WO2022148419A1

WO2022148419A1 - Quadrupedal robot positioning apparatus and quadrupedal robot formation

Info

Publication number: WO2022148419A1
Application number: PCT/CN2022/070648
Authority: WO
Inventors: 王兴兴; 邓志; 张阳光
Original assignee: 杭州宇树科技有限公司
Priority date: 2021-01-08
Filing date: 2022-01-07
Publication date: 2022-07-14
Also published as: CN213956419U

Abstract

A quadrupedal robot positioning apparatus and a quadrupedal robot formation, which relate to the technical field of quadrupedal robots. The quadrupedal robot positioning apparatus comprises: at least two quadrupedal robots (1), an identification portion (2) is provided on an upper part of a body of each quadrupedal robot (1), and a camera (3) is provided above the quadrupedal robots (1), which is used for performing identification on the identification portions (2), so as to locate the position of the quadrupedal robots (1) relative to the camera (3). Real-time positioning of a plurality of quadrupedal robots (1) can be implemented by means of the identification portions (2) on the bodies of the quadrupedal robots (1) being identified by the camera, (3), positioning precision is high, and the present invention is simple and reliable.

Description

A quadruped robot positioning device and quadruped robot formation

technical field

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

Background technique

At present, the positioning and navigation of the quadruped robot is one of the key technologies to realize its intelligence. To realize the autonomous navigation of the quadruped robot, the formation and cooperative operation of multiple quadruped robots, and determine the real-time position of the quadruped robot, is the first problem to be solved.

Further, a Chinese patent (publication number CN110274599A) 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. The central control unit is used to locate the position of the robot and send it to the robot for control. The robot control unit is used to control the robot action according to the positioning information sent by the central control unit.

The central control unit includes a plurality of cameras located indoors, a camera controller, a recognition template library, a position calculation module, a first main control module and a first communication module, and the plurality of cameras are all used for photographing the indoor environment, The camera controller is used to receive and process the picture information captured by the multiple cameras, the recognition template library is used to store multiple photos of the robot taken at different angles, and the position calculation module is used to realize the relationship between the camera coordinate system and the indoor coordinate system. The first main control module is used to receive the picture information taken by the multiple cameras from the camera controller, and to match and identify with the recognition template library, and to obtain the robot through the position calculation module when the robot is recognized. The coordinate information in the indoor coordinate system, the first communication module is used to realize data transmission between the first main control module and the robot control unit.

technical problem

Although the above solution can realize indoor positioning of the mobile robot, it requires many cameras, has a complex structure, and has high manufacturing costs.

Further, the above solution does not disclose the problem of formation positioning of multiple quadruped robots, which leads to the inability to realize the formation positioning of the robots, thereby affecting the cooperative operation of the quadruped robots.

technical solutions

In order to overcome the deficiencies of the prior art, the first objective of the present invention is to provide a positioning device for a quadruped robot, which can acquire the position of the quadruped robot in real time through a camera.

The second purpose of the present invention is to provide a quadruped robot with an identification part, and a camera is arranged above it, so that the sight of the camera can be radiated to the identification part, so as to collect the position information between the quadruped robots and the four-legged robot. The position information of the footed robot relative to the camera is obtained; and then the quadruped robot formation for its positioning is realized through the main console.

Purpose one of the present utility model adopts the following technical scheme to realize:

A quadruped robot positioning device, comprising at least two quadruped robots, an identification part is arranged on the upper part of the quadruped robot body, and a camera is arranged above the quadruped robot for identifying the identification part to locate the position of the quadruped robot relative to the camera.

The positioning device of the quadruped robot provided by the utility model can realize the real-time positioning of multiple quadruped robots by identifying the identification part on the body of the quadruped robot through a suspended camera. The positioning accuracy is high, the structure is simple and reliable, and the manufacturing The cost is low, it can be used indoors and outdoors, it is suitable for a wide range, and it is easy to promote 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.

Further, the quadruped robot positioning device further includes a main console, the main console is connected to the camera, so as to obtain the position information of the quadruped robot relative to the camera, and transmit the position information to the camera. the quadruped robot.

