CN216901710U

CN216901710U - Robot of sweeping floor of carrying on high spectral camera

Info

Publication number: CN216901710U
Application number: CN202220083232.8U
Authority: CN
Inventors: 何赛灵; 马腾飞
Original assignee: Zhejiang University ZJU
Current assignee: Zhejiang University ZJU
Priority date: 2022-01-13
Filing date: 2022-01-13
Publication date: 2022-07-05
Anticipated expiration: 2032-01-13

Abstract

The utility model discloses a sweeping robot carrying a hyperspectral camera, which is provided with a sweeping and moving module, a power supply module, an information processing and controlling module, a hyperspectral camera module, an RGB camera module and a special-shaped camera calibration module; the hyperspectral camera module is connected with the information processing and control module and used for acquiring hyperspectral information of the target object; the RGB camera module is connected with the information processing and control module and is used for acquiring RGB images of the target object; the abnormal-shape camera calibration module is respectively connected with the hyperspectral camera and the RGB camera and used for calibrating external parameters of the hyperspectral camera and the RGB camera. The sweeping robot is provided with a mobile terminal wireless transmission module. The robot of sweeping the floor is equipped with supporting fixed base station formula and fills electric pile. Fixed base station formula fills electric pile and is equipped with stiff end wireless transmission module. Fixed base station formula fills electric pile and is equipped with information processing module. The utility model can realize multi-dimensional information acquisition and is beneficial to the application of target identification, three-dimensional reconstruction, accurate positioning and the like.

Description

Robot of sweeping floor of carrying on high spectral camera

Technical Field

The utility model relates to the field of sweeping robots, in particular to sweeping robot equipment with a hyperspectral camera.

Background

In modern increasingly comfortable home life, the robot capable of sweeping floor without leaving hands is liberated from housework. The sweeping robot can automatically scan a home environment map by utilizing a laser radar based on SLAM (slam localization and mapping) technology, and complete the functions of path planning, positioning, obstacle avoidance, sweeping and washing, automatic charging and the like.

Because the home environment is changed frequently, the goal recognition is completed to help realize the functions in the changed environment, but the common RGB camera cannot effectively recognize/distinguish the long and thin goals such as the electric wire, the wooden stick and the like, so that the sweeping robot is often entangled by the electric wire and cannot work. It is important how to accurately identify the target object.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects of the prior art, the utility model aims to provide a sweeping robot carrying a hyperspectral camera.

A sweeping robot carrying a hyperspectral camera is provided with a sweeping and moving module, a power supply module, an information processing and controlling module, a hyperspectral camera module, an RGB camera module and a special-shaped camera calibration module;

the hyperspectral camera module is connected with the information processing and control module and used for acquiring hyperspectral information of a target object;

the RGB camera module is connected with the information processing and control module and is used for acquiring RGB images of the target object;

the abnormal-shaped camera calibration module is respectively connected with the hyperspectral camera and the RGB camera and used for calibrating external parameters of the hyperspectral camera and the RGB camera.

The sweeping robot is provided with a mobile terminal wireless transmission module.

The sweeping robot is provided with a matched fixed base station type charging pile.

Fixed base station formula fill electric pile and be equipped with stiff end wireless transmission module.

The fixed base station type charging pile is provided with an information processing module.

The hyperspectral camera module comprises an electro-optic tunable filter and a CCD camera.

The hyperspectral camera module is connected with the RGB camera module.

The sweeping robot is also provided with a voice control module.

The sweeping robot is also provided with a matched remote controller.

The sweeping robot is connected with the charging pile through the fixed base station, and a plurality of robots work in a coordinated mode.

The utility model has the beneficial effects that:

the existing sweeping robot is difficult to identify thin wires on the ground (the space resolution of common images is not enough) and the thin wires are entangled, and the hyperspectral camera can be used for distinguishing targets on the floors, such as distinguishing wire materials (with plastic fluorescence spectrum characteristics) and thin wooden stick materials, and the like, so that a decision basis is provided for intelligent obstacle avoidance of the sweeping robot.

According to the utility model, a hyperspectral camera and a common RGB camera are calibrated to form a heterotypic camera binocular system, RGB image flow and hyperspectral image flow information of the sweeping robot can be processed by a local onboard information processing and control module, and can also be wirelessly transmitted to a fixed base station type charging pile provided with an information processing module for calculation, and the calculation result is returned to the sweeping robot in real time. Compared with local airborne processing, the scheme with the light front part and the heavy rear part reduces the operation and power supply pressure of the sweeping robot end, and ensures long-time cruising of the sweeping robot; the scheme enhances the computing power of the whole system on the whole, and ensures higher-level perception application based on the hyperspectral image and the RGB image.

The information processing module of the fixed base station type charging pile can provide calculation service for a plurality of sweeping robots, and the expansion convenience of the system is guaranteed. The multiple sweeping robots forming the network are particularly suitable for application scenarios such as multiple rooms, large spaces and the like, such as industrial and public places (such as airports) and the like.

Drawings

FIG. 1 is a block diagram of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1, the robot for sweeping with the hyperspectral camera comprises a sweeping and moving module, a power module, an information processing and controlling module (a conventional sweeping and moving module, a power module, an information processing and controlling module and the like are not shown in fig. 1), a hyperspectral camera module, an RGB camera module and a special-shaped camera calibration module;

the hyperspectral camera module is connected with the information processing and control module and used for acquiring hyperspectral information of a target object; the hyperspectral camera can image the attributes of the target material, and the hyperspectral camera has great benefits on accurate positioning and identification of the target object. The hyperspectral camera can be used for navigation independently, but is limited by the fact that the current hyperspectral camera is low in acquisition speed, and second-level navigation can be achieved generally.

