CN219777939U

CN219777939U - Visual distance detection device combining laser ranging with IMU

Info

Publication number: CN219777939U
Application number: CN202321020964.3U
Authority: CN
Inventors: 崔津华; 陈治州; 刘欣哲; 马睿
Original assignee: Individual
Current assignee: Individual
Priority date: 2023-05-04
Filing date: 2023-05-04
Publication date: 2023-09-29
Anticipated expiration: 2033-05-04

Abstract

The utility model discloses a visual distance detection device combining laser ranging with an IMU, which belongs to the technical field of robots and comprises a cradle head bracket; a bullet feeder; the bullet feeder is movably arranged at the top of the cradle head bracket; a transmitter; the launcher is arranged on one side of the bullet feeder in a matched mode, and a bore tube is arranged on one side of the launcher; the ranging module is fixedly arranged below the bore tube; and the camera is fixedly arranged above the bore tube and is positioned at the same axial position with the ranging module. According to the scheme, the camera, the laser ranging module and the singlechip are used for enabling the singlechip to collect and send the information of the IMU angle provided by the steering engine through the position information of the laser ranging module to the upper computer, and the upper computer combines three pieces of information according to the inherent height of the holder bracket and the two pieces of data to obtain the most real distance information through the three pieces of specific target coordinate information.

Description

Visual distance detection device combining laser ranging with IMU

Technical Field

The utility model belongs to the technical field of robots, and particularly relates to a visual distance detection device combining laser ranging with an IMU.

Background

As robot vision, distance detection is particularly important, and accurate distance information is required to be determined to be close to high-precision equipment such as a lathe, so that the elevation angle of shooting can be accurately adjusted after the distance is identified, and the effect of accurate hit is achieved.

However, most of the current ranging methods are direct measurement, so that the measurement accuracy of a single sensor is high.

The present utility model has been made in view of this.

Disclosure of Invention

In order to solve the technical problems, the utility model adopts the basic conception of the technical scheme that:

a visual distance detection device combining laser ranging with an IMU, comprising:

a cradle head bracket;

a bullet feeder;

the bullet feeder is movably arranged at the top of the cradle head bracket;

a transmitter;

the launcher is arranged on one side of the bullet feeder in a matched mode, and a bore tube is arranged on one side of the launcher;

the ranging module is fixedly arranged below the bore tube;

the camera is fixedly arranged above the bore tube, and the camera and the ranging module are positioned at the same axial position;

a graph transmission module;

the image transmission module is arranged on the upper surface of the camera and is fixedly installed.

As a further aspect of the utility model: the upper surface of bullet feeder is provided with the magazine, and the upper surface of magazine is provided with the apron.

As a further aspect of the utility model: the steering engine is arranged above the transmitter, and a singlechip for control is arranged on one side of the steering engine.

As a further aspect of the utility model: the inner wall of the cradle head support is fixedly provided with a P-axis motor, the output end of the P-axis motor is fixedly connected with a swing arm, and the other end of the swing arm is movably connected with the emitter through a pin shaft.

As a further aspect of the utility model: the two sides of the cradle head support are respectively fixed with an L steel bar and a support frame, and the transmitter is movably connected between the L steel bar and the support frame.

The beneficial effects are that:

according to the scheme, the camera, the laser ranging module and the singlechip are used for enabling the singlechip to collect and send the information of the IMU angle provided by the steering engine through the position information of the laser ranging module to the upper computer, and the upper computer combines three pieces of information according to the inherent height of the holder bracket and the two pieces of data to obtain the most real distance information through the three pieces of specific target coordinate information.

The following describes the embodiments of the present utility model in further detail with reference to the accompanying drawings.

Drawings

In the drawings:

FIG. 1 is a schematic view of a three-dimensional structure of the present utility model;

FIG. 2 is a schematic view of another perspective view of the present utility model;

FIG. 3 is a schematic view of another perspective view of the present utility model;

FIG. 4 is a schematic view of a three-dimensional cross-sectional structure of the present utility model;

fig. 5 is a schematic view showing a perspective structure of the emitter according to the present utility model.

In the figure: 1. a cradle head bracket; 2. l steel bar; 3. a supporting frame; 4. a bullet feeder; 5. a transmitter; 6. a magazine; 7. steering engine; 8. a graph transmission module; 9. a single chip microcomputer; 10. a ranging module; 11. a camera; 12. a bore tube; 13. a P-axis motor; 14. swing arms; 15. a transmission rod.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and the following embodiments are used to illustrate the present utility model.

As shown in fig. 1 to 5, a visual distance detection device combining laser ranging and IMU includes:

cradle head support 1.

And a feeder 4.

The bullet feeder 4 is movably arranged at the top of the holder bracket 1.

And a transmitter 5.

The launcher 5 is mounted on one side of the feeder 4 in a mating manner, and one side of the launcher 5 is provided with a bore tube 12.

The ranging module 10 is fixedly mounted below the bore tube 12.

The camera 11 is fixedly installed above the bore tube 12, and the camera 11 and the ranging module 10 are located at the same axial position.

And a graph transmission module 8.

The image transmission module 8 is arranged on the upper surface of the camera 11 and is fixedly installed.