Further, the positioning device for the quadruped robot further includes a pan-tilt, and the camera is fixed by the pan-tilt, so as to reduce the shaking of the camera during operation. Setting the gimbal can reduce the camera shake when working and improve the positioning accuracy of the quadruped robot.

Further, the identification part of the quadruped robot is a two-dimensional code. The identification pattern selects a two-dimensional code, the pattern is clear, and the identification algorithm is simple.

Further, an infrared filter is arranged on the lens of the camera. Setting the infrared filter is beneficial to shield various ambient light and improve the reliability of the visual recognition system.

Further, the surface of the identification part of the quadruped robot is covered with a film or sheet that transmits infrared rays. The provision of a film or a thin plate enables the logo portion to be displayed in the infrared frequency band without affecting the appearance, color and texture that the public likes visible to the human eye.

Further, there is at least one camera, all of which are arranged at different positions above the quadruped robot. A camera has a limited field of view. Setting up multiple cameras can simultaneously locate more quadruped robots and improve the range of visual positioning.

As the preferred technical measures:

A quadruped robot positioning device, comprising at least one identification part that can be assembled on the upper part of the quadruped robot body, and a camera is arranged above the identification part;

The camera is used for identifying the identification part to locate the position of the quadruped robot relative to the camera.

The quadruped robot positioning device provided by the utility model can realize the real-time positioning of multiple quadruped robots by recognizing the identification part on the quadruped robot body through one or more suspended cameras, with high positioning accuracy, simple structure, It is reliable, has low manufacturing cost, can be used indoors and outdoors, is suitable for a wide range of applications, and is easy to popularize and use.

Further, the camera in the present application is a camera device that uses an electronic sensor to convert an optical image into electronic data, which is not limited to a digital camera and a network camera, but can also be a surveillance camera, a video camera, a mobile phone with a camera, a tablet with a camera, and the like.

Purpose two of the present utility model adopts the following technical scheme to realize:

A quadruped robot formation capable of positioning,

Including at least two quadruped robots, a camera capable of taking pictures of the quadruped robot, and a main console capable of determining the position of the quadruped robot according to the photographing information;

The upper part of the quadruped robot body is provided with an identification part for easy identification, and the camera is provided above it;

The camera is provided with a downwardly installed or inclined downwardly installed lens, and its line of sight can be radiated to the marking part to collect the position information between the quadruped robot and the quadruped robot and the relative position of the quadruped robot to the camera. Position information; and then realize quadruped robot formation positioning through the main console.

After continuous exploration and experimentation, the present utility model is provided with a quadruped robot with an identification part, and a camera is arranged above the robot, so that the sight of the camera can be radiated to the identification part, so as to collect the position information between the quadruped robots and the quadrupeds. The position information of the robot relative to the camera is further realized through the main console, the structure is simple and practical, and the solution is feasible.

As the preferred technical measures:

The absolute position of the camera is fixed, and it is fixed on a quadruped robot through a support rod; the length of the support rod matches the line of sight required by the lens, and the structure is simple and practical, and can meet the line of sight requirements of the camera lens. At the same time, it is convenient to manufacture and has low cost.

Or the camera is fixed on a freely movable flying device above the quadruped robot, so as to ensure that the camera's lens line of sight can always radiate to the identification part;

the main console is assembled on the camera,

Or connect with a camera through a wireless network to obtain position information between the quadruped robots, and can transmit the position information to the quadruped robot to control its relative movement.

The identification part is a two-dimensional code or a pattern with line changes or a line with different colors or an identification structure with a concave-convex shape or a number or a letter or a Chinese character.

Different quadruped robots have different identification parts, so that the main console can identify them.

beneficial effect

The quadruped robot positioning device provided by the utility model can realize the real-time positioning of multiple quadruped robots by identifying the identification part on the quadruped robot body through the camera, and the positioning accuracy is high, simple and reliable.

Further, after continuous exploration and experimentation, the present utility model is equipped with a quadruped robot with an identification part, and a camera is arranged above the robot, so that the camera's line of sight can be radiated to the identification part, so as to collect the position information between the quadruped robots and the robot. The position information of the quadruped robot relative to the camera; the positioning of the quadruped robot is further realized through the main console, the structure is simple and practical, and the solution is feasible.

