CN210871291U

CN210871291U - VSLAM navigation head and intelligent dust catcher of infrared imaging

Info

Publication number: CN210871291U
Application number: CN201921259150.9U
Authority: CN
Inventors: 卓秋珍
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-08-02
Filing date: 2019-08-02
Publication date: 2020-06-30
Anticipated expiration: 2029-08-02

Abstract

The utility model relates to a VSLAM navigation head and intelligent dust catcher of infrared imaging, it is including infrared source, VSLAM imaging lens and imaging sensor, infrared ray can be launched to infrared source, imaging sensor can receive the light that VSLAM imaging lens sees through, the infrared irradiation region that infrared source sent has covered VSLAM imaging lens's imaging area. The utility model discloses a VSLAM navigation head is provided with infrared source, the infrared irradiation that infrared source sent is on the object in the environment, after article reflection, see through on VSLAM imaging lens transmits imaging sensor, form images, from this, form active formation of image, light source in the formation of image independence environment, guarantee can form images, in addition, the infrared irradiation region that infrared source sent has covered VSLAM imaging lens's imaging area, therefore, VSLAM imaging lens will image the region all has infrared reflection to come back, thereby make the formation of image clear, high imaging quality.

Description

VSLAM navigation head and intelligent dust catcher of infrared imaging

Technical Field

The utility model relates to a dust catcher technical field especially relates to a VSLAM navigation head and intelligent dust catcher of infrared imaging.

Background

SLAM (synchronous positioning and map construction) refers to a process of constructing an environment map while calculating the position of a moving object according to information of a sensor, and solves the problems of positioning and map construction when a robot and the like move in an unknown environment. At present, SLAM is mainly applied to the fields of robots, unmanned aerial vehicles, unmanned driving, AR, VR, and the like, and the applications thereof include positioning of a sensor itself, and subsequent path planning, motion performance, and scene understanding.

Due to the difference of the types and installation modes of the sensors, the implementation mode and difficulty of the SLAM have certain difference. SLAM is largely divided into two major categories, laser SLAM and VSLAM (vision-based localization and mapping), by sensor. Among them, laser SLAM starts earlier than VSLAM, and is relatively mature in theory, technology and product landing. At present, two realization paths of the SLAM scheme based on vision mainly exist, one is a depth camera based on RGBD, which is similar to the laser SLAM, and the distance of an obstacle can be directly calculated through collected point cloud data; still another is based on monocular, binocular or fisheye cameras, which estimates the pose change of itself using multi-frame images, calculates the distance from an object by accumulating the pose change, and performs positioning and mapping.

The existing VSLAM navigation devices are passive imaging devices, and have poor imaging quality in a dark environment, and in an environment where light is switched on and off or in an environment where a window is switched on and off, light changes and imaging quality cannot be guaranteed.

SUMMERY OF THE UTILITY MODEL

The utility model discloses the technical problem that will solve lies in how to ensure the imaging quality that VSLAM navigation head can be in dark surrounds or the environment of luminance change.

The utility model provides a technical scheme that above-mentioned technical problem adopted is:

the utility model provides a VSLAM navigation head of infrared imaging, including infrared source, VSLAM imaging lens and imaging sensor, infrared source can launch infrared ray, imaging sensor can receive the light that VSLAM imaging lens saw through, the irradiation area of the infrared ray that infrared source sent has covered VSLAM imaging lens's imaging area.

In a preferred embodiment, the light emitting angle of the infrared light source is not less than the angle of view of the VSLAM imaging lens.

In a preferred embodiment, an infrared filter is further disposed between the VSLAM imaging lens and the imaging sensor.

In a preferred embodiment, the infrared light source is an infrared LED.

In a preferred embodiment, the infrared light source further comprises a lens, and the infrared light emitted by the infrared light source is transmitted through the lens and emitted outwards.

An intelligent dust collector comprises the VSLAM navigation device for infrared imaging.

