Infrared thermal imaging and laser radar combined biological recognition device and intelligent sweeper

Abstract

The utility model relates to an infrared thermal imaging and laser radar combined biological recognition device and an intelligent sweeper, and the biological recognition device comprises a main control module; the laser radar module, the infrared thermal imaging module, the azimuth code disc and the motor module are respectively connected to the main control module; the motor module drives the main control module, the laser radar module and the infrared thermal imaging module to rotate at the same frequency and in the same direction; the laser radar module and the infrared thermal imaging module multiplex the master control module and the azimuth code disc. According to the utility model, the infrared thermal imaging and the laser radar are combined for biological recognition, the main control module and the direction code disc are multiplexed, and the synchronization of the point cloud data of the laser radar and the infrared thermal imaging data is realized through a physical structure synchronization mode, so that the biological recognition precision is improved, and biological vital signs can be recognized; high biological recognition precision can be kept when the environment illumination is low, the light is dark and the noise is serious.

Description

Technical Field

[0001] The utility model relates to the technical field of biometric identification, and in particular to a biometric identification device and an intelligent sweeper combining infrared thermal imaging and laser radar. Background Art

[0002] LiDAR recognition technology uses laser emission modules and receiving modules to achieve point cloud recognition. Since LiDAR has high-precision measurement performance and can calculate and process millimeter-level distance differences, it is currently widely used to identify biological targets through contour information detection. However, the current application of LiDAR for biometrics has the following problems: (1) LiDAR uses point cloud data for biometric detection, and its detection information can only generate contour information, and cannot determine whether it is a biological being; (2) LiDAR cannot determine the life characteristics of contour information when detecting biological beings. Infrared thermal imaging technology determines whether an object is a biological being and the life characteristics of a biological being based on the different infrared energies emitted by objects at different temperatures, but the position accuracy of infrared thermal imaging detection is far less accurate than that of LiDAR detection. If the advantages of LiDAR's ability to accurately determine the position of an object and infrared thermal imaging's ability to determine the life characteristics of an object can be combined for biometrics and life characteristics judgment, it can meet the needs of low-cost biometric applications.

[0003] Currently, the combination of lidar and infrared thermal imaging technology for biometrics has been applied in a small number of applications, but the combination method is to obtain heterogeneous lidar point cloud data and infrared thermal imaging data, and then use algorithms to perform fusion and matching recognition. This method will cause the algorithm to be unable to process or the recognition accuracy to be low when the ambient illumination is low, the light is dark, and the noise is severe.

[0004] Therefore, in order to solve the problem that the current method of collecting heterogeneous data with lidar and infrared thermal imaging technology and then performing biometric identification through algorithm fusion, the algorithm cannot be processed or the recognition accuracy is low in harsh detection environments, a biometric identification device based on the combination of infrared thermal imaging and lidar is proposed. Utility Model Content

[0005] The technical solution adopted by the present invention to solve the technical problems is as follows:

[0006] In the first aspect, the utility model provides a biometric recognition device combining infrared thermal imaging and laser radar, including: a main control module; a laser radar module, an infrared thermal imaging module, an azimuth code disk and a motor module respectively connected to the main control module; the motor module drives the main control module, the laser radar module and the infrared thermal imaging module to rotate at the same frequency and in the same direction; the laser radar module and the infrared thermal imaging module reuse the main control module and the azimuth code disk.

[0007] The laser radar module is installed on one side above the main control module; the infrared thermal imaging module is installed on the other side above the main control module.

[0008] The laser radar module includes a laser transmitter and a laser receiver. The laser receiver and the infrared thermal imaging module are arranged side by side, keep their positions relatively fixed and point in the same direction.

[0009] The biometric identification device is divided into two parts: a rotating platform and a fixed base. The main control module, the laser radar module, the infrared thermal imaging module and the motor rotor of the motor module are arranged on the rotating platform; the motor stator of the motor module is arranged on the fixed base.

[0010] The azimuth code disk is composed of an optical coupler and a grating ruler. The optical coupler is arranged on a rotating platform, and the grating ruler is arranged on a fixed base. The optical coupler and the grating ruler are respectively connected to the main control module. The optical coupler rotates at the same frequency and direction as the main control module, the laser radar module and the infrared thermal imaging module under the drive of the motor module.

