CN216979279U

CN216979279U - Robot positioning device

Info

Publication number: CN216979279U
Application number: CN202220338460.5U
Authority: CN
Inventors: 宋明明; 高明; 王建华; 马辰
Original assignee: Shandong New Generation Information Industry Technology Research Institute Co Ltd
Current assignee: Shandong New Generation Information Industry Technology Research Institute Co Ltd
Priority date: 2022-02-15
Filing date: 2022-02-15
Publication date: 2022-07-15
Anticipated expiration: 2032-02-15

Abstract

The utility model discloses a robot positioning device, which comprises a radar component, a first camera component, a second camera component, a connecting piece and a fixed base, wherein the radar component is arranged on the first camera component; the radar assembly comprises a laser radar and a clamping piece, wherein the bottom of the laser radar is connected with the top of the clamping piece; the first camera assembly comprises a first camera body and a first tripod head, wherein the side surface of the first tripod head is connected with the first camera body, and the top of the first tripod head is connected with the bottom of the clamping piece; the second camera assembly comprises a second camera body and a second tripod head, wherein the orientation of the second camera body is opposite to that of the first camera body, the side surface of the second tripod head is connected with the second camera body, and the bottom of the second tripod head is connected with the fixed base; the bottom of the first cloud platform is connected with the top of the second cloud platform through the connecting piece, the shielding of the first camera assembly on the laser radar is avoided, the comprehensiveness and accuracy of environmental data are achieved, and the accuracy of robot mapping and positioning is improved.

Description

Robot positioning device

Technical Field

The utility model relates to the technical field of robots, in particular to a robot positioning device.

Background

With the development of artificial intelligence technology, robots are more and more commonly used, such as sweeping robots, navigation robots, and inspection robots used outdoors. In the research and development process of various robots, robot mapping and positioning are key technologies for keeping good operation effect of the robots. The camera holder and the laser radar are particularly widely applied to various robots, the distance measurement of the laser radar is accurate, the camera can capture richer information, and the combination of the camera holder and the laser radar enables the robots to be more accurate in image building and positioning.

To the combination of laser radar and camera among the prior art, generally set up laser radar in one side of camera cloud platform, because the camera cloud platform has certain bulky equipment, can cause the laser radar to shelter from, lead to laser radar's measured data not comprehensive to, to similar applied scene, only carry out the image acquisition in a position through a camera, lead to the image data of gathering also not comprehensive. Therefore, the combination mode of the laser radar and the pan-tilt camera in the prior art has the problem that the robot is inaccurate in drawing construction and positioning.

SUMMERY OF THE UTILITY MODEL

One or more embodiments of the present specification provide a robot positioning apparatus for solving the following technical problems: the problem of inaccurate image building and positioning of a robot exists in a combination mode of a laser radar and a pan-tilt camera in the prior art.

The utility model adopts the following technical scheme:

the present invention provides a robot positioning device, the device comprising: the radar component, the first camera component, the second camera component, the connecting piece and the fixed base; the radar assembly comprises a laser radar and a clamping piece, wherein the bottom of the laser radar is connected with the top of the clamping piece; the first camera assembly comprises a first camera body and a first tripod head, wherein the side surface of the first tripod head is connected with the first camera body, and the top of the first tripod head is connected with the bottom of the clamping piece; the second camera assembly comprises a second camera body and a second tripod head, wherein the orientation of the second camera body is opposite to that of the first camera body, the side surface of the second tripod head is connected with the second camera body, and the bottom of the second tripod head is connected with the fixed base; and the bottom of the first holder is connected with the top of the second holder through the connecting piece so as to realize the independent rotation of the first camera component and the second camera component.

Through above-mentioned technical scheme, set up first camera subassembly and second camera subassembly, gather the image information of environment simultaneously to the orientation of second camera body is relative with the orientation of first camera body, makes two cameras can gather the image information of the different position in the current environment. In addition, the first cloud platform and the second cloud platform rotate independently, and the relative position relation of the first camera component and the second camera component can be adjusted according to actual conditions, so that the comprehensiveness of image data is guaranteed. In addition, set up the radar subassembly at the top of first camera subassembly, avoided first camera subassembly to laser radar's sheltering from, realized that range finding data is comprehensive, use the clamping piece to link to each other laser radar and first cloud platform simultaneously for first cloud platform drives laser radar's syntropy and rotates when rotating, has guaranteed laser radar data and image data's uniformity, has further improved the accuracy of robot location.

