Navigation device for assisting calibration of multiple solid-state laser radars and IMU fusion

Abstract

The utility model provides a navigation device for assisting calibration of multiple solid-state laser radars and fusion of an IMU (inertial measurement unit). The navigation device mainly comprises a base module, a bracket module, an omnidirectional leveling module, a multi-ball universal ring, the IMU, a gradienter and a laser radar module, the base module mainly comprises a base plate, a supporting column and a mounting plate, the support module mainly comprises a supporting ring 1, a supporting ring 2, a fixing rod, a supporting rod, a telescopic outer pipe and a telescopic inner rod, and the omni-directional leveling module mainly comprises a rod end ball head 1, a double-section telescopic rod 2, a ball seat 1, a ball seat 2 and a round pipe locking buckle. The multi-ball universal ring mainly comprises a support, a screw, a ball shell and a rod end ball 2. The laser radar module mainly comprises a solid-state laser radar, a radar base and a double-section telescopic rod 1. According to the utility model, omni-directional leveling and detection visual field adjustment of a plurality of solid-state laser radars can be realized, and pitching angles of the solid-state laser radars can be driven to change, so that focusing of a target height area is facilitated.

Description

Technical Field

[0001] The utility model belongs to the field of robot automatic navigation equipment, and in particular relates to a navigation device for assisting the calibration of multiple solid-state laser radars and the fusion of IMUs. Background Art

[0002] Environmental perception and scene recognition are key technologies for autonomous navigation of robots. Solid-state laser radar has advantages such as dense point cloud data, so it has been widely used in the field of environmental perception. However, the detection angle of solid-state laser radar is limited. In practical applications, it is usually necessary to combine multiple units to achieve full-angle environmental perception. Since robots usually do not reserve installation positions for multiple solid-state laser radars, there is a lack of positioning and installation references for each solid-state laser radar, resulting in the complexity and lack of precision of the external parameter calibration of multiple solid-state laser radars. In order to further realize the motion distortion correction of solid-state laser radar data by IMU (inertial measurement unit) data, the utility model proposes a navigation device that assists the calibration of multiple solid-state laser radars and the fusion of IMU, so as to facilitate and accurately calibrate the external parameters of multiple solid-state laser radars and IMUs. Summary of the invention

[0003] In order to solve the above problems, the utility model provides a navigation device that assists in the calibration of multiple solid-state laser radars and the fusion of IMUs, so as to realize the precise external parameter calibration of multiple solid-state laser radars and IMUs.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] A navigation device for assisting the calibration of multiple solid-state laser radars and the fusion of IMUs mainly includes: a base module, a bracket module, an omnidirectional leveling module, a multi-ball universal ring, an IMU, a level, and a laser radar module. The base module mainly includes a chassis, a support, and a mounting plate. The chassis and the mounting plate are connected and fixed by the support. The mounting plate is mainly used to install the base module on the robot.

[0006] The bracket module mainly includes a support ring 1, a support ring 2, a fixed rod, a support rod, a telescopic outer tube and a telescopic inner rod. The telescopic outer tube is connected and fixed to the support ring 1 through three horizontal fixed rods of an annular array. Furthermore, the support ring 2 is connected and fixed to the support ring 1 through three vertical support rods of an annular array. Furthermore, a ball seat is provided at the bottom end of the telescopic outer tube, and the telescopic inner rod is connected to the telescopic outer tube to form a double-section telescopic rod.

[0007] The omnidirectional leveling module mainly includes a rod end ball head 1, a double-section telescopic rod 2, a ball seat 1, a ball seat 2, and a round tube locking buckle. The ball seat 1 is three in a circular array and is correspondingly installed at the bottom end of the support ring 1. Similarly, the ball seat 2 is three in a circular array and is installed on the chassis; further, the bottom end of the outer tube and the top end of the inner rod in the double-section telescopic rod 2 are provided with rotating balls, which are respectively connected to the ball seat 2 and the ball seat 1 to form a universal ball joint mechanism; further, the ball head of the rod end ball head 1 is connected to the ball seat of the telescopic outer tube, and the rod end is vertically fixed at the center of the circle at the top of the chassis.

[0008] The multi-ball universal ring mainly includes a support, a screw, a ball shell, and a rod-end ball head 2. The ball shell is installed on both ends of the support by screws. The outer side of the support is provided with a circular rolling groove. The rotating ball of the rod-end ball head 2 is installed in the rolling groove of the support. The ball shell is mainly used to cooperate with the arc surface of the support rolling groove to limit the rotating ball of the rod-end ball head 2; the multi-ball universal ring is embedded and fixed on the top end position of the telescopic inner rod.

[0009] The IMU is installed at the top of the telescopic inner rod, and the spirit level is installed at the top of the telescopic inner rod through a support rod, and the support rod is fixed to the outer side of the top of the telescopic inner rod. Furthermore, the spirit level is located above the IMU, and its main function is to feedback and guide the omnidirectional leveling module to achieve leveling of the bracket module.