[0011] A circuit board is arranged on the fixed base, and power supply transmitting coils are arranged on the fixed base and the rotating platform respectively.

[0012] The main control module has a built-in synchronous coupling structure, which includes a data frame for placing laser radar data and a data frame for placing infrared thermal imaging data, as well as an azimuth angle frame for placing synchronized laser radar azimuth angles and infrared thermal imaging azimuth angles.

[0013] A zero angle is set on the azimuth code disk, which is used to detect the azimuth angle information of each surrounding laser radar data and each infrared thermal imaging data based on the reference zero angle.

[0014] In a second aspect, the utility model provides an intelligent sweeping machine, and a biometric identification device combining infrared thermal imaging and laser radar as described in the first aspect is arranged below the outer side of the intelligent sweeping machine. An obstacle avoidance device is arranged on the intelligent sweeping machine, which is used to issue a warning or / and avoid obstacles according to the instructions of the biometric identification device when the biometric identification device identifies a living being.

[0015] The beneficial effects of the utility model are:

[0016] The utility model adopts the structure of combining infrared thermal imaging and laser radar for biometric identification, and multiplexing the main control module and the direction code disk, and realizes the synchronization of laser radar point cloud data and infrared thermal imaging data through physical structure synchronization, thereby improving the accuracy of biometric identification, being able to identify biological life characteristics, reducing the cost of biometric identification, and maintaining a high biometric identification accuracy even when the ambient illumination is low, the light is dim, and the noise is severe. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1This is a schematic diagram of the structure of the biometric identification device provided by the embodiment of the utility model Figure 1 ;

[0018] Figure 2 This is a schematic diagram of the structure of the biometric identification device provided by the embodiment of the utility model Figure 2 ;

[0019] Figure 3 It is a schematic diagram of the structure of the intelligent sweeping machine provided by an embodiment of the utility model.

[0020] Reference numerals:

[0021] 100-Biometric device;

[0022] 1- Main control module;

[0023] 2-LiDAR module; 21-Laser transmitter; 22-Laser receiver;

[0024] 3- Infrared thermal imaging module;

[0025] 4-azimuth code disk; 41-optical coupler; 42-grating ruler;

[0026] 5-motor module; 51-motor rotor; 52-motor stator;

[0027] 10- Rotating platform;

[0028] 20-Fixed base;

[0029] 6- Circuit board;

[0030] 7- Power supply transmitting coil;

[0031] 1000-Smart sweeper;

[0032] 200-obstacle avoidance device;

[0033] 300 - Biological. DETAILED DESCRIPTION

[0034] The present invention is further described below in conjunction with the accompanying drawings and specific implementations:

[0035] Please refer to Figure 1 The utility model provides a biometric identification device 100 combining infrared thermal imaging and laser radar, comprising: a main control module 1; a laser radar module 2, an infrared thermal imaging module 3, an azimuth code disk 4 and a motor module 5 respectively connected to the main control module 1; the motor module 5 drives the main control module 1, the laser radar module 2 and the infrared thermal imaging module 3 to rotate at the same frequency and in the same direction; the laser radar module 2 and the infrared thermal imaging module 3 multiplex the main control module 1 and the azimuth code disk 4.

[0036] Specifically, in order to solve the need for biometric identification in the target recognition process in the field of intelligent sweeping robots, especially the identification of temperature characteristics, a same-body coupling solution based on infrared thermal imaging sensors and lidar sensors is provided. Its innovations are: (1) The positions of living things (pets, elderly people, children) can be identified and tracked in real time through infrared thermal imaging technology and lidar recognition technology, realizing the biological tracking function of equipment such as intelligent sweeping robots; (2) The life characteristics of living things (pets, elderly people, children) can be determined through infrared thermal imaging sensors, such as falling, fever, etc.

[0037] Furthermore, the laser radar module 2 is installed on one side above the main control module 1 ; and the infrared thermal imaging module 3 is installed on the other side above the main control module 1 .

