CN220465397U - Abdominal vision sensing device for independently climbing stairs and robot - Google Patents
Abdominal vision sensing device for independently climbing stairs and robot Download PDFInfo
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- CN220465397U CN220465397U CN202322124750.7U CN202322124750U CN220465397U CN 220465397 U CN220465397 U CN 220465397U CN 202322124750 U CN202322124750 U CN 202322124750U CN 220465397 U CN220465397 U CN 220465397U
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- 230000009194 climbing Effects 0.000 title claims abstract description 23
- 230000004438 eyesight Effects 0.000 title claims abstract description 20
- 230000003187 abdominal effect Effects 0.000 title claims description 5
- 210000001015 abdomen Anatomy 0.000 claims abstract description 24
- 230000005540 biological transmission Effects 0.000 claims description 7
- 239000000463 material Substances 0.000 claims description 3
- 229920003023 plastic Polymers 0.000 claims description 3
- 239000004033 plastic Substances 0.000 claims description 3
- 230000008447 perception Effects 0.000 claims description 2
- 230000016776 visual perception Effects 0.000 abstract description 10
- 230000000007 visual effect Effects 0.000 abstract description 7
- 230000001681 protective effect Effects 0.000 description 13
- 238000000034 method Methods 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000011218 segmentation Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002493 climbing effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000000513 principal component analysis Methods 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
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Abstract
The utility model provides an abdomen vision sensing device and a robot for independently climbing stairs, and relates to the technical field of leg-foot robots. This belly visual perception device includes shell and binocular camera, and the shell is installed in leg foot robot belly barycenter department below, and binocular camera sets up in the shell is inside, and binocular camera includes left mesh camera and right mesh camera, and left mesh camera and right mesh camera all set up in the position that does not sheltered from by leg foot robot leg foot, and the camera of binocular camera is certain inclination with ground, and binocular camera shooting range can radiate higher first order stair and ground vertically face when the robot is located different order stairs. The utility model solves the problem that the prior leg-foot robot can not effectively catch the vertical plane of the last stair of the stair when the visual information is blocked or moves to the tail end of the stair when climbing the stair.
Description
Technical Field
The utility model relates to the technical field of leg-foot robots, in particular to an abdomen vision sensing device for independently climbing stairs and a robot.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The legged robot is climbing stairs and needs to acquire geometric information of the stairs by means of the sensor to assist in planning the legged points. Common sensors, such as cameras, lidar, etc., are often mounted on the head or back of a legged robot. However, the installation method of placing the sensor on the head or the back can cause the situation that the sensing view field is blocked when the robot climbs the stairs to enter the last stairs, so that the sensing module cannot acquire effective stair data information, especially when the head of the robot protrudes out of the stair vertical plane, the camera view field cannot capture the vertical plane information, and foot falling planning of the legged robot is affected. Therefore, how to overcome the defect that the visual information is blocked or moves to the tail end of the stair and the vertical surface of the last stair of the stair can not be effectively captured when the leg-foot robot climbs the stair at present is a technical problem to be solved in the prior art.
Disclosure of Invention
In order to solve the defects in the prior art, the utility model provides an abdomen vision sensing device and a robot for independently climbing stairs, which are used for fixing equipment capable of realizing vision sensing on the abdomen of a leg robot so as to solve the problem that the current leg robot can prevent vision information from being blocked or move to the tail end of the stairs so as not to effectively capture the vertical plane of the last stairs.
In order to achieve the above object, the present utility model is realized by the following technical scheme:
the utility model provides an abdomen vision sensing device capable of independently climbing stairs, which comprises a shell and a binocular camera, wherein the shell is arranged below the abdomen mass center of a leg foot robot, the binocular camera is arranged in the shell, the binocular camera comprises a left eye camera and a right eye camera, the left eye camera and the right eye camera are arranged at positions which are not blocked by legs and feet of the leg foot robot, the cameras of the binocular camera form a certain inclination angle with the ground, and the camera shooting range of the binocular camera can radiate to the surface of a higher-order stair which is perpendicular to the ground when the robot is positioned on different-order stairs.
Further, the robot further comprises a battery and an industrial personal computer, wherein the battery and the industrial personal computer are arranged inside the robot body.
Further, the battery is used for providing power for the industrial personal computer and the binocular camera.
Furthermore, the binocular camera and the industrial personal computer perform data transmission through a USB interface and a data transmission wire harness.
Further, the housing is connected to the robot by bolts.
Further, the shell is made of plastic materials.
A second aspect of the present utility model provides a robot comprising the abdomen vision sensing device of the first aspect for autonomously climbing stairs, further comprising a torso and leg feet mounted on the torso.
