CN213956419U - Quadruped robot positioning device and quadruped robot formation - Google Patents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
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Abstract
The utility model relates to a four-footed robot technical field discloses a four-footed robot positioner and four-footed robot formation. The utility model provides a four-footed robot positioner and four-footed robot formation, including two at least four-footed robots, four-footed robot body upper portion is equipped with identification portion, and four-footed robot top is equipped with the camera, is used for discerning identification portion to it is relative to fix a position four-footed robot the position of camera. The utility model discloses a camera discernment identification portion on the quadruped robot fuselage can realize the real-time location of many quadruped robots, and positioning accuracy is high, and is simple reliable.
Description
Technical Field
The utility model relates to a four-footed robot technical field has especially related to a four-footed robot positioner and four-footed robot formation.
Background
At present, the positioning and navigation of the quadruped robot is one of key technologies for realizing the intellectualization of the quadruped robot, and the problem to be solved firstly is to realize the autonomous navigation of the quadruped robot, the formation and the cooperative operation of a plurality of quadruped robots and the like and determine the real-time position of the quadruped robot.
Further, chinese patent (publication No. CN 110274599A) discloses an indoor positioning system for a mobile robot based on a multi-depth camera, which includes a central control unit and a robot control unit, wherein the central control unit is used for positioning the position of the robot and sending the position to the robot control unit, and the robot control unit is used for controlling the robot to operate according to the positioning information sent by the central control unit.
The central control unit comprises a plurality of cameras arranged indoors, a camera controller, an identification template library, a position calculating module, a first main control module and a first communication module, the plurality of cameras are all used for shooting indoor environment, the camera controller is used for receiving and processing picture information shot by the plurality of cameras, the recognition template base is used for storing a plurality of pictures shot for the robot under different angles, the position resolving module is used for realizing transformation between a camera coordinate system and an indoor coordinate system, the first main control module is used for receiving the picture information shot by the plurality of cameras from the camera controller, matching and recognizing the picture information shot by the plurality of cameras and the recognition template base and acquiring coordinate information of the robot in the indoor coordinate system through the position resolving module when recognizing the robot, and the first communication module is used for realizing data transmission between the first main control module and the robot control unit.
Although the indoor positioning of the mobile robot can be realized by the scheme, the number of required cameras is large, the structure is complex, the manufacturing cost is high, the mobile robot is only suitable for indoor use, the application range is narrow, and the mobile robot is not beneficial to popularization and use.
Furthermore, the scheme does not disclose the problem of formation positioning of a plurality of quadruped robots, so that the formation positioning of the robots cannot be realized, and further the cooperative operation of the quadruped robots is influenced.
SUMMERY OF THE UTILITY MODEL
In order to overcome the defects of the prior art, the utility model aims to provide a quadruped robot positioning device, which can acquire the position of the quadruped robot in real time through a camera.
The second purpose of the utility model is to provide a quadruped robot with a mark part, a camera is arranged above the quadruped robot, and the sight of the camera can be radiated on the mark part, so as to collect the position information between the quadruped robots and the position information of the quadruped robot relative to the camera; and then the four-footed robot formation of the positioning of the four-footed robots is realized through the master control console.
The utility model discloses an aim one adopts following technical scheme to realize:
a four-foot robot positioning device comprises at least two four-foot robots, wherein identification parts are arranged on the upper parts of the four-foot robots, and cameras are arranged above the four-foot robots and used for identifying the identification parts so as to position the four-foot robots relative to the cameras.
The utility model provides a four-footed robot positioner through the mark portion of hanging on the camera discernment four-footed robot fuselage of establishing, can realize the real-time location of many four-footed robots, and positioning accuracy is high, simple structure, reliable, low in manufacturing cost, applicable indoor, outside, it is wide to be applicable to the scope, convenient to popularize and use.
Further, the absolute position of the camera is fixed or the camera is fixed on a freely moving flying device above the quadruped robot.
Furthermore, the quadruped robot positioning device also comprises a master control console, wherein the master control console is connected with the camera so as to acquire the position information of the quadruped robot relative to the camera and transmit the position information to the quadruped robot.
Further, the four-legged robot positioning device further comprises a holder, and the camera is fixed through the holder so as to reduce the shake of the camera during working. The cloud platform is arranged, so that the shaking of the camera during working can be reduced, and the positioning precision of the quadruped robot is improved.
