) is fixedly connected to the interior of each of the multiple openings. A secondary camera (12) is rotatably connected to the end of each of the multiple fixing rods (11). A rangefinder (13) is fixedly connected to the connecting frame (10) at the gap between the multiple secondary cameras (12). A wire (14) is electrically connected to the side wall of the secondary camera (12) and the rangefinder (13). A power connector (15) is electrically connected to the end of the wire (14) away from the rangefinder (13) and the secondary camera (12). A spiral wire (16) is electrically connected to the side wall of the power connector (15). The spiral wire (16) and the main camera (8) are electrically connected to the connecting piece (6).

2. The dragonfly-like compound eye endoscopic probe capable of ranging and attitude recognition according to claim 1, characterized in that: An electric push rod (17) is fixedly connected to the inner wall of the top of the housing (1). A rack (18) is fixedly connected to the piston rod end of the electric push rod (17). A rotating rod (19) is rotatably connected to the inner wall of the housing (1). A gear (20) is fixedly sleeved on the rod wall of the rotating rod (19). The gear (20) meshes with the rack (18).

3. The dragonfly-like compound eye endoscopic probe capable of ranging and attitude recognition according to claim 1, characterized in that: The housing (1) is rotatably connected to a rotating shaft (23). A ring frame (21) is fixedly sleeved on the shaft wall of the rotating shaft (23). The ring frame (21) is sleeved on the outside of the connector (6). The connector (10) is arranged on the outside of the ring frame (21). Multiple first teeth (22) are fixedly connected to each other on the side wall of the ring frame (21). The multiple first teeth (22) are respectively meshed with the gear (20).

4. The dragonfly-like compound eye endoscopic probe capable of ranging and attitude recognition according to claim 1, characterized in that: Multiple secondary cameras (12) are respectively fixedly connected to a sector gear (24) on one side of the ring frame (21). Multiple second teeth (25) are fixedly connected to the side wall of the ring frame (21). The multiple second teeth (25) are respectively meshed with the sector gear (24).

5. The dragonfly-like compound eye endoscopic probe capable of ranging and attitude recognition according to claim 1, characterized in that: The power connector (15) is fixedly connected to the inner wall of the ring frame (21).

6. The dragonfly-like compound eye endoscopic probe capable of ranging and attitude recognition according to claim 1, characterized in that: The inner wall of the connector (4) is provided with a connection port, and a metal clip (26) is fixedly connected to the inner wall of the connector (4) at the connection port. The metal clip (26) is configured as a curved shape.

7. The dragonfly-like compound eye endoscopic probe capable of ranging and attitude recognition according to claim 1, characterized in that: The inner wall of the connecting frame (10) at the opening is set as an arc surface.

8. The dragonfly-like compound eye endoscopic probe capable of ranging and attitude recognition according to claim 3, characterized in that: The ring frame (21) has multiple storage holes inside, and the main camera (8) extends into the storage holes.

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