CN207360243U - Automotive positioning pan and tilt head - Google Patents
Automotive positioning pan and tilt head Download PDFInfo
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- CN207360243U CN207360243U CN201720929855.1U CN201720929855U CN207360243U CN 207360243 U CN207360243 U CN 207360243U CN 201720929855 U CN201720929855 U CN 201720929855U CN 207360243 U CN207360243 U CN 207360243U
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Abstract
A kind of automotive positioning pan and tilt head, including：Horizontal inertial servo-control system is arranged on horizontal base, and horizontal inertial servo-control system is used to suppress extraneous vibration interference；Horizontal X axis inner rotor motor is mutually perpendicular to overlay on horizontal base with horizontal Y-axis inner rotor motor；Inertia detection unit is used for the horizontal attitude angle for detecting the automotive positioning pan and tilt head；Controller is used for the horizontal attitude angle for obtaining the automotive positioning pan and tilt head of inertia detection unit detection, and rotated according to the horizontal attitude angle controlled level X-axis inner rotor motor and horizontal Y-axis inner rotor motor of automotive positioning pan and tilt head, so that automotive positioning pan and tilt head keeps horizontal.Due to setting horizontal inertial servo-control system on automotive positioning pan and tilt head horizontal base so that automotive positioning pan and tilt head can keep horizontal attitude, and the influence for effectively reducing external vibration interference improves the experience of user.
Description
Technical field
The present invention relates to technical field of navigation and positioning, and in particular to a kind of automotive positioning pan and tilt head.
Background technology
With the fast development of pilotless automobile in recent years, for the demand and performance requirement of vehicle environment sensory perceptual system
Also in accelerated growth.In correlation technique, automotive positioning and vision system are generally in discrete or preliminary integrated state, example
Such as, reported visual sensation instrument, ADAS systems and the GNSS navigation positioning systems of autonomous working may be equipped with most of automobile.But
Be, correlation technique there are the problem of be, since space and cost reason are unfavorable for carrying out damping processing to holder, to cause what is perceived
Accuracy declines.
The content of the invention
The application provides a kind of automotive positioning pan and tilt head, and automotive positioning pan and tilt head can keep horizontal appearance
State, effectively reduces the influence of external vibration interference, greatly improves the accuracy of detection of automotive positioning panoramic platform, into
And perception of the automobile to foreign nationality's environment is lifted, improve the experience of user.
A kind of automotive positioning pan and tilt head that the application provides, including：Horizontal base；Horizontal inertial SERVO CONTROL system
System, the horizontal inertial servo-control system are arranged on horizontal base, and the horizontal inertial servo-control system is used to suppress
Extraneous vibration disturbs；Wherein, the horizontal inertial servo-control system includes horizontal X axis inner rotor motor, horizontal Y-axis internal rotor
Motor, inertia detection unit and controller；The horizontal X axis inner rotor motor mutually hangs down with the horizontal Y-axis inner rotor motor
Directly overlay on horizontal base, and horizontal X axis inner rotor motor is arranged on above horizontal Y-axis inner rotor motor；The inertia inspection
Survey unit to be arranged on horizontal X axis inner rotor motor, the inertia detection unit is used to detect the automotive positioning panorama
The horizontal attitude angle of holder；The controller respectively with the horizontal X axis inner rotor motor, the horizontal Y-axis inner rotor motor
It is connected with the inertia detection unit, the vehicle mounted guidance that the controller is used to obtain the inertia detection unit detection is determined
The horizontal attitude angle of position pan and tilt head, and the level is controlled according to the horizontal attitude angle of the automotive positioning pan and tilt head
X-axis inner rotor motor is rotated with the horizontal Y-axis inner rotor motor, so that automotive positioning pan and tilt head keeps horizontal.
In certain embodiments, the inertia detection unit can be IMU Inertial Measurement Units.
In certain embodiments, the IMU Inertial Measurement Units can be additionally operable to IMU inertial navigations.