The utility model has the advantages that:

the utility model discloses a VSLAM navigation head is provided with infrared source, the infrared irradiation that infrared source sent is on the object in the environment, after article reflection, see through on VSLAM imaging lens transmits imaging sensor, form images, from this, form active formation of image, light source in the formation of image independence environment, guarantee can form images, in addition, the infrared irradiation region that infrared source sent has covered VSLAM imaging lens's imaging area, therefore, VSLAM imaging lens will image the region all has infrared reflection to come back, thereby make the formation of image clear, high imaging quality.

Drawings

The present invention will be further explained with reference to the drawings and examples.

Fig. 1 is a sectional view of an intelligent vacuum cleaner according to a first embodiment of the present invention;

FIG. 2 is an enlarged view I of a portion of FIG. 1;

FIG. 3 is a partial enlarged view II of FIG. 2;

fig. 4 is a schematic diagram of an embodiment of a lighting angle a of the infrared source and a viewing angle b of the VSLAM imaging lens of the present invention;

FIG. 5 is an oblique view of the intelligent cleaner of FIG. 1;

fig. 6 is an oblique view of an intelligent cleaner according to a second embodiment of the present invention.

Detailed Description

This section will describe in detail the embodiments of the present invention, preferred embodiments of the present invention are shown in the attached drawings, which function is to supplement the description of the text part of the specification with figures, so that each technical feature and the whole technical solution of the present invention can be understood visually and vividly, but it cannot be understood as a limitation to the scope of the present invention.

In the description of the present invention, if an orientation description is referred to, for example, the directions or positional relationships indicated by "upper", "lower", "front", "rear", "left", "right", etc. are based on the directions or positional relationships shown in the drawings, only for convenience of description and simplification of description, and it is not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. When a feature is referred to as being "disposed," "secured," or "connected" to another feature, it can be directly disposed, secured, or connected to the other feature or be indirectly disposed, secured, or connected to the other feature.

In the description of the present invention, if "a plurality" is referred to, it means one or more, if "a plurality" is referred to, it means two or more, if "more than", "less than" or "more than" is referred to, it is understood that the number is not included, and if "more than", "less than" or "within" is referred to, it is understood that the number is included. If reference is made to "first" or "second", this should be understood to distinguish between features and not to indicate or imply relative importance or to implicitly indicate the number of indicated features or to implicitly indicate the precedence of the indicated features.

In addition, unless defined otherwise, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

Referring to fig. 1 to 3, in which fig. 1 is a sectional view of an intelligent vacuum cleaner according to a first embodiment of the present invention, fig. 2 is a partial enlarged view i of fig. 1, and fig. 3 is a partial enlarged view ii of fig. 2. The intelligent dust collector of this embodiment is including the VSLAM navigation head of infrared formation of image, the VSLAM navigation head of infrared formation of image is including VSLAM camera 1 and infrared light source subassembly 2, VSLAM camera 1 is including VSLAM imaging lens 11, infrared filter 12 and imaging sensor 13, VSLAM imaging lens 11 establishes the surface at intelligent dust collector, imaging sensor 13 is located intelligent dust collector, infrared filter 12 sets up between VSLAM imaging lens 11 and imaging sensor 13.

The infrared light source component 2 comprises a lens 21, an infrared light source 22 and a PCB 23, the infrared light source 22 is fixed on the PCB 23, the PCB 23 can supply power for the infrared light source 22, the infrared light source 22 can emit infrared light, the emitted infrared light is adjusted in light through the lens 21 and then emitted to the outside, the infrared light is reflected by an external object, then the infrared light penetrates through the VSLAM imaging lens 11 and then enters the imaging sensor 13, and the imaging sensor 13 images after sensing external red light.