Specifically, as shown in fig. 3, the magazine 6 is provided on the upper surface of the feeder 4, and a cover plate is provided on the upper surface of the magazine 6.

By providing the magazine 6, the magazine 6 can store cartridges so that the cartridges can be added through the cover plate, and simultaneously the cartridges can sequentially enter the launcher 5 under the action of the feeder 4 and be launched through the bore tube 12.

Specifically, as shown in fig. 4 and 3, a steering engine 7 is arranged above the transmitter 5, and a singlechip 9 for control is arranged on one side of the steering engine 7.

By adopting the steering engine 7, the control and the maintenance of the angle can be performed, and meanwhile, the accurate transmission of the angle data can be performed.

Specifically, as shown in fig. 2 and 3, a P-axis motor 13 is fixed on the inner wall of the pan-tilt bracket 1, the output end of the P-axis motor 13 is fixedly connected with a swing arm 14, and the other end of the swing arm 14 is movably connected with the emitter 5 through a pin shaft.

When the P-axis motor 13 rotates, the P-axis motor can move along with the swing arm 14, and then moves along with the transmission rod 15, so that the transmission rod 15 can carry out integral deflection operation along with the generator through the pin shaft in the moving process.

Specifically, as shown in fig. 1 and 4, two sides of the cradle head bracket 1 are respectively fixed with an L steel bar 2 and a bracket 3, and the emitter 5 is movably connected between the L steel bar 2 and the bracket 3.

The L steel bar 2 and the bracket 3 can keep the whole stable support of the emitter 5, and can keep the emitter 5 to conveniently move.

More specifically, the method comprises the following steps: the structure comprises a camera 11, an upper computer miniPC, a singlechip 9, a laser ranging module 10, and two USB-to-TTL conversion modules

The camera 11 gives image information to the upper computer miniPC, the singlechip 9 gives position information and IMU angle information of the laser ranging module 10 to the upper computer miniPC through TTL, the upper computer miniPC combines the height of the inherent cradle head bracket 1 and the information to obtain three specific target coordinate information, and the three information are combined to obtain the most real distance information.

The distance derived for the third imu and the intrinsic height.

Deducing: sinx=intrinsic height/distance x is the intrinsic height of the angle data of the IMU sent from the single chip microcomputer 9, and the intrinsic height is measured by the vertically downward laser ranging module 10.

In combination, the steering engine 7 is used for acquiring IMU data, and the laser ranging module 10 is combined with the vision coordinates to obtain the world coordinates of the more real target.

Outside the scheme, another implementation mode is as follows: the singlechip 9 external gyroscope is not used for connecting the upper computer miniPC laser ranging module 10 and the upper computer miniPC

Working principle:

when a target is detected through a camera, the obtained data are settled by PNP to obtain the three-dimensional coordinate of the target under the world coordinate system, meanwhile, the lower-level single chip microcomputer 9 sends steering engine 7imu angle information and distance information obtained by the laser ranging module 10 through serial port communication, the angle and the height of the cradle head support 1 are combined to obtain a third distance information, the specific process is that the hypotenuse can be obtained just like a right-angle triangle is known from one angle to one side, the obtained data under a specific scene are subjected to multiple experiments, the data account for about 50% of camera 11+30% ranging+20% IMU to obtain more accurate distance information, and accurate distance information is needed to be judged to be close range for high-precision equipment such as a lathe and the like

The foregoing has shown and described the basic principles, principal features and advantages of the utility model. It will be understood by those skilled in the art that the present utility model is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present utility model, and various changes and modifications may be made without departing from the spirit and scope of the utility model, which is defined in the appended claims. The scope of the utility model is defined by the appended claims and their equivalents.

Claims

1. A visual distance detection device combining laser ranging with an IMU, comprising:

a cradle head bracket (1);

a bullet feeder (4);

the bullet feeder (4) is movably arranged at the top of the cradle head bracket (1);

a transmitter (5);

the launcher (5) is arranged on one side of the bullet feeder (4) in a matched mode, and a bore tube (12) is arranged on one side of the launcher (5);

the ranging module (10) is fixedly arranged below the bore tube (12);

the camera (11) is fixedly arranged above the bore tube (12), and the camera (11) and the ranging module (10) are positioned at the same axial position;

a graph transmission module (8);

the image transmission module (8) is arranged on the upper surface of the camera (11) and is fixedly installed.

2. The visual distance detection device combining laser ranging and IMU according to claim 1, wherein a magazine (6) is provided on the upper surface of the feeder (4), and a cover plate is provided on the upper surface of the magazine (6).

3. The visual distance detection device combining laser ranging and IMU according to claim 1, wherein a steering engine (7) is arranged above the transmitter (5), and a singlechip (9) for controlling is arranged on one side of the steering engine (7).

4. The visual distance detection device combining laser ranging and IMU according to claim 1, wherein a P-axis motor (13) is fixed on the inner wall of the cradle head support (1), the output end of the P-axis motor (13) is fixedly connected with a swing arm (14), and the other end of the swing arm (14) is movably connected with the emitter (5) through a pin shaft.

5. The visual distance detection device combining laser ranging and IMU according to claim 4, wherein the two sides of the cradle head support (1) are respectively fixed with an L steel bar (2) and a support (3), and the transmitter (5) is movably connected between the L steel bar (2) and the support (3).