Preferably, the device further comprises a damping plate, the bottom of the damping plate is fixed on the fixed base, and the top of the damping plate is connected with the rotating shaft of the second camera assembly.

Preferably, the damper plate is a viscoelastic material.

Through above-mentioned technical scheme, set up viscoelastic material's shock attenuation board, reduced the vibrations that the robot produced in the motion process, increased positioning system's stability, also reduced rocking of the camera lens of first camera body and second camera body, improve the stability that the camera was shot, further guaranteed image information's accuracy. The damping plate is connected with the connecting piece through the bolt, so that the stability between the damping plate and the connecting piece is ensured, and the damping effect of the damping plate is better exerted.

Preferably, the vertical centre line of the radar component coincides with the vertical centre line of the rotation axis of the first head.

Through above-mentioned technical scheme, through the perpendicular central line with the perpendicular central line of radar subassembly and the perpendicular central line of first cloud platform rotation axis, provide the alignment mode of radar subassembly and first camera subassembly, installation simple operation.

Preferably, the radar component further comprises an accommodating cavity, the laser radar is arranged in the accommodating cavity, and the bottom of the accommodating cavity is connected with the top of the clamping piece.

Preferably, the accommodating cavity is a hollow cavity, and an opening direction of the accommodating cavity is consistent with the direction of the first camera.

Preferably, the material of the accommodating cavity is a heat insulating material.

Through above-mentioned technical scheme, set up lidar at the holding intracavity, played certain guard action to lidar. The bottom in holding chamber links to each other with the top of clamping piece, and when first camera subassembly rotated, the holding chamber carried out same rotation to, the holding chamber was the cavity, and the opening direction of cavity is unanimous with the shooting direction of first camera, makes laser radar remain throughout and shoots the same direction of direction with first camera, has guaranteed radar data and image data's uniformity. In addition, the material of holding chamber is thermal insulation material, has avoided the influence of high temperature environment to lidar.

Preferably, the laser radar is a frame type laser radar.

Through the technical scheme, the frame type laser radar can be used for obtaining high-density point cloud, and the acquisition efficiency of spatial data is improved.

Preferably, the first camera body and the second camera body are both binocular cameras.

Preferably, the device further comprises a robot body, wherein the fixed base is arranged at the center of the top of the robot body.

Through the technical scheme, the fixed base is arranged at the center of the top of the robot body, so that when other accessories are deployed in the robot body, the shielding of the accessories on the laser radar is not required to be considered, and more expandable space is provided.

In conclusion, the utility model has the following beneficial effects:

1. the first camera assembly and the second camera assembly are arranged, image information of the environment is collected at the same time, and the orientation of the second camera body is opposite to that of the first camera body, so that the two cameras can collect image information of different directions in the current environment.

2. The first cloud platform and the second cloud platform rotate independently, and the relative position relation of the first camera component and the second camera component can be adjusted according to actual conditions, so that the comprehensiveness of image data is guaranteed.

3. The radar component is arranged at the top of the first camera component, so that the first camera component is prevented from shielding the laser radar, and the comprehensiveness of environmental data is realized.

4. Use the clamping piece to link to each other laser radar and first cloud platform for first cloud platform drives laser radar's syntropy and rotates when rotating, has guaranteed laser radar data and image data's uniformity, has further improved the accuracy of robot location.

5. The positioning stability is improved, and the accuracy of repositioning after the positioning is lost is improved.

Drawings

FIG. 1 is a schematic front view of a robot positioning device according to the present invention;

fig. 2 is a schematic cross-sectional view of a radar module according to the present invention.

Reference numerals: 1. a radar component; 11. a laser radar; 12. a clamping member; 13. an accommodating cavity; 2. a first camera assembly; 21. a first camera body; 22. a first pan/tilt head; 3. a second camera assembly; 31. a second camera body; 32. a second pan-tilt; 4. a connecting member; 5. a fixed base; 6. the robot body.

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.

It should be noted that the terms of orientation such as left, right, up, down, front and back in the embodiments of the present invention are only relative concepts or are based on the normal use state of the product, i.e. the traveling direction of the product, and should not be considered as being restrictive.

In addition, the dynamic terms such as "relative movement" mentioned in the embodiments of the present invention include not only a positional change but also a movement in which a state changes without a relative change in position such as rotation or rolling.

Finally, it is noted that when an element is referred to as being "on" or "disposed" to another element, it can be on the other element or intervening elements may also be present. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present.