In certain embodiments, the automotive positioning pan and tilt head further includes：Vertical external rotor electric machine, it is described vertical
External rotor electric machine is arranged in the horizontal inertial servo-control system, and the vertical external rotor electric machine is used to drive vision to obtain
Unit is scanned formula shooting；Vision acquiring unit, the vision acquiring unit are used to obtain visual pattern, are swept with obtaining vision
Trace designs picture.
In certain embodiments, the vision acquiring unit may include RGB cameras, depth camera, gray scale camera
And infrared camera.
In certain embodiments, the controller can also be connected with the vertical external rotor electric machine, vertical outer for controlling
Rotor electric machine rotates, to drive vision system to carry out rotary scanning type shooting, to carry out vision SLAM navigation.
In certain embodiments, the automotive positioning pan and tilt head can further include ADAS systems, the ADAS systems
It is connected with the vision acquiring unit, to obtain visual scanning image；The ADAS systems are used for according to the visual scanning figure
Picture is alarmed or brake regulation.
In certain embodiments, automotive positioning pan and tilt head can further include：At least two RTK antennas, described RTK days
Line is used for satellite positioning navigation.
In certain embodiments, the controller can be additionally operable to obtain vision SLAM navigation, the satellite positioning navigation and
The IMU inertial navigations are as a result, and according to vision SLAM navigation, the satellite positioning navigation and the IMU inertial navigations
As a result EKF fusions are carried out.
In certain embodiments, the automotive positioning pan and tilt head can be fixed on roof by fixing sucking disk.
According to the automotive positioning pan and tilt head of above-described embodiment, due in automotive positioning pan and tilt head horizontal base
Horizontal inertial servo-control system is set on seat so that automotive positioning pan and tilt head can keep horizontal attitude, effectively subtract
Lack the influence of external vibration interference, greatly improve the accuracy of detection of automotive positioning panoramic platform, and then lift vapour
Car improves the experience of user to the perception of foreign nationality's environment.
Brief description of the drawings
Fig. 1 is the structural representation of automotive positioning pan and tilt head；
Fig. 2 is the block diagram of the horizontal inertial servo-control system of automotive positioning pan and tilt head；
Fig. 3 is the top view of automotive positioning pan and tilt head.
Embodiment
The present invention is described in further detail below by embodiment combination attached drawing.Wherein different embodiments
Middle similar component employs associated similar element numbers.In the following embodiments, many detailed descriptions be in order to
The application is better understood.However, those skilled in the art can be without lifting an eyebrow recognize, which part feature
It is dispensed, or can be substituted by other elements, material, method in varied situations.In some cases, this Shen
Please relevant certain operations not in the description show or describe, this is the core in order to avoid the application by mistake
More descriptions are flooded, and to those skilled in the art, be described in detail these relevant operations be not it is necessary, they
The general technology knowledge of description and this area in specification can completely understand relevant operation.
With the fast development of pilotless automobile in recent years, for the demand and performance requirement of vehicle environment sensory perceptual system
Also in accelerated growth.A following pilotless automobile may be at the same time equipped with GNSS (Global Navigation
Satellite System, Global Satellite Navigation System), RTK (Real-time Kinematic, carrier phase difference technology),
IMU (Inertial measurement unit, Inertial Measurement Unit), reported visual sensation instrument, ADAS (Advanced
DriverAssistant Systems, advanced drive assist system) system, vision SLAM (Simultaneous
Localization andmapping, are positioned at map structuring immediately) system, space or depth perception study identifying system, panorama 3D are real
Scape system etc.；Such as google, Baidu's pilotless automobile design, the division of labor writing of its navigator fix vision system.Following need
Asking will promote each system regions to be merged, and therefore, the reliability of automotive positioning panoramic platform is more important.
Below with reference to the accompanying drawings the automotive positioning pan and tilt head of the embodiment of the present application is illustrated.
Fig. 1 is the structural representation of automotive positioning pan and tilt head.
