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Biological robot-based miniature wireless active omni-directional vision sensor

An active panoramic and vision sensor technology, applied in the field of miniature wireless active panoramic vision sensors, can solve the problems of low level of automation and intelligence, large volume of pipeline inspection vehicles, expensive peristaltic robots, etc., and achieve the effect of strong price advantage

Inactive Publication Date: 2015-11-11
汤一平
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0014] In order to overcome the low level of automation and intelligence of the existing CCTV method, the large size of the pipeline inspection vehicle, it is difficult to perform high-precision automatic analysis and evaluation of functional and structural defects in small-diameter pipelines, and the three-dimensional modeling of the internal side wall of the pipeline Difficulty, high price of peristaltic robots, etc., the present invention provides a micro wireless active panoramic vision sensor based on biological robots, which can improve the automation and intelligence level of pipeline detection, and perform high-precision detection of functional defects and structural defects in pipelines. Automatic analysis and evaluation for 3D modeling of pipe interior sidewalls

Method used

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  • Biological robot-based miniature wireless active omni-directional vision sensor
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  • Biological robot-based miniature wireless active omni-directional vision sensor

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0112] refer to Figure 1-12 , a miniature wireless active panoramic vision sensor based on bio-robots, its hardware mainly includes: gecko and pipeline visual inspection equipment; A panoramic image of the inner wall of the pipe is taken in a long and narrow pipe.

[0113] Pipeline vision inspection equipment mainly includes wireless communication unit, active panoramic vision sensor and power supply.

[0114] Active panoramic vision sensor mainly includes omnidirectional vision sensor, LED belt light source and panoramic laser light source;

[0115] The omnidirectional visual sensor includes a concave arc mirror surface 2, a concave arc mirror surface cover 1, a light-transmitting glass 3, a fixing screw 4, an outer cover 5 and a camera unit 7; figure 1 As shown, there is a threaded hole on the axis of the concave arc mirror; there is a small hole in the center of the light-transmitting glass; the outer cover is composed of two semi-cylindrical types, and the male and fem...

Embodiment 2

[0168] All the other are identical with embodiment 1, difference is to calculate rotation matrix R and T method from essential matrix E; This method is: at first, utilize the attribute of essential matrix E rank 2 to find out the translation amount t between gecko before and after moving, as formula (17);

[0169] t = - e i 2 Me k 2 ...

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Abstract

The invention discloses a biological robot-based miniature wireless active omni-directional vision sensor. The hardware of the biological robot-based miniature wireless active omni-directional vision sensor comprises a gecko and a pipeline vision detection device; the pipeline vision detection device is bundled on the gecko, and the gecko creeps forward and drags the pipeline vision detection device to shoot the omni-directional image of the inner wall of a pipeline in the narrow and long pipeline with small caliber; the pipeline vision detection device mainly comprises a wireless communication unit, an active omni-directional vision sensor and a power supply; the active omni-directional vision mainly comprises an omni-directional vision sensor, an LED band light source and an omni-directional laser source; and a pipeline detection analysis system detects the detected pipeline according to the omni-directional video image transmitted through wireless communication network and executes 3D modeling treatment.

Description

technical field [0001] The present invention relates to the application of bio-robots, panoramic laser light sources, omni-directional visual sensors, wireless transmission and computer vision technology in state detection of industrial surfaces in narrow spaces, and in particular to a micro wireless active panoramic visual sensor based on bio-robots . Background technique [0002] The necessity and urgency of structural health monitoring for underground pipelines is self-evident. It is necessary to have an automatic, all-round and intelligent comprehensive health examination technology for pipelines, and to regularly detect and maintain pipelines. [0003] The motion stability, flexibility, robustness, environmental adaptability and energy efficiency of industrial robots in unstructured environments are far behind animals. Animal robots have more obvious advantages than robots in terms of energy supply, movement flexibility, concealment, mobility and adaptability. [000...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C11/00
CPCG01C11/00
Inventor 汤一平
Owner 汤一平
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