Further, the front end of the robot trunk is also provided with a contrast camera.
Furthermore, when the robot is positioned on different steps of stairs, the vertical surface of the higher step of stairs and the ground is the blind area of the vision line of the robot contrast camera.
Further, the robot is a four-legged robot.
Compared with the prior art, the utility model has the beneficial effects that:
aiming at the problem that the vision information is blocked or moves to the tail end of the stair and the last stair vertical surface of the stair cannot be effectively captured when the leg-foot robot climbs the stair at present, the utility model designs the abdomen vision sensing device suitable for the leg-foot robot to autonomously climb the stair. The utility model ensures that the robot can not lose the elevation distance information of the last stage of step even when moving to the tail end of the stair.
Drawings
The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the utility model.
FIG. 1 is a schematic diagram of an abdomen vision sensing device for independently climbing stairs according to an embodiment of the utility model;
FIG. 2 is a schematic diagram illustrating an abdomen visual perception device according to an embodiment of the present utility model;
FIG. 3 is a schematic diagram of a robot structure according to a second embodiment of the present utility model;
FIG. 4 is a schematic view of a second robot in a stair climbing process;
the camera comprises a shell, a first protective shell, a second protective shell, a binocular camera, a robot, a visual perception device, a comparison camera and a contrast camera, wherein the shell comprises a shell 1-1, the first protective shell, a protective shell 1-2, the second protective shell, the binocular camera, the robot and the visual perception device.
Detailed Description
The utility model will be further described with reference to the drawings and examples.
The terms "mounted," "connected," "secured," and the like are to be construed broadly and refer to either a fixed connection, a removable connection, or an integral body, for example; the terms "mechanically coupled" and "directly coupled" may be used interchangeably to refer to either a mechanical coupling, an indirect coupling via an intermediary, an internal coupling of two elements, or an interaction of two elements, as would be understood by one of ordinary skill in the art, and the terms are to be understood in the specific sense of the present utility model as appropriate.
Embodiment one:
in the prior art, under the condition of only a head camera, every step, even two sections in front of the head, three sections of stair vertical surfaces can be seen in the climbing process, but the vertical surface of the last stair cannot be identified because the robot foot end is already standing on the plane of the last step, so that the vertical surface of the last stair of the stair cannot be effectively captured. An abdomen vision sensing device for independently climbing stairs is provided on the basis of the prior art, as shown in fig. 1, and comprises a shell 1, a binocular camera 2, a battery and an industrial personal computer. The shell is the plastics material and is cubic, as shown in fig. 2, including first protective housing and the second protective housing that is triangular pyramid shape, the second protective housing design has the inner chamber, and binocular camera is arranged in the inner chamber, and first protective housing is used for sealing the inner chamber export to laminate with the robot truck through first protective housing upper surface, the shell is connected with the robot through the bolt, and its bolt hole sets up in the both sides face of second protective housing. The shell is installed below the abdomen centroid of the legged robot, the binocular camera is arranged inside the shell through screws, the bottom of the second protective shell is provided with an inclined plane, the angle of the inclined plane is subjected to self-defining design according to the pitch angle parameter range of an actual camera, a transparent window is arranged on the inclined plane of the range, and the camera obtains an external visual angle through the transparent window arranged on the second protective shell. The binocular camera comprises a left-eye camera and a right-eye camera, depth information in a view field range is obtained by the left-eye camera and the right-eye camera through view angle interpolation, and the depth information is obtained by the binocular camera, which is common knowledge in the art, so that redundant description is omitted. The left eye camera and the right eye camera are arranged at positions which are not shielded by legs and feet of the leg-foot robot, the camera of the binocular camera is inclined at a certain angle with the ground, and the shooting range of the binocular camera can radiate to the surface vertical to the ground of the higher first-order stairs when the robot is positioned on the different-order stairs. In this embodiment, the distance between the left and right eye cameras is 50 mm, and the inclination angle with the ground is 60 degrees.
The battery and the industrial personal computer are arranged inside the robot body. The industrial personal computer is used for processing the visual depth image information and performing algorithm calculation according to the prior art. It should be specifically noted that, the industrial personal computer itself has functions of data acquisition and data processing, and the specific processing method and the embodiment do not require, and can be completed by adopting the existing algorithm.
The battery is used for providing power for the industrial personal computer and the binocular camera, and in the embodiment, the battery is 12V, so that the working voltage requirements of the industrial personal computer and the binocular camera can be met. The binocular camera and the industrial personal computer are subjected to data transmission through the USB interface and the data transmission wire harness, and the data transmission wire harness is arranged in the robot body except for the connection part of the binocular camera interface in order to ensure the visual field of the binocular camera and lighten the weight of the shell.