As shown in Figs. 1-3, the automotive positioning pan and tilt head of the embodiment of the present application, including horizontal base 10, level are used
Property servo-control system and controller 200.
Wherein, horizontal inertial servo-control system is arranged on horizontal base 10, and horizontal inertial servo-control system is used for
Suppress extraneous vibration interference.
Wherein, horizontal inertial servo-control system include horizontal X axis inner rotor motor 30, horizontal Y-axis inner rotor motor 20,
Inertia detection unit 50 and controller 200；
Horizontal X axis inner rotor motor 30 is mutually perpendicular to overlay on horizontal base 10 with horizontal Y-axis inner rotor motor 20, and
Horizontal X axis inner rotor motor 30 is arranged on the horizontal top of Y-axis inner rotor motor 20；
Inertia detection unit 50 is arranged on horizontal X axis inner rotor motor 30, and inertia detection unit 50 is used to detect vehicle-mounted
The horizontal attitude angle of navigator fix pan and tilt head 100；
Controller 200 respectively with horizontal X axis inner rotor motor 30, horizontal Y-axis inner rotor motor 20 and inertia detection unit
50 are connected, and controller 200 is used for the horizontal attitude for obtaining the automotive positioning pan and tilt head 100 of the detection of inertia detection unit 50
Angle, and the horizontal attitude angle controlled level X-axis inner rotor motor 30 according to automotive positioning pan and tilt head 100 and horizontal Y-axis
Inner rotor motor 20 rotates, so that automotive positioning pan and tilt head keeps horizontal.
It should be noted that inertia detection unit 50 can be the inertia device such as top in horizontal inertial servo-control system
Spiral shell instrument and accelerometer etc., inertia device are used for vibration interference angular speed and angular acceleration that can be outside detecting system, at the same time
Horizontal tilt angle is calculated in real time, according to the velocity feedback detected to controller 100, controller 100 is determined according to newton inertia
Rule controlled level X-axis inner rotor motor 30 and horizontal Y-axis inner rotor motor 20 rotate, and to provide the moment of reaction, suppress exterior
Vibration interference signal produce torque.
Thus, automotive positioning pan and tilt head can pass through horizontal inertial servo-control system automotive positioning
Pan and tilt head can keep horizontal attitude, effectively reduce the influence of external vibration interference, greatly improve vehicle mounted guidance and determine
The accuracy of detection of position panoramic platform, and then automobile is lifted to the perception of foreign nationality's environment, improve the experience of user.
In the application some embodiments, inertia detection unit 50 is IMU Inertial Measurement Units.Specifically, IMU inertia is surveyed
Amount unit is additionally operable to IMU inertial navigations.
In the application some embodiments, as shown in figures 1 and 3, automotive positioning pan and tilt head further includes：It is vertical outer
Rotor electric machine 40, vertical external rotor electric machine 40 are arranged in horizontal inertial servo-control system, and vertical external rotor electric machine 40 is used for
Vision acquiring unit 60 is driven to be scanned formula shooting；Vision acquiring unit 60, vision acquiring unit 60 are used to obtain vision figure
Picture, to obtain visual scanning image.
Specifically, vision acquiring unit 60 includes RGB cameras, depth camera, gray scale camera and infrared photography
Head.
Thus, automotive positioning pan and tilt head can drive vision acquiring unit to be scanned by vertical external rotor electric machine
Formula is shot, so that increasing vision obtains scope, reduces vision blind spot, cost-effective.
In the application some embodiments, controller 200 is also connected with vertical external rotor electric machine 40, vertical outer for controlling
Rotor electric machine 40 rotates, to drive vision acquiring unit 60 to carry out rotary scanning type shooting, to carry out vision SLAM navigation.
Specifically, vertical external rotor electric machine 40 can in the range of each 60 ° of direction of advance or so at the uniform velocity rotation sweep, also
It is to say, the rotation angle of vertical external rotor electric machine 40 can be 120 °, i.e. vision acquiring unit 60 can obtain vehicle forward direction
120 ° of image.