[0010] The laser radar module mainly includes a solid-state laser radar, a radar base, and a double-section telescopic rod 1. The solid-state laser radar is installed on the radar base, and the radar base cooperates with a support ring 2; further, the surface of the support ring 2 is engraved with an angle measurement reference value for measuring the angle between each solid-state laser radar; the outer tube end of the double-section telescopic rod 1 is connected and fixed to the radar base, and the inner rod end of the double-section telescopic rod 1 is fixedly connected to the outer rod of the rod end ball head 2.

[0011] The beneficial effects of the utility model are:

[0012] The utility model provides a navigation device for assisting the calibration of multiple solid-state laser radars and fusing with IMUs. The multiple solid-state laser radars can be leveled to a horizontal plane through an omnidirectional leveling module. Furthermore, with the help of a multi-head ball universal ring, the relative installation angles between the solid-state laser radars can be adjusted arbitrarily and accurately, which makes it more convenient to optimize the joint detection field of view of the multiple solid-state laser radars. Furthermore, by adjusting the position of the telescopic inner rod, the multi-head ball universal ring can be driven to move up and down, thereby driving the radar base to rotate relative to the support ring 2, so that the pitch angle of the solid-state laser radar changes, which is more conducive to the solid-state laser radar focusing on the target height area. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The utility model is further described below in conjunction with the accompanying drawings and specific embodiments:

[0014] Figure 1 This is a schematic diagram of the structure of a navigation device that assists in the calibration of multiple solid-state laser radars and the fusion of IMUs in the utility model;

[0015] Figure 2 It is a structural schematic diagram of a multi-ball universal ring in the utility model;

[0016] Figure 3 It is a schematic diagram of a support structure of a multi-ball universal ring in the utility model;

[0017] Figure 4 It is a schematic diagram of the spherical shell structure of a multi-ball universal ring in the utility model;

[0018] Figure 1 Winning bid number: 1, ball seat 1, 2, support ring 1, 3, fixed rod, 4, telescopic outer tube, 5, support rod, 6, solid-state laser radar, 7, radar base, 8, double-section telescopic rod 1, 9, IMU, 10, level, 11, multi-ball universal ring, 12, telescopic inner rod, 13, support ring 2, 14, rod end ball head 1, 15, round tube locking buckle, 16, double-section telescopic rod 2, 17, ball seat 2, 18, chassis, 19, pillar, 20, mounting plate;

[0019] Figure 2 The middle number: 21, support, 22, screw, 23, ball shell, 24, rod end ball head 2;

[0020] Figure 3 Winning bid number: 25, rolling groove;

[0021] Figure 4 Winning number: 26, arc surface. DETAILED DESCRIPTION

[0022] The present invention is further explained below with reference to the accompanying drawings and specific embodiments:

[0023] like Figure 1 The structure diagram of a navigation device for assisting the calibration of multiple solid-state laser radars and the fusion of IMUs is shown, which is characterized by mainly comprising a base module, a bracket module, an omnidirectional leveling module, a multi-ball universal ring (11), an IMU (9), a level (10), and a laser radar module. The base module mainly comprises a chassis (18), a support (19), and a mounting plate (20). The chassis (18) is connected and fixed to the mounting plate (20) through the support (19), and the mounting plate (20) is connected and fixed to the robot through screws.

[0024] like Figure 1As shown, the support module mainly comprises a support ring 1 (2), a support ring 2 (13), a fixing rod (3), a support rod (5), a telescopic outer tube (4) and a telescopic inner rod (12); the telescopic outer tube (4) is located inside the support ring 1 (2) and is connected and fixed to the support ring 1 (2) through three fixing rods (3) in an annular array; the fixing rod (3) and the support ring 1 (2) are on the same horizontal plane; further, the support ring 2 (13) is located at one side of the tube opening of the telescopic outer tube (4) and is horizontal to the support ring 1 (2); the fixing rod (3) and the support ring 1 (2) are connected and fixed through three supporting rods (5) in an annular array; further, the supporting rod (5) and the support ring 1 (2) are vertically fixed; further, a ball seat is provided at the bottom end of the telescopic outer tube (4); the telescopic inner rod (12) is connected to the telescopic outer tube (4) to form a double-section telescopic rod.