[0038] Specifically, the transmitting module and receiving module of the laser radar are installed on the top of the main control board, and the infrared thermal imaging module is installed on the other side of the main control board (to ensure that the relative positions of the laser transceiver module and the infrared thermal imaging module are fixed). Under the rotation and drag of the motor control module, the entire main control module can be rotated at a fixed frequency. The rotation frequency can be set to dynamic or dynamically adjusted.

[0039] Furthermore, the laser radar module 2 includes a laser transmitter 21 and a laser receiver 22. The laser receiver 22 and the infrared thermal imaging module 3 are arranged side by side, keep their positions relatively fixed and point in the same direction.

[0040] Please refer to Figure 2 The biometric identification device is divided into two parts: a rotating platform 10 and a fixed base 20. The main control module 1, the laser radar module 2, the infrared thermal imaging module 3 and the motor rotor 51 of the motor module 5 are arranged on the rotating platform 10; the motor stator 52 of the motor module 5 is arranged on the fixed base 20. The azimuth code disk 4 is composed of an optical coupler 41 and a grating ruler 42. The optical coupler 41 is arranged on the rotating platform 10, and the grating ruler 42 is arranged on the fixed base 20. The optical coupler 41 and the grating ruler 42 are respectively connected to the main control module 1. The optical coupler 41 rotates at the same frequency and direction as the main control module 1, the laser radar module 2 and the infrared thermal imaging module 3 under the drive of the motor module 5. A circuit board 6 is arranged on the fixed base 20, and a power supply transmitting coil 7 is arranged on the fixed base and the rotating platform respectively.

[0041] Specifically, in this application, since the transmitting module, receiving module and infrared thermal imaging module reuse a main control board, the existing laser radar mainly consists of two parts, a fixed base + a rotating platform. The fixed base is mainly equipped with a bottom circuit board, a power transmitting coil, a motor stator, a grating ruler, etc., and the rotating platform is equipped with a power transmitting coil, a motor rotor, an optical coupler, a main control module, a transmitting module, a receiving module and an infrared thermal imaging module; the grating ruler and the optical coupler are combined into an azimuth code disk, and the motor module drives the rotating platform to rotate. During the rotation process, due to the presence of the azimuth code disk, the laser transceiver module and the infrared thermal imaging module can obtain the rotation angle and azimuth information in real time during the rotation process. Therefore, when the infrared thermal imaging module senses the infrared thermal imaging data, it will also obtain the azimuth information of the infrared thermal imaging lens rotation at this time. This application cleverly allows the laser transceiver module and the infrared thermal imaging module to reuse an azimuth code disk, so that the two modules cooperate to solve the limitations of the laser radar's inability to identify biological information and two-dimensional data detection.

[0042] Furthermore, the main control module 1 is built with a synchronous coupling structure, which includes a data frame for placing laser radar data and a data frame for placing infrared thermal imaging data, and an azimuth angle frame for placing synchronized laser radar azimuth angles and infrared thermal imaging azimuth angles.

[0043] Specifically, the calculation logic of the entire design is: the data output of the laser transceiver module is P1, and the data output of the infrared thermal imaging module is P2. P1 and P2 are coupled at a fixed ratio through the MCU in the main control board, for example: P1&aP2. The MCU in the control board obtains data P1 and data P2 respectively as data segments, and then adds a head pointer, a tail pointer, a check bit, etc. to form a set of data with a specific format for output. After the data coupling is completed, the data is output, and the coupled output of infrared thermal imaging and laser radar data can be realized, and the temperature information (biological information) and point cloud data information of the target object can be detected simultaneously.

[0044] Furthermore, a zero angle is provided on the azimuth code disk 4, which is used to detect the azimuth angle information of each laser radar data and each infrared thermal imaging data in the surroundings based on the reference zero angle.