The utility model provides a robot positioning device, fig. 1 is a schematic structural diagram of the robot positioning device provided in the embodiment of the present specification, and as shown in fig. 1, the device includes: radar subassembly 1, first camera subassembly 2, second camera subassembly 3, connecting piece 4, unable adjustment base 5 and robot body 6. The radar assembly 1 is fixed on top of the first camera assembly 2, the radar assembly and the first camera assembly rotating coaxially. The second camera component 3 and the first camera component 2 are connected through the connecting piece 4, the two components can independently rotate to shoot directions, wherein the direction of the first camera component 2 is different from that of the second camera component 3, the directions of the two components can be opposite, a certain angle can exist, and the shooting direction can be set according to actual application scenes. The first camera assembly and the second camera assembly are arranged, image information of the environment is collected at the same time, and the orientation of the second camera body is opposite to that of the first camera body, so that the two cameras can collect image information of different directions in the current environment. The second module 3 is connected to the fixed base 5, and the fixed base 5 is provided at a central position of the upper surface of the robot body 6. The arrangement at the center position can avoid the condition of robot motion imbalance caused by the weight of the radar component 1, the first camera component 2, the second camera component 3 and the connecting piece 4, and can also provide more expandable space without considering the shielding of the accessories to the laser radar when other accessories are deployed in the robot body 6.

The radar unit 1 comprises a lidar 11 and a clamping member 12, wherein the bottom of the lidar 11 is connected to the top of the clamping member 12, wherein the lidar may be a single-line lidar or a twin-line lidar. In addition, the laser radar includes a rotary type laser radar and a frame type laser radar. Wherein, the rotation part is arranged outside the rotary laser radar, and the rotation part can drive the laser and the receiver of the rotary laser radar to rotate. The laser and receiver of the frame-type lidar are stationary relative to the housing of the frame-type lidar, and the change in ray path is achieved by rotating internal optical components. Compared with a rotary laser radar, the frame type laser radar has no external rotating part and has advantages in volume and weight. And, it is fixed through the clamping piece between radar subassembly 1 and the first camera subassembly 2, when first camera subassembly conversion shooting angle, can drive laser radar 1's rotation, if laser radar itself also can rotate this moment, great measuring error can appear, for the accuracy that improves radar data, laser radar can be for frame width formula laser radar, uses frame width formula laser radar can obtain high density point cloud, improves spatial data's acquisition efficiency.

In an embodiment of the present specification, as shown in fig. 2, the radar component 1 further includes an accommodating cavity 13, the accommodating cavity 13 is a hollow cavity, and an opening direction of the accommodating cavity 13 is consistent with an orientation of the first camera 21, so that the laser radar always keeps the same direction as a shooting direction of the first camera, and consistency between radar data and image data is ensured. Laser radar 11 is arranged in the accommodating cavity 13, and has a certain protection effect on the laser radar. The bottom of the receiving cavity 13 is connected to the top of the clamping member 12, and the receiving cavity 13 rotates as the first camera module 2 rotates. Thermal insulation materials can be used as materials of the accommodating cavity, and the influence of a high-temperature environment on the laser radar is avoided. The high-temperature environment here may be an outdoor environment, such as outdoors in high-temperature weather, or may be a specific high-temperature environment, such as a fire scene. The high temperature environment may also be a heating scenario due to angular rotation or normal operation of the first camera assembly.

The first camera module 2 includes a first camera body 21 and a first pan/tilt head 22, wherein a side surface of the first pan/tilt head 22 is connected to the first camera body 21, and a top surface of the first pan/tilt head 22 is connected to a bottom surface of the clamping member 12. That is, the first head 22 is connected to the laser radar 11 via the clamping member 12, wherein the vertical center line of the radar unit 1 coincides with the vertical center line of the rotation axis of the first head 22. Through the vertical center line with radar component and the vertical center line of first cloud platform rotation axis, provide the alignment mode of radar component and first camera subassembly, installation simple operation.

The second camera assembly 3 includes a second camera body 31 and a second pan/tilt head 32, wherein the orientation of the second camera body 31 is opposite to the orientation of the first camera body 21, and the orientation of the second camera body is opposite to the orientation of the first camera body, so that the two cameras can acquire image information of different orientations in the current environment. The side of the second pan/tilt head 32 is connected to the second camera body 31, and the bottom of the second pan/tilt head 32 is connected to the fixed base 5. The bottom of the first head 22 is connected to the top of the second head 32 by a connection 4 to enable independent rotation of the first and second camera assemblies. The first cloud platform and the second cloud platform rotate independently, and the relative position relation of the first camera component and the second camera component can be adjusted according to actual conditions.