[0025] like Figure 1 As shown, the omnidirectional leveling module mainly comprises a rod end ball head 1 (14), a double-section telescopic rod 2 (16), a ball seat 1 (1), a ball seat 2 (17), and a round tube locking buckle (15). The ball seats 1 (1) are in a circular array of three and are correspondingly mounted on the bottom end of the support ring 1 (2). Similarly, the ball seats 2 (17) are in a circular array of three and are mounted on the chassis (18). The direction circles of the ball seats 1 (1) and the ball seats 2 (17) are of the same size. Furthermore, the bottom end of the outer tube and the top end of the inner rod of the double-section telescopic rod 2 (16) are both provided with rotating balls, which are respectively connected to the ball seat 2 (17) and the ball seat 1 (1) to form a universal ball joint mechanism. Furthermore, the ball head of the rod end ball head 1 (14) is connected to the ball seat of the telescopic outer tube (4), and the rod end is vertically fixed at the center of the circle at the top end of the chassis (18). The working principle of the omnidirectional leveling module is mainly as follows: by adjusting the length and direction of the double-section telescopic rod 2 (16), the bracket module can be driven to rotate relative to the rod end ball head 1 (14), thereby achieving omnidirectional leveling of the bracket module, and further by locking the length of the double-section telescopic rod 2 (16) through the round tube locking buckle (15), the posture of the bracket module can be stabilized.

[0026] As attached Figure 2 As shown, the multi-ball universal ring (11) mainly comprises a support (21), a screw (22), a ball shell (23), and a rod end ball head 2 (24), wherein the support (21) is in a circular column structure. Figure 3 As shown, the outer side of the support (21) is provided with a semicircular rolling groove (25). Figure 4As shown, one end of the ball shell (23) is provided with an arc surface (26) having the same curvature as the rod end ball head 2 (24). Further, the ball shell (23) is mounted on both ends of the support (21) by means of screws (22). The function of the ball shell (23) is mainly to cooperate with the rotation ball of the rod end ball head 2 (24) to protrude from the arc surface of the rolling groove of the support (21) to limit the rolling of the rod end ball head 2 (24) in the rolling groove. Further, the multi-ball universal ring (11) is embedded and fixed at the top end position of the telescopic inner rod (12).

[0027] The IMU (9) is mounted on the top of the telescopic inner rod (12), the level (10) is mounted on the top of the telescopic inner rod (12) via a support rod, the support rod is fixed to the outer side surface of the top of the telescopic inner rod (12), and the level (10) is located above the IMU (9). Furthermore, the level (10) mainly functions to provide feedback to guide the omnidirectional leveling module to achieve leveling of the bracket module.

[0028] The laser radar module mainly comprises a solid-state laser radar (6), a radar base (7), and a double-section telescopic rod 1 (8). The solid-state laser radar (6) is mounted on the radar base (7). The bottom of the radar base (7) is provided with a semicircular annular groove, and the curvature of the annular groove is consistent with that of the support ring 2 (13). The radar base (7) is further fitted on the support ring 2 (13) to ensure that the radar base (7) can slide on the support ring 2 (13). Furthermore, the surface of the support ring 2 (13) is engraved with an angle measurement reference value for measuring the angle between each solid-state laser radar (6). The outer tube end of the double-section telescopic rod 1 (8) is connected and fixed to the radar base (7), and the inner rod end of the double-section telescopic rod 1 (8) is fixedly connected to the outer extension rod of the rod end ball head 2 (24).

[0029] The structure and working principle of the present invention are described above with reference to specific embodiments. The present invention is not limited to the above embodiments. According to the above description, any modification, replacement and improvement made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A navigation device for assisting the calibration of multiple solid-state laser radars and the fusion of IMUs, characterized in that: It includes a base module, a bracket module, an omnidirectional leveling module, a multi-ball universal ring, an IMU, a spirit level, and a laser radar module; the bracket module includes a support ring 1, a support ring 2, a fixing rod, a support rod, a telescopic outer tube and a telescopic inner rod, the telescopic outer tube is connected and fixed to the support ring 1 through three horizontal fixing rods of an annular array, the support ring 2 is connected and fixed to the support ring 1 through three vertical support rods of an annular array, a ball seat is provided at the bottom end of the telescopic outer tube, and the telescopic inner rod is connected to the telescopic outer tube; the laser radar module mainly includes a solid-state laser radar, a radar base, and a double-section telescopic rod 1, the solid-state laser radar is installed on the radar base, the radar base cooperates with the support ring 2, and the surface of the support ring 2 is engraved with an angle measurement reference value; the outer tube end of the double-section telescopic rod 1 is connected and fixed to the radar base, and the inner rod end of the double-section telescopic rod 1 is fixedly connected to the rod end ball head 2 of the multi-ball universal ring.

2. A navigation device for assisting calibration of multiple solid-state laser radars and fusion of IMUs as claimed in claim 1, characterized in that: The multi-ball universal ring includes a support, a screw, a ball shell, and a rod-end ball head 2. The side of the support is provided with a semicircular rolling groove, and one end of the ball shell is provided with an arc surface with the same curvature as the rod-end ball head 2. The ball shell is installed on both ends of the support by screws, and is used to cooperate with the arc surface of the support rolling groove of the ball protruding from the rotation of the rod-end ball head 2 to realize the sliding of the rod-end ball head 2 in the rolling groove.

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