[0045] Specifically, taking pedestrians as an example, the laser radar transceiver module will detect the point cloud data of all obstacles in the surrounding two-dimensional plane during scanning, which will make data processing difficult for the precise positioning of pedestrians in the later stage. In order to quickly identify, it is necessary to first confirm the approximate position of the pedestrian, because the laser radar transceiver module and the infrared thermal imaging module reuse an orientation code disk, and the receiving module and the infrared thermal imaging structure are side by side and point in the same direction. Therefore, when the infrared thermal imaging lens detects a creature, it is the point cloud data of the obstacle detected by the receiving module at the position of the creature. Based on the obtained approximate orientation parameters, some point cloud data are quickly extracted from a large amount of point cloud data P1 for calculation to obtain the precise orientation and distance of the pedestrian. The specific calculation is: (1) Obtain a section of continuous point cloud data of the obstacle (i.e., pedestrian), calculate the distance of each point cloud data separately, and use the TOF measurement method: , L is the distance measured, c is the speed of light, and ΔT is the detection time; (2) Calculate the mean distance of each point cloud data to obtain the precise distance of the pedestrian. (3) Obtain a section of continuous point cloud data of the obstacle (i.e., the pedestrian), and obtain the angle information of the last two point cloud data of the section of continuous point cloud data. The azimuth code disk of the laser radar is set with a zero angle, and the angle information of each point cloud data around can be detected based on the reference zero angle. For example, the angle of the first point cloud data of a section of continuous point cloud data of the obstacle (i.e., the pedestrian) is 60°, and the angle of the first point cloud data is 66°. (4) Calculate the intermediate value based on the angle of the first and last point cloud data of the obstacle (i.e., the pedestrian), and then obtain the precise orientation of the pedestrian. For example, the angle of the first point cloud data of a section of continuous point cloud data of the obstacle (i.e., the pedestrian) is 60°, and the angle of the first point cloud data is 66°, then the orientation of the pedestrian is 63°.

[0046] Please refer to Figure 3 The utility model also provides an intelligent sweeping machine, on the lower side of which is disposed a biometric identification device 100 that is a combination of infrared thermal imaging and laser radar as described above. The intelligent sweeping machine 1000 is provided with an obstacle avoidance device 200, which is used to issue a warning or / and avoid obstacles according to the instructions of the biometric identification device 100 when the biometric identification device 100 identifies a creature 300.

[0047] Specifically, the infrared thermal imaging module can identify biological characteristics. For example, during the operation of the sweeping robot, it monitors the life characteristics and location information of indoor creatures (pets, children, and the elderly) in real time. When the creatures (pets, children, and the elderly) walk normally and the temperature is normal, there is no alarm. When the creatures (pets, children, and the elderly) fall to the ground for a long time and the temperature is abnormal, the sweeping robot activates the intelligent alarm and links the APP to remote prompts.

[0048] It should be noted that the present application provides a coupled biometric detection device using the above-mentioned infrared thermal imaging sensor and laser radar sensor; the detection device can also be applied to mobile robots, especially in crowded scenes, such as service robots in supermarkets and shopping malls. The method for mobile robots to avoid pedestrians is as follows: (1) the detection data P1 of the laser transceiver module and the infrared thermal imaging module data P2 are obtained through the detection device; (2) the data P1 and the data P2 are coupled and output, and the coupled data are sent to the central processor of the mobile robot; (3) the central processor parses and identifies the coupled data; A. If the data P1 and the data P2 do not identify the pedestrian temperature data, it is considered normal. B. If the data P1 identifies an obstacle and the data P2 does not identify the temperature data, it is considered to be a non-biological obstacle, and the target is continuously tracked based on the laser transceiver module. C. If the data P2 identifies the temperature data, it is considered that a pedestrian is passing by. (4) For situation C, the central processing unit obtains the laser radar data P1 to further accurately confirm the direction and distance of the pedestrian; the specific methods are: A) by parsing the data P2, the approximate direction of the pedestrian is obtained. Since the laser transceiver module and the infrared thermal imaging module are both installed above the main control board of the detection equipment, they can share a direction code disk with the laser radar module; B) the detection equipment is controlled to increase the laser radar transmission power and rotation frequency, so that a sufficient amount of laser radar point cloud data P1 can be obtained within a period; and the approximate direction of the pedestrian is analyzed based on the data P2. Based on the obtained approximate direction parameters, part of the point cloud data is quickly extracted from the large amount of point cloud data P1 for calculation to obtain the precise direction and distance of the pedestrian.

