Layered multi-sensor fusion equipment and quadruped robot

Abstract

The utility model belongs to the technical field of robots, and relates to layered multi-sensor fusion equipment and a quadruped robot. The layered multi-sensor fusion equipment comprises a multi-sensor fusion device; the multi-sensor fusion device comprises a laser radar sensor, an IMU (Inertial Measurement Unit), a visual sensor, a first base and a second base, the first base is used for installing the laser radar sensor, and the second base is used for installing the IMU and the visual sensor; the laser radar sensor is located above the first base, and the first base is located above the second base in a suspended mode. The quadruped robot comprises a quadruped robot body device and the layered multi-sensor fusion equipment. Through the first base and the second base, various sensors such as the laser radar sensor, the IMU and the visual sensor are integrated, the structure is simple, and the quadruped robot is convenient to assemble and disassemble with the quadruped robot body device.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and in particular relates to a layered multi-sensor fusion device and a quadruped robot. Background Art

[0002] With the continuous development of 5G network technology and environmental perception technology, the application technology of intelligent robots continues to expand, but there are still deficiencies in its adaptability to different scenarios. Therefore, in order to improve the robot's autonomous operation function to adapt to various environments and avoid manual operation that consumes a lot of manpower, time and safety hazards, four-legged intelligent robots have become the most suitable choice to solve the above problems.

[0003] The existing technology has the following defects and shortcomings: At present, since the quadruped robot needs to be configured with different sensors according to different environments to perceive the surrounding environment, and the configuration of the sensors needs to be connected to the quadruped robot body device, the quadruped robot structure cannot adapt to different sensor devices, and the installation layout of each sensor on the quadruped robot will also affect the reliability of its data fusion and the accuracy of perceiving the surrounding environment information.

[0004] Therefore, based on the above reasons, the quadruped robot needs a hierarchical multi-sensor fusion device to improve the convenience of integrated assembly of the quadruped robot and the efficiency of autonomous operation. Utility Model Content

[0005] The utility model provides a layered multi-sensor fusion device and a quadruped robot, which solves the problem that the structure of the quadruped robot cannot adapt to different sensor devices.

[0006] To achieve the above objectives, this application provides the following technical solutions:

[0007] A layered multi-sensor fusion device comprises: a multi-sensor fusion device; the multi-sensor fusion device comprises: a laser radar sensor, an IMU inertial measurement unit, a visual sensor, a first base and a second base; the first base is used to install the laser radar sensor, and the second base is used to install the IMU and the visual sensor; the laser radar sensor is located above the first base, and the first base is suspended above the second base.

[0008] Furthermore, in the layered multi-sensor fusion device as described above, a radar groove is provided in the middle of the first base for installing the lidar sensor.

[0009] Furthermore, in the layered multi-sensor fusion device as described above, a first through hole is provided in the middle of the radar groove for reducing weight, and a second through hole is provided between the first through hole and the edge of the radar groove, and the second through hole provides a wiring path.

[0010] Furthermore, in the layered multi-sensor fusion device as described above, an IMU groove is provided in the middle of the second base for installing the IMU; the second base is provided with a power cord groove to provide a wiring path for the IMU, and the power cord groove extends from the edge of the second base to the IMU groove along the radial line of the second base; the groove depth of the power cord groove is smaller than that of the IMU groove.

[0011] Furthermore, in the layered multi-sensor fusion device as described above, a protrusion is provided on the edge of the second base, the bottom surface of the protrusion is in contact with the top surface of the second base, and the top surface of the protrusion is set as the positioning plane of the visual sensor; a camera platform is provided on the outer side of the protrusion for installing the visual sensor.

[0012] Furthermore, in the layered multi-sensor fusion device as described above, the visual sensor is a video camera.

[0013] Furthermore, in the layered multi-sensor fusion device as described above, the camera platform and the protrusion are in a stepped shape.

[0014] Furthermore, in the layered multi-sensor fusion device as described above, it also includes: a screw, a first mounting hole is arranged along the circumference of the first base, and a second mounting hole is arranged along the circumference of the second base, the first mounting hole corresponds to the second mounting hole of the second base, and the first base and the second base are screwed and fixed through the screw and the first mounting hole and the second mounting hole.

[0015] Furthermore, in the layered multi-sensor fusion device as described above, the screw outer sleeve is provided with a supporting sleeve for supporting and protecting the screw.

[0016] Furthermore, a quadruped robot comprises a quadruped robot body device and the above-mentioned layered multi-sensor fusion device, wherein the quadruped robot body device is provided with a power output hole to provide power for the layered multi-sensor fusion device.

[0017] The technical solution provided by the embodiment of the present application has the following beneficial effects:

[0018] The present application is a layered multi-sensor fusion device and a quadruped robot. Through the first base and the second base, it integrates multiple sensors such as lidar sensors, IMUs, and visual sensors. It has a simple structure and is easy to assemble and disassemble with the quadruped robot body. It provides the robot with richer environmental perception information and is more practical. It effectively avoids the structural design limitations and complexity of the combined installation of different sensors and robots.

