Sensor integrated device for RGB-D-T information perception of intelligent robot

Abstract

The invention discloses a sensor integrated device for RGB-D-T information perception of an intelligent robot. The device comprises a fixed seat, an RGB-D camera cabin, an RGB-D camera, a horizontal rotating part and a pitching part. The fixed seat is connected with the RGB-D camera cabin, one end of the RGB-D camera cabin is provided with an opening, the RGB-D camera is fixedly arranged in the cabin, and a lens of the RGB-D camera is arranged towards the opening. The horizontal rotating part is arranged on the RGB-D camera cabin, the pitching part is arranged on the horizontal rotating part, the horizontal rotating part drives the device to do horizontal rotating movement, and the pitching part drives the device to do pitching movement. A depth vision sensor and a thermal infrared sensor are effectively deployed to form the integrated device, the integrated device is easy to integrate with the mobile robot, RGB-D-T multi-mode information fusion of the service robot is effectively achieved, the problems that the thermal infrared camera and the RGB-D camera used on the robot are large in field angle difference and inconsistent in matching scale are effectively solved, and the environment perception capability and the service operation level of the intelligent robot are improved.

Description

technical field [0001] The invention belongs to the field of intelligent robots, and in particular relates to a sensor integration device for RGB-D-T information perception of intelligent robots. Background technique [0002] With the development of intelligent robot technology and sensors such as depth and infrared, service robots are required to work around the clock in environments such as day and night, such as home fire prevention and control, pedestrian detection, and environmental modeling. The ability of precise perception meets the requirements of robots for three-dimensional modeling of the environment and infrared information fusion, and for robots to detect and locate the temperature of environmental targets. At present, visible light, depth vision sensors such as Kinect, Xtion, and thermal infrared sensors are configured on robots to become representative configuration devices, and environmental perception technology based on target-based RGB-D-T multimodal info...

AI Technical Summary

Problems solved by technology

[0003] However, the thermal infrared sensor and RGB-D sensor currently used on the robot have a large difference in field of view and observation range, which leads to the inability of the robot to form a consistent depth and infrared environment description for environmental modeling, positioning and perception; fixed RGB -D and T information cannot be used for environment modeling based on specific targets

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