Wherein, the image that automotive positioning pan and tilt head 100 can be obtained by vision acquiring unit 60 carries out vision
SLAM navigates.
Specifically, vertical external rotor electric machine 40 drives vision acquiring unit 60 to rotate and is scanned formula shooting, and scanning obtains
The all images taken can synthesize automobile birds-eye view, and the image in front of advancing can carry out vision SLAM navigation and deep learning object
Detection identification.
In the application some embodiments, automotive positioning pan and tilt head further includes ADAS systems, and ADAS systems are with regarding
Feel that acquiring unit 60 is connected, to obtain visual scanning image；ADAS systems are used to be alarmed or be made according to visual scanning image
It is dynamic to intervene.
That is, vision acquiring unit 60 can also obtain automobile direct of travel rear image, ADAS systems can pass through
The automobile direct of travel rear image of acquisition carries out danger warning or brake regulation.
In the application some embodiments, as shown in figures 1 and 3, automotive positioning pan and tilt head further includes：At least two
A RTK antennas 70, RTK antennas 70 are used for satellite positioning navigation.
In the application some embodiments, controller 200 be additionally operable to obtain vision SLAM navigation, satellite positioning navigation and
IMU inertial navigations according to vision SLAM navigation, satellite positioning navigation and IMU inertial navigations result as a result, and carry out EKF
(ExtendedKalmanFilter) merge.
Wherein, it is individually present when vision SLAM navigation, GNSS RTK satellite positioning navigations and IMU inertial navigations are used alone
Shortcoming, although such as GNSS RTK satellite positioning navigations can with all weather navigation and export it is global without cumulative errors coordinate,
Dependent on satellite-signal, if running car to satellite-signal deficiency section, the problem of may causing that navigation can not be continued；
Though the information that IMU inertial navigations and vision SLAM navigation do not depend on outside is navigated, its error of coordinate is tired with practice
Add and be local coordinate.Therefore, shortcoming complementation, the sliding navigator fix of output more high bandwidth peace can be realized by EKF fusions
Data, and improve the robustness of navigation positioning system.
In the application some embodiments, automotive positioning pan and tilt head 100 is fixed on roof by fixing sucking disk 80.
The purpose that thereby, it is possible to merge a variety of technological means navigated by vision collecting, improves vehicle mounted guidance panorama
Accuracy.
According to the application specific embodiment, automotive positioning pan and tilt head 100 powers on operation, and inertia detection is single
Member 50 detects the angular speed and angular acceleration of holder, and the data that controller 200 detects inertia detection unit 50 carry out posture and melt
Merge and carry out PID control, i.e., according to the horizontal attitude angle controlled level X-axis internal rotor of automotive positioning pan and tilt head 100 electricity
Machine 30 is rotated with horizontal Y-axis inner rotor motor 20, so that automotive positioning pan and tilt head 100 keeps horizontal.Vehicle mounted guidance is determined
Position pan and tilt head 100 work under horizontality.The vertical external rotor electric machine of automotive positioning panoramic platform 100
40 drive vision acquiring units 60 are rotated, and obtain picture and backsight picture immediately ahead of automobile, wherein, automotive positioning is complete
Scape holder 100 carries out vision SLAM navigation by just preceding image and deep learning object detection identifies, and at the same time will just preceding picture
Generation automobile birds-eye view is merged with backsight picture, the ADAS systems of automotive positioning pan and tilt head 100 pass through backsight picture pair
Alarm or brake regulation are carried out when automobile is in the hole.
Thus, by setting horizontal inertial servo-control system on automotive positioning pan and tilt head horizontal base, make
Horizontal attitude can be kept by obtaining automotive positioning pan and tilt head, effectively reduced the influence of external vibration interference, greatly carried
The high accuracy of detection of automotive positioning panoramic platform, and then automobile is lifted to the perception of foreign nationality's environment, improve use
The experience at family.