Further, the identification part of the quadruped robot is a two-dimensional code. The two-dimensional code is selected for identifying the pattern, the pattern is clear, and the identification algorithm is simple.
Further, an infrared filter is arranged on a lens of the camera. The infrared filter is arranged, so that various ambient light rays can be shielded, and the reliability of the visual identification system is improved.
Further, the surface of the identification part of the quadruped robot is covered with a film or a thin plate which is transparent to infrared rays. The film or the thin plate is arranged, so that the identification part can be displayed in an infrared frequency band without influencing the visual appearance color texture of the public.
Further, the camera has at least one, all locate different positions above the four-footed robot. One camera has a limited visual field, a plurality of cameras are arranged, more quadruped robots can be positioned at the same time, and the visual positioning range is enlarged.
The utility model discloses a second purpose adopts following technical scheme to realize:
a quadruped robot formation capable of positioning,
the system comprises at least two quadruped robots, a camera capable of photographing the quadruped robots, and a main control console capable of determining the positions of the quadruped robots according to photographing information;
the upper part of the four-footed robot body is provided with an identification part convenient for identification, and the camera is arranged above the identification part;
the camera is provided with a lens which is installed downwards or obliquely installed downwards, and the sight line of the lens can be radiated onto the identification part so as to acquire the position information between the quadruped robot and the position information of the quadruped robot relative to the camera; and then the formation and positioning of the quadruped robots are realized through the main control console.
The utility model discloses through constantly exploring and testing, set up the quadruped robot that has the identification portion, the robot top is equipped with the camera to make the camera sight can radiate on the identification portion, in order to gather positional information between the quadruped robot and the positional information of quadruped robot relative to the camera; and then realize its location through the master control platform, simple structure, practicality, the scheme is feasible.
As a preferable technical measure:
the absolute position of the camera is fixed and is fixed on a quadruped robot through a supporting rod; the length of the supporting rod is matched with the sight range required by the lens, the structure is simple and practical, the requirement of the sight of the camera lens is met, and meanwhile, the production and the manufacturing are convenient, and the cost is low.
Or the camera is fixed on a flying device which is capable of freely moving and above the quadruped robot so as to ensure that the sight line of the camera can be radiated to the identification part at any time;
the console is mounted on the camera,
or connected with the cameras through a wireless network to acquire position information between the quadruped robots and can transmit the position information to the quadruped robots to control relative movement thereof.
The identification part is a two-dimensional code or a pattern with line variation or lines with different colors or a recognition structure with concave-convex modeling or numbers or letters or Chinese characters.
The identification parts of different quadruped robots are different, so that the main control table can conveniently identify the quadruped robots.
Compared with the prior art, the beneficial effects of the utility model reside in that:
the utility model provides a four-footed robot positioner through the sign portion on the camera discernment four-footed robot fuselage, can realize the real-time location of many four-footed robots, and positioning accuracy is high, and is simple reliable.
Furthermore, the utility model discloses through constantly exploring and testing, set up the quadruped robot that has the identification portion, be equipped with the camera above the robot to make the camera sight can radiate on the identification portion, in order to gather the positional information between the quadruped robot and the positional information of quadruped robot relative to the camera; and then realize its location through the master control platform, simple structure, practicality, the scheme is feasible.
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Drawings
Fig. 1 is a schematic view of a first embodiment of the invention;
fig. 2 is a schematic diagram of a second embodiment of the present invention.
In the figure: 1. a quadruped robot; 2. a marking part; 3. a camera; 4. provided is a flying device.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that the embodiments or technical features described below can be arbitrarily combined to form a new embodiment without conflict.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
As shown in fig. 1 and 2, a four-footed robot positioning device comprises at least two four-footed robots 1, wherein a mark part 2 is arranged on the upper part of the body of each four-footed robot 1, and a camera 3 is arranged above each four-footed robot 1 and used for identifying the mark part 2 so as to position the four-footed robot 1 relative to the camera 3.
The utility model discloses set up a concrete embodiment of master console: the four-footed robot positioning device also comprises a master control console, wherein the master control console is connected with the camera 3 so as to acquire the position information of the four-footed robot 1 relative to the camera 3 and transmit the position information to the four-footed robot 1.