Description of drawings

Fig. 1 is the schematic diagram of the first embodiment of the present invention;

FIG. 2 is a schematic diagram of the second embodiment of the present invention.

In the figure: 1. Quadruped robot; 2. Identification part; 3. Camera; 4. Flying device.

Embodiments of the present invention

Hereinafter, the present invention will be further described with reference to the accompanying drawings and specific embodiments. It should be noted that, on the premise of no conflict, the embodiments or technical features described below can be combined arbitrarily to form new implementations. example.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which the present invention belongs. The terminology used herein is for the purpose of describing specific embodiments only, and is not intended to limit the present invention.

As shown in FIG. 1 and FIG. 2 , a quadruped robot positioning device includes at least two quadruped robots 1 . The upper part of the quadruped robot 1 is provided with an identification part 2 , and the upper part of the quadruped robot 1 is provided with The camera 3 is used to identify the identification part 2 to locate the position of the quadruped robot 1 relative to the camera 3 .

A specific embodiment of the present invention for setting a main console: the quadruped robot positioning device further includes a main console, and the main console is connected with the camera 3 to obtain the relative position of the quadruped robot 1 . position information of the camera 3 , and transmit the position information to the quadruped robot 1 .

A specific embodiment of the utility model adding a PTZ:

The positioning device of the quadruped robot further includes a pan-tilt, and the camera 3 is fixed by the pan-tilt, so as to reduce the shaking of the camera 3 during operation. Setting the gimbal can reduce the shaking of the camera 3 when working, and improve the positioning accuracy of the quadruped robot 1 .

The utility model adds a specific embodiment of the infrared structure:

An infrared filter is arranged on the lens of the camera 3 . Setting the infrared filter is beneficial to shield various ambient light and improve the reliability of the visual recognition system.

The surface of the identification part 2 of the quadruped robot 1 is covered with a film or sheet that transmits infrared rays. By setting the film or sheet, the identification part 2 can be displayed in the infrared frequency band without affecting the appearance, color and texture that the public likes to be visible to the human eye.

A specific embodiment of the number of cameras 3 of the present invention:

At least one camera 3 is provided at different positions above the quadruped robot 1 . One camera 3 has a limited field of view, and by setting multiple cameras 3, more quadruped robots 1 can be positioned at the same time, thereby improving the range of visual positioning.

An application embodiment of the present utility model:

A quadruped robot formation capable of positioning,

Including at least two quadruped robots 1, a camera 3 capable of taking pictures of the quadruped robot 1, and a main console capable of determining the position of the quadruped robot 1 according to the photographing information;

The upper part of the quadruped robot 1 is provided with an identification part 2 for easy identification, and the camera 3 is provided above it.

The camera 3 is provided with a downwardly installed or inclined downwardly installed lens, and its line of sight can radiate to the marking portion 2 to collect the position information between the quadruped robot 1 and the quadruped robot 1 and the quadruped robot 1 relative to the position information of the camera 3; and then realize the formation positioning of the quadruped robot through the main console.

After continuous exploration and experimentation, the present utility model is provided with a quadruped robot 1 with a marking part 2 , and a camera 3 is arranged above the robot, so that the camera 3 can radiate the line of sight to the marking part 2 to collect information between the four-legged robot 1 . and the position information of the quadruped robot 1 relative to the camera 3; and then realize its positioning through the main console, the structure is simple and practical, and the solution is feasible.

A specific embodiment of the installation position of the camera 3 of the present invention:

The absolute position of the camera 3 is fixed, and it is fixed on a quadruped robot 1 through a support rod; the length of the support rod matches the sight range required by the lens, and the structure is simple and practical, which meets the requirements of the camera 3 lens. While meeting the line of sight requirements, it is easy to manufacture and has low cost.

Another specific embodiment of the installation position of the camera 3 of the present invention:

The camera 3 is fixed on the freely movable flying device 4 above the quadruped robot 1 to ensure that the sight of the camera 3 can be radiated to the identification part 2 at all times;

The specific embodiment of the integrated setting of the camera 3 and the main console of the present invention:

The main console is mounted on the camera 3 .