[0049] In this application, the laser radar transceiver module will detect the point cloud data of all obstacles in the surrounding two-dimensional plane during scanning, which will make data processing difficult for the precise positioning of pedestrians in the later stage. In order to enable rapid identification, it is first necessary to confirm the approximate position of the pedestrian. Because the laser radar transceiver module and the infrared thermal imaging module reuse an orientation code disk, and the receiving module and the infrared thermal imaging structure are side by side and point in the same direction. Therefore, when the infrared thermal imaging lens detects a living being, it is the point cloud data of the obstacle detected by the receiving module at the position of the living being.

[0050] The biometric identification device of the present application can perfectly coordinate the infrared thermal imaging module and the laser transceiver module, and can be applied to obstacle avoidance solutions for smart sweepers and service robots.

[0051] For those skilled in the art, various other corresponding changes and deformations can be made according to the technical solutions and concepts described above, and all of these changes and deformations should fall within the protection scope of the claims of the utility model.

[0052] It should be noted that the above-described embodiments are only some embodiments of the utility model, rather than all embodiments. The singular forms "a", "the" and "it" used in the embodiments and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

Claims

1. A biometric identification device combining infrared thermal imaging and laser radar, characterized in that: The biometric identification device (100) comprises: Main control module (1); A laser radar module (2), an infrared thermal imaging module (3), an azimuth encoder (4) and a motor module (5) respectively connected to the main control module (1); The motor module (5) drives the main control module (1), the laser radar module (2) and the infrared thermal imaging module (3) to rotate at the same frequency and in the same direction; The laser radar module (2) and the infrared thermal imaging module (3) reuse the main control module (1) and the azimuth code disk (4).

2. The biometric identification device according to claim 1, characterized in that: The laser radar module (2) is installed on one side above the main control module (1); and the infrared thermal imaging module (3) is installed on the other side above the main control module (1).

3. The biometric identification device according to claim 2, characterized in that: The laser radar module (2) comprises a laser transmitter (21) and a laser receiver (22); the laser receiver (22) and the infrared thermal imaging module (3) are arranged side by side, keep their positions relatively fixed and point in the same direction.

4. The biometric identification device according to claim 1, characterized in that: The biometric identification device is divided into two parts: a rotating platform (10) and a fixed base (20); the main control module (1), the laser radar module (2), the infrared thermal imaging module (3) and the motor rotor (51) of the motor module (5) are arranged on the rotating platform (10); and the motor stator (52) of the motor module (5) is arranged on the fixed base (20).

5. The biometric identification device according to claim 4, characterized in that: The azimuth code disk (4) is composed of an optical coupler (41) and a grating ruler (42), wherein the optical coupler (41) is arranged on a rotating platform (10), and the grating ruler (42) is arranged on a fixed base (20), and the optical coupler (41) and the grating ruler (42) are respectively connected to a main control module (1), and the optical coupler (41) rotates at the same frequency and direction as the main control module (1), the laser radar module (2) and the infrared thermal imaging module (3) under the drive of a motor module (5).

6. The biometric identification device according to claim 4, characterized in that: A circuit board (6) is arranged on the fixed base (20), and power supply transmitting coils (7) are arranged on the fixed base and the rotating platform respectively.

7. The biometric identification device according to claim 1, characterized in that: The main control module (1) is built with a synchronous coupling structure, which includes a data frame for placing laser radar data and a data frame for placing infrared thermal imaging data, and an azimuth angle frame for placing synchronized laser radar azimuth angles and infrared thermal imaging azimuth angles.

8. The biometric identification device according to claim 1, characterized in that: The azimuth code disk (4) is provided with a zero angle, which is used to detect the azimuth angle information of each laser radar data and each infrared thermal imaging data in the surrounding area based on the reference zero angle.

9. Intelligent sweeping machine, characterized in that: A biometric recognition device (100) according to any one of claims 1 to 8 is arranged at the lower outer side of the intelligent sweeping machine.

10. The intelligent sweeping machine according to claim 9, characterized in that: The intelligent sweeping machine (1000) is provided with an obstacle avoidance device (200) for issuing a warning and / or performing obstacle avoidance according to the instruction of the biological recognition device (100) when the biological recognition device (100) recognizes a living being (300).

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