Use above specific case is illustrated the present invention, is only intended to help and understands the present invention, not limiting
The system present invention.For those skilled in the art, according to the thought of the present invention, can also make some simple
Deduce, deform or replace.
Claims (10)
- A kind of 1. automotive positioning pan and tilt head, it is characterised in that including：Horizontal base；Horizontal inertial servo-control system, the horizontal inertial servo-control system are arranged on horizontal base, described horizontal used Property servo-control system be used for suppress extraneous vibration interference；Wherein, the horizontal inertial servo-control system includes horizontal X axis inner rotor motor, horizontal Y-axis inner rotor motor, inertia Detection unit and controller；The horizontal X axis inner rotor motor is mutually perpendicular to overlay on horizontal base with the horizontal Y-axis inner rotor motor, and water Flat X-axis inner rotor motor is arranged on above horizontal Y-axis inner rotor motor；The inertia detection unit is arranged on horizontal X axis inner rotor motor, and the inertia detection unit is used to detect the car Carry the horizontal attitude angle of navigator fix pan and tilt head；The controller is detected with the horizontal X axis inner rotor motor, the horizontal Y-axis inner rotor motor and the inertia respectively Unit is connected, and the controller is used for the water for obtaining the automotive positioning pan and tilt head of the inertia detection unit detection Flat attitude angle, and the horizontal X axis inner rotor motor is controlled according to the horizontal attitude angle of the automotive positioning pan and tilt head Rotated with the horizontal Y-axis inner rotor motor, so that automotive positioning pan and tilt head keeps horizontal.
- 2. automotive positioning pan and tilt head as claimed in claim 1, it is characterised in that the inertia detection unit is IMU Inertial Measurement Unit.
- 3. automotive positioning pan and tilt head as claimed in claim 2, it is characterised in that the IMU Inertial Measurement Units are also For IMU inertial navigations.
- 4. automotive positioning pan and tilt head as claimed in claim 1, it is characterised in that further include：Vertical external rotor electric machine, the vertical external rotor electric machine is arranged in the horizontal inertial servo-control system, described to hang down Straight external rotor electric machine is used to drive vision acquiring unit to be scanned formula shooting；Vision acquiring unit, the vision acquiring unit is used to obtain visual pattern, to obtain visual scanning image.
- 5. automotive positioning pan and tilt head as claimed in claim 4, it is characterised in that the vision acquiring unit includes RGB cameras, depth camera, gray scale camera and infrared camera.
- 6. automotive positioning pan and tilt head as claimed in claim 4, it is characterised in that the controller also with it is described vertical External rotor electric machine is connected, for controlling vertical external rotor electric machine to rotate, to drive vision system to carry out rotary scanning type shooting, with Carry out vision SLAM navigation.
- 7. automotive positioning pan and tilt head as claimed in claim 4, it is characterised in that the automotive positioning panorama cloud Platform further includes ADAS systems, and the ADAS systems are connected with the vision acquiring unit, to obtain visual scanning image；The ADAS systems are used to be alarmed according to the visual scanning image or brake regulation.
- 8. the automotive positioning pan and tilt head as described in claim 3 or 4, it is characterised in that further include：At least two RTK antennas, the RTK antennas are used for satellite positioning navigation.
- 9. automotive positioning pan and tilt head as claimed in claim 7, it is characterised in that the controller is additionally operable to acquisition and regards SLAM navigation, satellite positioning navigation and IMU inertial navigations are felt as a result, and according to vision SLAM navigation, the satellite positioning Navigation and the IMU inertial navigations result carry out EKF fusions.