[0019] The present application adopts a layered structure to achieve non-interference between multi-sensor data, which can ensure that the sensors do not block each other, ensure the maximum range of perception of the surrounding environment, provide reliable sensor data for the robot, and improve the flexibility of the device.

[0020] This application provides relatively accurate external parameters for multi-sensor data fusion through structures such as positioning pins, positioning planes, radar grooves, IMU grooves, bolt and nut fixations, etc., and can obtain all sensor data unified in the same coordinate system, greatly improving the accuracy and reliability of the robot's perception of surrounding environment information.

[0021] The present application simplifies the appearance of the device through structures such as wiring grooves and countersunk holes; since the bottom of the multi-sensor fusion device is smooth, it can be connected to any flat surface of the quadruped robot main body device through solid gel or bolts, thereby improving the convenience of assembling the multi-sensor fusion device and the quadruped robot main body device. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic diagram of the overall appearance of a layered multi-sensor fusion device and a quadruped robot provided in an embodiment of the present application;

[0023] Figure 2 A schematic diagram of the structure of a hierarchical multi-sensor fusion device and a quadruped robot provided in an embodiment of the present application;

[0024] Figure 3 An exploded diagram of a layered multi-sensor fusion device and a quadruped robot provided in an embodiment of the present application;

[0025] Figure 4 A schematic diagram of the structure of a layered multi-sensor fusion device and a first base of a quadruped robot provided in an embodiment of the present application;

[0026] Figure 5 A schematic diagram of the structure of a layered multi-sensor fusion device and a second base of a quadruped robot provided in an embodiment of the present application;

[0027] Explanation of the accompanying drawings: multi-sensor fusion device 1, quadruped robot body device 2, lidar sensor 101, IMU 102, visual sensor 103, first base 104, second base 105, screw 106, support sleeve 107, radar groove 1011, positioning pin hole 1012, IMU groove 1021, positioning plane 1031, wiring groove 1032, first through hole 1041, second through hole 1042, third through hole 1043, power cord groove 1051. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the utility model clearer, the implementation mode of the utility model will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model.

[0029] In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0030] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0031] See attached Figure 1-5 A layered multi-sensor fusion device and a quadruped robot provided in the embodiments of the present application are described in detail. Figure 1 A schematic diagram of the overall appearance of a layered multi-sensor fusion device and a quadruped robot provided in an embodiment of the present application; Figure 2 A schematic diagram of the structure of a hierarchical multi-sensor fusion device and a quadruped robot provided in an embodiment of the present application; Figure 3 An exploded diagram of a layered multi-sensor fusion device and a quadruped robot provided in an embodiment of the present application; Figure 4 A schematic diagram of the structure of a layered multi-sensor fusion device and a first base of a quadruped robot provided in an embodiment of the present application; Figure 5 A schematic diagram of the structure of a layered multi-sensor fusion device and a second base of a quadruped robot provided in an embodiment of the present application.

[0032] In short, the basic technical solution of the utility model is briefly described as follows: a layered multi-sensor fusion device, comprising: a multi-sensor fusion device 1, the multi-sensor fusion device 1 comprises: a laser radar sensor 101, an IMU 102 inertial measurement unit, a visual sensor 103, a first base 104 and a second base 105; the first base 104 is used to install the laser radar sensor 101, and the second base 105 is used to install the IMU 102 (Inertial Measurement Unit) and the visual sensor 103; the laser radar sensor 101 is located above the first base 104, and the first base 104 is suspended above the second base 105.

[0033] The following is a detailed discussion of a layered multi-sensor fusion device and a quadruped robot provided by the present application.

[0034] like Figure 1 As shown, a layered multi-sensor fusion device provided by the present application includes: the multi-sensor fusion device 1 mentioned in the above embodiment, the multi-sensor fusion device 1 is located above the quadruped robot body device 2, and the multi-sensor fusion device 1 and the quadruped robot body device 2 are fixed by a connecting device. The multi-sensor fusion device 1 includes: a laser radar sensor 101, an IMU 102, a visual sensor 103, a first base 104, and a second base 105; the first base 104 is used to install the laser radar sensor 101, and the second base 105 is used to install the IMU 102 and the visual sensor 103; the laser radar sensor 101 is located above the first base 104, the first base 104 is suspended, the first base 104 is located above the second base 105, and the first base 104 and the second base 105 are screwed and fixed. The laser radar sensor 101 is used to collect position data, the visual sensor 103 is used to collect image data, and the IMU 102 is used to collect posture data.