Embodiment two:
the utility model provides an abdomen visual perception device for an independently climbing stair, which is shown in fig. 3, and comprises an abdomen visual perception device for an independently climbing stair, a trunk and leg feet arranged on the trunk.
In this embodiment, the robot is a four-legged robot. As shown in fig. 4, the front end of the robot trunk is further provided with a comparison camera, which in this embodiment is intel realsenseD435i product. The vertical surface of the higher-order stairs and the ground when the robot is positioned on the different-order stairs is a blind area of the sight of the robot. When the robot moves to the last step of the stair, the contrast camera installed on the head protrudes out of the vertical plane of the last step of the stair, and the perception field of view of the contrast camera cannot effectively capture distance information. The visual perception device is arranged on the abdomen, and the visual perception field can still capture the vertical plane information of the last stage of step at the moment because the visual perception device is arranged on the abdomen, so that the visual algorithm can still acquire the effective input information, and the robot is assisted in foot falling planning.
When the robot performs stair climbing actions, the visual end initialization is completed by extracting geometric information (such as the elevation of the stair and the depth of the plane of the stair) of the stair through the visual perception device on the abdomen, and then the robot performs track planning on the foot end according to the elevation information of each stage of the stair in real time, so that stair climbing is completed.
The method is based on the existing point cloud segmentation processing technology, utilizes segmentation processing to extract point clouds to perform principal component analysis to extract point cloud centroid parameters, and utilizes centroid geometric relations to complete parameter calculation. In this embodiment, geometric information can be extracted to complete track planning by other existing track planning manners of robots, which can be implemented in the prior art, so that no further description is given.
It should be noted that, the foregoing description is only a preferred embodiment of the present utility model, and although the present utility model has been described in detail with reference to the foregoing embodiment, it will be apparent to those skilled in the art that modifications may be made to the technical solutions described in the foregoing embodiments, or equivalents may be substituted for some of the technical features thereof, and any modifications, equivalents, improvements or changes thereof may be made without departing from the spirit and principle of the present utility model.
Claims (10)
1. The utility model provides an abdomen vision perception device of independently climbing stair, its characterized in that, includes shell and binocular camera, the shell is installed in leg foot robot belly barycenter department below, binocular camera sets up in the shell is inside, binocular camera includes left mesh camera and right mesh camera, left mesh camera and right mesh camera all set up in the position that does not sheltered from by leg foot robot leg foot, the camera of binocular camera is certain inclination with ground, binocular camera shooting range can radiate higher first order stair and ground vertically face when the robot is located different order stairs.
2. The abdomen vision sensing device for autonomously climbing stairs according to claim 1, further comprising a battery and an industrial personal computer, wherein the battery and the industrial personal computer are both arranged inside the robot body.
3. An abdomen vision sensing device for autonomously climbing stairs according to claim 2, wherein said battery is used for supplying power to the industrial personal computer and the binocular camera.
4. The abdomen vision sensing device for independently climbing stairs according to claim 2, wherein the binocular camera and the industrial personal computer perform data transmission through a USB interface and a data transmission wire harness.
5. An abdominal vision sensing device for autonomously climbing stairs according to claim 1, wherein the housing is connected to the robot by bolts.
6. An abdominal vision sensing device for autonomously climbing stairs according to claim 1, wherein said housing is of plastic material.
7. A robot comprising an abdominal vision-aware device for autonomously climbing stairs according to any one of claims 1-6, further comprising a torso and leg feet mounted on the torso.
8. A robot as claimed in claim 7, wherein the front end of the robot torso is further provided with a comparison camera.
9. A robot as claimed in claim 8, wherein the surface of the higher-order stairs perpendicular to the ground when the robot is located on different-order stairs is a blind area of the robot compared with the camera.
10. A robot as claimed in claim 7, characterized in that the robot is a quadruped robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322124750.7U CN220465397U (en) | 2023-08-08 | 2023-08-08 | Abdominal vision sensing device for independently climbing stairs and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322124750.7U CN220465397U (en) | 2023-08-08 | 2023-08-08 | Abdominal vision sensing device for independently climbing stairs and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220465397U true CN220465397U (en) | 2024-02-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322124750.7U Active CN220465397U (en) | 2023-08-08 | 2023-08-08 | Abdominal vision sensing device for independently climbing stairs and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220465397U (en) |
-
2023
- 2023-08-08 CN CN202322124750.7U patent/CN220465397U/en active Active
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