A specific embodiment of the camera 3 and the main console of the present invention are separately arranged:

It is connected with the camera 3 through a wireless network to obtain position information between the quadruped robots 1 and can transmit the position information to the quadruped robot 1 to control its relative movement.

A specific embodiment of the structure of the identification part 2 of the present utility model:

The identification part 2 is a two-dimensional code or a pattern with changing lines or lines with different colors or an identification structure with concave-convex shapes, numbers, letters or Chinese characters.

Preferably, the identification part 2 selects a two-dimensional code, the pattern is clear, and the identification algorithm is simple.

The identification parts 2 of different quadruped robots 1 are different, so that the main console can identify them;

The above-mentioned embodiments are only the preferred embodiments of the present invention, and the scope of protection of the present invention cannot be limited by this. Any insubstantial changes and replacements made by those skilled in the art on the basis of the present invention belong to the scope of the present invention. The scope of protection of the utility model.

Claims

A quadruped robot positioning device, characterized in that it comprises at least two quadruped robots (1), an identification part (2) is provided on the upper part of the quadruped robot (1), and the quadruped robot (1) A camera (3) is provided on the top for identifying the identification part (2) to locate the position of the quadruped robot (1) relative to the camera (3).
The positioning device for a quadruped robot according to claim 1, characterized in that the absolute position of the camera (3) is fixed, or the camera (3) is fixed to move freely above the quadruped robot (1). on the flight device (4).
The quadruped robot positioning device according to claim 2, characterized in that, the quadruped robot positioning device further comprises a main console, and the main console is connected with the camera (3) to obtain the quadruped robot Position information of the robot (1) relative to the camera (3), and transmit the position information to the quadruped robot (1).
The positioning device for a quadruped robot according to claim 3, characterized in that the positioning device for the quadruped robot further comprises a pan/tilt, and the camera (3) is fixed by the pan/tilt to lower the camera (3) Jitter at work.
The positioning device for a quadruped robot according to claim 3, characterized in that, the identification part (2) of the quadruped robot (1) is a two-dimensional code.
The positioning device for a quadruped robot according to claim 3, characterized in that, an infrared filter is provided on the lens of the camera (3); the surface of the identification part (2) of the quadruped robot (1) is covered with A film or sheet that transmits infrared rays.
The positioning device for a quadruped robot according to any one of claims 1 to 6, characterized in that there is at least one camera (3), which are all arranged at different positions above the quadruped robot (1).
A positioning device for a quadruped robot, characterized in that it comprises at least one identification part (2) that can be assembled on the upper part of the body of the quadruped robot (1), and a camera (3) is arranged above the identification part (2);

The camera (3) is used for identifying the identification part (2) to locate the position of the quadruped robot (1) relative to the camera (3).
A four-legged robot formation capable of positioning, characterized in that:

Including at least two quadruped robots (1), a camera (3) capable of taking pictures of the quadruped robot (1), and a main console capable of determining the position of the quadruped robot (1) according to the photographing information;

The upper part of the body of the quadruped robot (1) is provided with an identification part (2) for easy identification, and the camera (3) is provided above it;

The camera (3) is provided with a downwardly mounted or tilted downwardly mounted lens, and its line of sight can radiate to the marking portion (2), so as to capture the distance between the quadruped robot (1) and the quadruped robot (1). and the position information of the quadruped robot (1) relative to the camera (3);

Then, the quadruped robot formation positioning is realized through the main console.
The quadruped robot formation capable of positioning according to claim 9, wherein,

The absolute position of the camera (3) is fixed, and it is fixed on a quadruped robot (1) through a support rod; the length of the support rod matches the sight range required by the lens;

Alternatively, the camera (3) is fixed on a freely movable flying device (4) above the quadruped robot (1), so as to ensure that the sight of the camera (3) can always radiate to the identification part (2) superior;

The main console is assembled on the camera (3),

Or connect with the camera (3) through a wireless network to obtain position information between the quadruped robots (1), and be able to transmit the position information to the quadruped robot (1) to control its relative movement;

The identification part (2) is a two-dimensional code or a pattern with line changes or a line with different colors or an identification structure with a concave-convex shape or a number or a letter or a Chinese character;

Different quadruped robots (1) have different identification parts (2).