Because the infrared light source 22 is arranged, the VSLAM navigation device for infrared imaging in this embodiment is an active imaging device, and the imaging sensor 13 is not affected by the change of external light, and can image in a dark environment or an environment with a change of brightness. In addition, in order to ensure the imaging quality, the irradiation area of the infrared rays emitted by the infrared light source 22 can cover the imaging area of the VSLAM imaging lens 11, so that the infrared rays are reflected back from the imaging area of the VSLAM imaging lens 11, and the imaging quality is good.

In this embodiment, the infrared light source 22 is an infrared LED, and the lens 21 can adjust the light emitting angle of the infrared LED, so as to cooperate with the viewing angle of the VSLAM imaging lens 11, thereby ensuring the imaging quality, and by setting the infrared filter 12, other incident lights except for infrared light can be filtered out, thereby further improving the imaging quality of the imaging sensor 13.

Referring to fig. 2, fig. 3 and fig. 4, fig. 4 is a schematic diagram of an embodiment of the lighting angle a of the infrared source 22 and the viewing angle b of the VSLAM imaging lens 11, in order to make the area in the viewing angle of the VSLAM imaging lens 11 have infrared radiation, the lighting angle a of the infrared source 22 is not smaller than the viewing angle b of the VSLAM imaging lens 11, so that the light emitted by the single infrared source 22 can cover the imaging area of the VSLAM imaging lens 11.

In practical use, a plurality of infrared light sources 22 may be provided to reduce the design difficulty and achieve the purpose of covering the imaging area of the VSLAM imaging lens 11.

Referring to fig. 2, 3 and 5, fig. 5 is an oblique view of the intelligent vacuum cleaner in fig. 1, in this embodiment, the VSLAM camera 1 and the infrared light source assembly 2 are both disposed on the upper surface of the intelligent vacuum cleaner and disposed upward, the infrared light source assembly 2 is disposed in two and distributed on two sides of the VSLAM camera 1, and an irradiation area of the single infrared light source assembly 2 covers an imaging area of the VSLAM camera 1.

Referring to fig. 6, fig. 6 is an oblique view of the intelligent vacuum cleaner according to the second embodiment of the present invention, in this embodiment, the installation positions of the VSLAM camera 1 and the infrared light source assembly 2 are changed, the VSLAM camera 1 and the infrared light source assembly 2 are inclined and arranged upward, and the infrared light source assembly 2 is also arranged in two, and distributed on two sides of the VSLAM camera 1.

In the third embodiment of the present invention, the infrared light source 22 may be turned off, and the infrared filter 12 is not provided, so that the infrared light source can be applied to an environment with sufficient and stable light.

In a fourth embodiment of the present invention, the type of the infrared light source 22 is replaced, and the infrared light source 22 is a silicon carbide rod or a xenon lamp.

While the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the embodiments, and those skilled in the art can make various equivalent modifications and substitutions without departing from the spirit of the present invention. Furthermore, the embodiments of the present invention and features of the embodiments may be combined with each other without conflict.

Claims

1. The VSLAM navigation device is characterized by comprising an infrared source, a VSLAM imaging lens and an imaging sensor, wherein the infrared source can emit infrared rays, the imaging sensor can receive light rays transmitted by the VSLAM imaging lens, and an irradiation area of the infrared rays emitted by the infrared source covers an imaging area of the VSLAM imaging lens.

2. The infrared imaging VSLAM navigation device of claim 1, wherein the infrared source has a light emission angle that is not less than the viewing angle of the VSLAM imaging lens.

3. The infrared imaging VSLAM navigation device of claim 1, wherein an infrared filter is further disposed between the VSLAM imaging lens and the imaging sensor.

4. The infrared imaging VSLAM navigation device of claim 1, wherein the infrared light source is an infrared LED.

5. The infrared imaging VSLAM navigation device of any one of claims 1-4, further comprising a lens through which infrared light from the infrared light source is emitted outward.

6. An intelligent vacuum cleaner comprising an infrared imaging VSLAM navigation device as claimed in any one of claims 1 to 5.