The utility model discloses add a concrete embodiment of cloud platform:
the four-legged robot positioning device further comprises a holder, and the camera 3 is fixed through the holder so as to reduce the shake of the camera 3 during working. The cloud platform is arranged, so that the shaking of the camera 3 during working can be reduced, and the positioning precision of the quadruped robot 1 is improved.
The utility model discloses add a concrete embodiment of infrared structure:
an infrared filter is arranged on the lens of the camera 3. The infrared filter is arranged, so that various ambient light rays can be shielded, and the reliability of the visual identification system is improved.
The surface of the identification part 2 of the quadruped robot 1 is covered with a film or a thin plate which can transmit infrared rays. The thin film or the thin plate is arranged, so that the identification part 2 can be displayed in an infrared frequency band without influencing the visual appearance color texture of the public.
The utility model discloses a concrete embodiment of 3 quantity of cameras:
the number of the cameras 3 is at least one, and the cameras are all arranged at different positions above the quadruped robot 1. One camera 3 has a limited visual field, and a plurality of cameras 3 are arranged, so that more quadruped robots 1 can be positioned at the same time, and the visual positioning range is enlarged.
The utility model relates to an application embodiment:
a quadruped robot formation capable of positioning,
the system comprises at least two quadruped robots 1, cameras 3 capable of photographing the quadruped robots 1 and a main control console capable of determining the positions of the quadruped robots 1 according to photographing information;
the upper part of the body of the quadruped robot 1 is provided with a mark part 2 convenient for identification, and the camera 3 is arranged above the mark part.
The camera 3 is provided with a lens which is installed downwards or obliquely installed downwards, and the sight line of the lens can be radiated onto the mark part 2 so as to acquire the position information between the quadruped robot 1 and the position information of the quadruped robot 1 relative to the camera 3; and then the formation and positioning of the quadruped robots are realized through the main control console.
The utility model discloses through constantly exploring and testing, set up quadruped robot 1 with identification portion 2, the robot top is equipped with camera 3 to make 3 sights of camera radiate on identification portion 2, in order to gather positional information between quadruped robot 1 and quadruped robot 1 relative positional information of camera 3; and then realize its location through the master control platform, simple structure, practicality, the scheme is feasible.
The utility model discloses a specific embodiment of 3 mounted position of camera:
the absolute position of the camera 3 is fixed and is fixed on a quadruped robot 1 through a supporting rod; the length of the supporting rod is matched with the sight range required by the lens, the structure is simple and practical, the requirement of the sight of the lens of the camera 3 is met, and meanwhile, the production and the manufacturing are convenient, and the cost is low.
The utility model discloses another kind of specific embodiment of 3 mounted position of camera:
the camera 3 is fixed on a flying device 4 which is capable of freely moving and is arranged above the quadruped robot 1, so that the sight line of the camera 3 can be ensured to be radiated onto the identification part 2 at any time;
the utility model discloses the integrative concrete embodiment who sets up of camera 3 and master console:
the console is mounted on the camera 3.
The utility model discloses camera 3 and main control cabinet components of a whole that can function independently set up a concrete embodiment:
is connected with the camera 3 through a wireless network to acquire position information between the quadruped robots 1 and can transmit the position information to the quadruped robots 1 to control relative movement thereof.
The utility model discloses 2 structural concrete embodiments of sign portion:
the identification part 2 is a two-dimensional code or a pattern with line variation or lines with different colors or a recognition structure with concave-convex modeling or numbers or letters or Chinese characters.
The two-dimensional code is preferably selected by the identification part 2, the pattern is clear, and the recognition algorithm is simple.
The identification parts 2 of different quadruped robots 1 are different, so that the main control station can conveniently identify the quadruped robots;
the above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention cannot be limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are all within the protection scope of the present invention.
Claims (10)
1. The four-foot robot positioning device is characterized by comprising at least two four-foot robots (1), wherein the upper parts of the bodies of the four-foot robots (1) are provided with identification parts (2), and cameras (3) are arranged above the four-foot robots (1) and used for identifying the identification parts (2) so as to position the four-foot robots (1) relative to the cameras (3).
2. The quadruped robot positioning device according to claim 1, characterized in that the absolute position of the camera (3) is fixed or the camera (3) is fixed on a freely moving flying device (4) above the quadruped robot (1).