- 10. automotive positioning pan and tilt head as claimed in claim 1, it is characterised in that the automotive positioning panorama Holder is fixed on roof by fixing sucking disk.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720929855.1U CN207360243U (en) | 2017-07-28 | 2017-07-28 | Automotive positioning pan and tilt head |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720929855.1U CN207360243U (en) | 2017-07-28 | 2017-07-28 | Automotive positioning pan and tilt head |
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| CN207360243U true CN207360243U (en) | 2018-05-15 |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108847519A (en) * | 2018-07-09 | 2018-11-20 | 马鞍山艾诚电子科技有限公司 | A kind of foldable antenna device of vehicular communication equipment |
| CN109129396A (en) * | 2018-08-24 | 2019-01-04 | 安徽信息工程学院 | The wooden robot of view-based access control model |
| US10390003B1 (en) | 2016-08-29 | 2019-08-20 | Perceptln Shenzhen Limited | Visual-inertial positional awareness for autonomous and non-autonomous device |
| US10437252B1 (en) | 2017-09-08 | 2019-10-08 | Perceptln Shenzhen Limited | High-precision multi-layer visual and semantic map for autonomous driving |
| CN111469778A (en) * | 2020-04-23 | 2020-07-31 | 福建农林大学 | Road inspection device based on binocular photogrammetry and combined positioning |
| US10794710B1 (en) | 2017-09-08 | 2020-10-06 | Perceptin Shenzhen Limited | High-precision multi-layer visual and semantic map by autonomous units |
| US11328158B2 (en) | 2016-08-29 | 2022-05-10 | Trifo, Inc. | Visual-inertial positional awareness for autonomous and non-autonomous tracking |
| US11774983B1 (en) | 2019-01-02 | 2023-10-03 | Trifo, Inc. | Autonomous platform guidance systems with unknown environment mapping |
| US11842500B2 (en) | 2016-08-29 | 2023-12-12 | Trifo, Inc. | Fault-tolerance to provide robust tracking for autonomous and non-autonomous positional awareness |
| US11953910B2 (en) | 2016-08-29 | 2024-04-09 | Trifo, Inc. | Autonomous platform guidance systems with task planning and obstacle avoidance |
-
2017
- 2017-07-28 CN CN201720929855.1U patent/CN207360243U/en active Active
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10390003B1 (en) | 2016-08-29 | 2019-08-20 | Perceptln Shenzhen Limited | Visual-inertial positional awareness for autonomous and non-autonomous device |
| US11328158B2 (en) | 2016-08-29 | 2022-05-10 | Trifo, Inc. | Visual-inertial positional awareness for autonomous and non-autonomous tracking |
| US11842500B2 (en) | 2016-08-29 | 2023-12-12 | Trifo, Inc. | Fault-tolerance to provide robust tracking for autonomous and non-autonomous positional awareness |
| US11900536B2 (en) | 2016-08-29 | 2024-02-13 | Trifo, Inc. | Visual-inertial positional awareness for autonomous and non-autonomous tracking |
| US11953910B2 (en) | 2016-08-29 | 2024-04-09 | Trifo, Inc. | Autonomous platform guidance systems with task planning and obstacle avoidance |
| US10437252B1 (en) | 2017-09-08 | 2019-10-08 | Perceptln Shenzhen Limited | High-precision multi-layer visual and semantic map for autonomous driving |
| US10794710B1 (en) | 2017-09-08 | 2020-10-06 | Perceptin Shenzhen Limited | High-precision multi-layer visual and semantic map by autonomous units |
| CN108847519A (en) * | 2018-07-09 | 2018-11-20 | 马鞍山艾诚电子科技有限公司 | A kind of foldable antenna device of vehicular communication equipment |
| CN109129396A (en) * | 2018-08-24 | 2019-01-04 | 安徽信息工程学院 | The wooden robot of view-based access control model |
| US11774983B1 (en) | 2019-01-02 | 2023-10-03 | Trifo, Inc. | Autonomous platform guidance systems with unknown environment mapping |
| CN111469778A (en) * | 2020-04-23 | 2020-07-31 | 福建农林大学 | Road inspection device based on binocular photogrammetry and combined positioning |
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