In one embodiment of the present description, the first camera body and the second camera body may be both binocular cameras, and the first camera assembly and the second camera assembly may also be existing binocular camera pan-tilt apparatuses.

The robot can produce the position appearance transform in the operation process, sets up radar subassembly and two camera subassemblies in the robot upper end, because the specific position relation between radar subassembly and two camera subassemblies leads to the stability reduction of robot.

In one embodiment of the present description, the robot positioning device further comprises a damping plate, the bottom of which is fixed to the fixed base 5 and the top of which is connected to the rotation axis of the second camera component, where the damping plate is a viscoelastic material. The damping plate made of the viscoelastic material is arranged, so that the vibration generated in the moving process of the robot is reduced, the stability of the positioning system is improved, the shaking of the shooting lenses of the first camera body and the second camera body is also reduced, the shooting stability of the camera is improved, and the accuracy of image information is further ensured. The damping plate is connected with the connecting piece through the bolt, so that the stability between the damping plate and the connecting piece is ensured, and the damping effect of the damping plate is better exerted.

The embodiment of the specification provides a robot positioning system, fuse radar subassembly and two camera subassemblies, set up first camera subassembly and second camera subassembly, gather the image information of environment simultaneously, in addition, the orientation of second camera body is relative with the orientation of first camera body, make two cameras can gather the image information of the different position in the current environment, provide abundanter characteristic point, abundanter scene target, it is better to often work in the robot positioning stability in same piece region, two cameras provide more environmental information, the location is more stable. In addition, the first cloud platform and the second cloud platform rotate independently, and the relative position relation of the first camera component and the second camera component can be adjusted according to actual conditions, so that the comprehensiveness of image data is guaranteed. The positioning stability is improved, and the accuracy of repositioning after the positioning is lost is improved.

In addition, set up the radar subassembly at the top of first camera subassembly, avoided first camera subassembly to laser radar's sheltering from, realized the comprehensiveness of environmental data, use the clamping piece to link to each other laser radar and first cloud platform simultaneously for first cloud platform drives laser radar's syntropy and rotates when rotating, has guaranteed laser radar data and image data's uniformity, has further improved the accuracy that the robot was built the picture and was fixed a position. Finally, through the structural design in the embodiment of the specification, the operations of replacement, adjustment and the like of workers are facilitated, and the laser radar can be adjusted and replaced.

The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.

Claims

1. A robot positioning device is characterized by comprising a radar component, a first camera component, a second camera component, a connecting piece and a fixed base;

the radar assembly comprises a laser radar and a clamping piece, wherein the bottom of the laser radar is connected with the top of the clamping piece;

the first camera assembly comprises a first camera body and a first tripod head, wherein the side surface of the first tripod head is connected with the first camera body, and the top of the first tripod head is connected with the bottom of the clamping piece;

the second camera assembly comprises a second camera body and a second tripod head, wherein the orientation of the second camera body is opposite to that of the first camera body, the side surface of the second tripod head is connected with the second camera body, and the bottom of the second tripod head is connected with the fixed base;

and the bottom of the first holder is connected with the top of the second holder through the connecting piece so as to realize the independent rotation of the first camera component and the second camera component.

2. A robot positioning device as claimed in claim 1, further comprising a shock absorbing plate, wherein the bottom of the shock absorbing plate is fixed to the fixed base, and the top of the shock absorbing plate is connected to the rotation shaft of the second camera assembly.

3. A robot positioning device according to claim 2, wherein the damping plate is a viscoelastic material.

4. A robot positioning device according to claim 1, wherein the vertical centre line of the radar assembly coincides with the vertical centre line of the rotational axis of the first head.

5. The robot positioning device of claim 1, wherein the radar assembly further comprises a receiving cavity, the lidar is disposed in the receiving cavity, and a bottom of the receiving cavity is connected to a top of the clamping member.

6. A robot positioning device as claimed in claim 5, wherein the receiving cavity is a hollow cavity, and the opening direction of the receiving cavity is the same as the orientation of the first camera.

7. A robot positioning device according to claim 6, wherein the material of the housing chamber is a thermally insulating material.

8. A robot positioning device according to claim 7, characterized in that the lidar is a frame-and-frame lidar.

9. A robot positioning device as claimed in claim 1, wherein the first and second camera bodies are binocular cameras.

10. A robot positioning device according to claim 1, further comprising a robot body, wherein the fixed base is provided at a central position of a top of the robot body.