And the RGB camera module is connected with the information processing and control module and is used for acquiring RGB images of the target object. RGB cameras have been used for navigation in the prior art with a relatively mature solution.

The abnormal-shaped camera calibration module is respectively connected with the hyperspectral camera and the RGB camera and used for calibrating external parameters of the hyperspectral camera and the RGB camera. After the hyperspectral camera and the RGB camera are calibrated, a special-shaped camera binocular system can be realized, and multi-dimensional information acquisition which cannot be completed by a common camera can be completed, so that the method is very beneficial to upper-layer advanced applications such as target recognition, three-dimensional reconstruction, accurate positioning and the like.

The common RGB camera module and the hyperspectral camera module form a special-shaped camera binocular system which is used for accurately identifying a target object. The binocular system can form two working modes: in the first mode, a common RGB camera and a hyperspectral camera work independently, a common RGB image is used for roughly classifying targets, and a hyperspectral image is used for accurately identifying target objects; and in the second mode, performing binocular reconstruction on the common RGB image and the hyperspectral image to obtain hyperspectral three-dimensional point cloud, and then realizing intelligent application by utilizing the hyperspectral three-dimensional point cloud. Mode one is useful for reducing power consumption, such as time sharing operation of the cameras, and if one camera fails, the other can also operate.

The fixed base station type charging pile is provided with an information processing module. The wireless transmission module wirelessly transmits RGB image stream and hyperspectral image stream information of the sweeping robot to an information processing module of the fixed base station type charging pile for calculation, such as target recognition, three-dimensional reconstruction, target positioning and the like, and calculation results are returned to the sweeping robot in real time. And the sweeping robot carries out actions such as path planning, obstacle avoidance and the like according to the result. The sweeping robot is considered to be generally limited in size, computing power and power supply, more storage and computing can be carried out on the fixed base station type charging pile, the front part is light, the rear part is heavy, and the whole system can work in a better state under the scene of a mode two; the other fixed base station type charging pile can provide service for a plurality of sweeping robots, and even the sweeping robots can be combined to a grid to cooperate. However, on the occasion of a general simple ground environment, the information processing and control module carried by the sweeping robot can independently complete tasks, so that the power consumption caused by communication is saved; or in the occasion with poor wireless communication, the independence of the sweeping robot is very important.

The information processing module can have a privacy protection function. For example, the information processing module only stores information related to the task in the disk (for example, only stores the position and characteristics of the key point in the SLAM task), the original image information is discarded after the calculation is completed in the RAM, and the information cannot be recovered after the RAM is powered off. In addition, the installation angles of the RGB camera and the hyperspectral camera are more inclined to the ground, the probability of directly shooting the front photos of people is reduced, and the method is also an important means for guaranteeing privacy and safety.

But on the other hand, the information obtained by the RGB camera and the hyperspectral camera can be used for various purposes, such as historical data acquisition and floor sweeping algorithm improvement. Even, the robot of sweeping the floor can regard as a security protection monitoring patrol's device.

The sweeping robot is also provided with a voice control module.

The sweeping robot is also provided with a matched remote controller.

It will be apparent to those skilled in the art that the extrinsic calibration of the hyperspectral camera and the RGB camera can take a number of forms.

The working steps of the calibration module of the special-shaped camera are illustrated as follows: firstly, shooting a plurality of images of the chessboard pattern calibration plate by the two cameras, then, converting the hyperspectral image into corresponding RGB images in an integral manner, forming a plurality of image pairs by the RGB images and the RGB images shot by the original RGB cameras, and finally, calibrating the images by using a universal binocular camera calibration method to obtain the external parameters of the binocular system of the special-shaped camera.

The embodiments in the above description can be further combined or replaced, and the embodiments are only described as preferred examples of the present invention, and do not limit the concept and scope of the present invention, and various changes and modifications made to the technical solution of the present invention by those skilled in the art without departing from the design concept of the present invention belong to the protection scope of the present invention. The scope of the utility model is given by the appended claims and any equivalents thereof.

Claims

1. The utility model provides a carry hyperspectral camera's robot of sweeping floor, has and sweeps floor and removes module, power module, information processing and control module, its characterized in that: the system also comprises a hyperspectral camera module, an RGB camera module and a heterotype camera calibration module;

2. The sweeping robot of claim 1, wherein: the mobile terminal wireless transmission module is arranged.

3. The sweeping robot of claim 1 or 2, wherein: charging pile equipped with a matched fixed base station.

4. The sweeping robot of claim 3, wherein: fixed base station formula fill electric pile and be equipped with stiff end wireless transmission module.

5. The sweeping robot of claim 4, wherein: the fixed base station type charging pile is provided with an information processing module.

6. The sweeping robot of claim 1, wherein: the hyperspectral camera module comprises an electro-optic tunable filter and a CCD camera.

7. The sweeping robot of claim 1, wherein: the hyperspectral camera module is connected with the RGB camera module.

8. The sweeping robot of claim 1, wherein: and a voice control module is also arranged.

9. The sweeping robot of claim 1, wherein: a matched remote controller is also arranged.

10. The sweeping robot of claim 5, wherein: fill electric pile through fixed base station formula and link to each other, a plurality of collaborative work.