3. The quadruped robot positioning apparatus according to claim 2, further comprising a master station connected to the camera (3) to acquire positional information of the quadruped robot (1) with respect to the camera (3) and transmit the positional information to the quadruped robot (1).
4. The quadruped robotic positioning device according to claim 3, further comprising a pan/tilt head through which the camera (3) is secured to reduce jitter in the operation of the camera (3).
5. The quadruped robot positioning device according to claim 3, wherein the identification part (2) of the quadruped robot (1) is a two-dimensional code.
6. The quadruped robot positioning device according to claim 3, wherein an infrared filter is arranged on the lens of the camera (3).
7. The quadruped robot positioning device according to claim 6, wherein the surface of the logo part (2) of the quadruped robot (1) is covered with an infrared ray transmitting film or sheet.
8. The quadruped robot positioning device according to any one of claims 1 to 7, wherein at least one of the cameras (3) is provided at different positions above the quadruped robot (1).
9. A quadruped robot formation capable of positioning, characterized in that,
the system comprises at least two quadruped robots (1), a camera (3) capable of photographing the quadruped robots (1), and a main control console capable of determining the positions of the quadruped robots (1) according to photographing information;
the upper part of the body of the quadruped robot (1) is provided with a mark part (2) convenient to identify, and the camera (3) is arranged above the mark part;
the camera (3) is provided with a lens which is installed downwards or obliquely installed downwards, and the sight line of the lens can be radiated onto the identification part (2) so as to acquire the position information between the quadruped robot (1) and the position information of the quadruped robot (1) relative to the camera (3);
and then the formation and positioning of the quadruped robots are realized through the main control console.
10. The quadruped robotic convoy capable of positioning of claim 9,
the absolute position of the camera (3) is fixed and is fixed on a quadruped robot (1) through a supporting rod; the length of the supporting rod is matched with the sight range required by the lens;
or the camera (3) is fixed on a flying device (4) which is above the quadruped robot (1) and can move freely, so that the sight line of the camera (3) can be ensured to be radiated onto the identification part (2) at any time;
the console is mounted on the camera (3),
or connected with the camera (3) through a wireless network to acquire the position information between the quadruped robots (1) and transmit the position information to the quadruped robots (1) to control the relative movement thereof;
the identification part (2) is a two-dimensional code or a pattern with line variation, lines with different colors, or an identification structure with concave-convex modeling, or numbers, letters or Chinese characters;
the marking parts (2) of different quadruped robots (1) are different.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120043635.5U CN213956419U (en) | 2021-01-08 | 2021-01-08 | Quadruped robot positioning device and quadruped robot formation |
| PCT/CN2022/070648 WO2022148419A1 (en) | 2021-01-08 | 2022-01-07 | Quadrupedal robot positioning apparatus and quadrupedal robot formation |
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| CN202120043635.5U CN213956419U (en) | 2021-01-08 | 2021-01-08 | Quadruped robot positioning device and quadruped robot formation |
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| WO2022148419A1 (en) * | 2021-01-08 | 2022-07-14 | 杭州宇树科技有限公司 | Quadrupedal robot positioning apparatus and quadrupedal robot formation |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US7643893B2 (en) * | 2006-07-24 | 2010-01-05 | The Boeing Company | Closed-loop feedback control using motion capture systems |
| CN105425791B (en) * | 2015-11-06 | 2019-01-29 | 武汉理工大学 | A kind of the group robot control system and method for view-based access control model positioning |
| CN109032138B (en) * | 2018-07-25 | 2021-10-12 | 南京理工大学 | Consistency algorithm-based multi-robot formation control system and method |
| CN109839111A (en) * | 2019-01-10 | 2019-06-04 | 王昕� | A kind of indoor multi-robot formation system of view-based access control model positioning |
| CN110262507B (en) * | 2019-07-04 | 2022-07-29 | 杭州蓝芯科技有限公司 | Camera array robot positioning method and device based on 5G communication |
| CN213956419U (en) * | 2021-01-08 | 2021-08-13 | 杭州宇树科技有限公司 | Quadruped robot positioning device and quadruped robot formation |
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| WO2022148419A1 (en) * | 2021-01-08 | 2022-07-14 | 杭州宇树科技有限公司 | Quadrupedal robot positioning apparatus and quadrupedal robot formation |
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