[0035] The multi-sensor fusion device 1 adopts a layered structure, wherein the upper layer is a laser radar sensor 101, and the lower layer is an IMU 102 and a visual sensor 103; the bottom of the multi-sensor fusion device 1 is a plane with a countersunk hole, that is, the bottom of the second base 105 is a plane with a countersunk hole, the multi-sensor fusion device 1 is located above the quadruped robot body device 2, and the multi-sensor fusion device 1 can be installed at any suitable position on the top of the quadruped robot body device 2, and the multi-sensor fusion device 1 and the quadruped robot body device 2 are fixed by a connecting device, or glued, wherein the connecting device can be a bolt and nut, which is convenient for installation and disassembly; in a specific embodiment, the multi-sensor fusion device 1 is screwed and fixed to the quadruped robot body device 2 by bolts and nuts; in another specific embodiment, the multi-sensor fusion device 1 is glued and fixed to the quadruped robot body device 2. The multi-sensor fusion device 1 can select a suitable connection method according to the structure of the quadruped robot, thereby ensuring that the quadruped robot can reliably perceive the surrounding environment information.

[0036] That is to say, the second base 105 is located above the quadruped robot body device 2, and the second base 105 can be installed at any suitable position on the top of the quadruped robot body device 2. The second base 105 and the quadruped robot body device 2 are fixed by a connecting device or glued, wherein the connecting device can be a bolt and nut, which is convenient for installation and disassembly; in a specific embodiment, the second base 105 is screwed and fixed to the quadruped robot body device 2 by bolts and nuts; in a specific embodiment, the second base 105 is glued and fixed to the quadruped robot body device 2. The second base 105 can select a suitable connection method according to the structure of the quadruped robot, thereby ensuring that the quadruped robot can reliably perceive the surrounding environment information.

[0037] The multi-sensor fusion device 1 is used for positioning measurement, perception recognition, environmental modeling, and measuring the position, velocity, angular velocity and acceleration of an object to calculate the posture of the object. The laser radar sensor 101 is arranged at the upper part (also referred to as the upper layer) of the layered multi-sensor fusion device, and is used to measure the position, velocity, etc. of the object. The IMU 102 and the visual sensor 103 are arranged at the lower part (also referred to as the lower layer) of the layered multi-sensor fusion device, that is, the laser radar sensor 101 is located above the IMU 102 and the visual sensor 103.

[0038] like Figure 2 , Figure 4As shown, the laser radar sensor 101 is located above the first base 104, that is, the upper layer of the layered multi-sensor fusion device, and has a columnar structure. It is used to collect the position data of the object, that is, to measure the position and speed of the object, so as to ensure that the laser radar can perceive the surrounding environment 360° without blind spots. The laser radar sensor 101 is installed on the first base 104; the first base 104 is located below the laser radar sensor 101, and is disc-shaped, and is used to install the laser radar sensor 101, that is, to provide an installation position for the laser radar sensor 101; a radar groove 1011 is provided in the middle of the first base 104 for installing the laser radar sensor 101; the radar groove 1011 is provided with a positioning pin hole 1012 for fixing the laser radar sensor 101. In a specific embodiment, a plurality of positioning pin holes 1012 are arranged along the circumference of the bottom surface of the radar groove 1011. Preferably, the plurality of positioning pin holes 1012 are evenly arranged along the circumference of the bottom surface of the radar groove 1011. The pins fix the laser radar sensor 101 and the radar groove 1011 of the first base 104 through the positioning pin holes 1012. Of course, the laser radar sensor 101 and the radar groove 1011 of the first base 104 can also be screwed and fixed. In another specific embodiment, the radar groove 1011 can also be provided with positioning screw holes, and the laser radar sensor 101 and the radar groove 1011 of the first base 104 are screwed and fixed through the positioning screw holes.

[0039] Further, a first through hole 1041 is provided in the middle of the radar groove 1011, and the first through hole 1041 is used to reduce the weight of the first base 104 and facilitate heat dissipation. A second through hole 1042 is provided between the first through hole 1041 and the edge of the radar groove 1011, and the second through hole 1042 provides a path for the wiring of the laser radar sensor 101. A first mounting hole is provided along the circumference of the first base 104, and the first mounting hole corresponds to the second mounting hole of the second base 105, and is used to screw and fix the first base 104 and the second base 105. Preferably, a plurality of first mounting holes are evenly arranged along the circumference of the first base 104. In a specific embodiment, the bottom surface of the first base 104 is provided with a wiring groove 1032 (not shown) that is concave upward to provide a wiring path. A storage space is provided between the first base 104 and the second base 105, and the IMU 102 is located in the storage space.

[0040] like Figure 2 , Figure 3 , Figure 5As shown, IMU102 is located below the laser radar sensor 101. Specifically, IMU102 is located below the first base 104 and has a rectangular structure. It is used to measure the angular velocity and acceleration of the object and calculate the posture of the object. IMU102 is installed on the second base 105. The second base 105 is located below the laser radar sensor 101 and is used to install IMU102. Specifically, an IMU groove 1021 is provided in the middle of the second base 105. The IMU groove 1021 has a rectangular structure and is used to install and embed IMU102. A third through hole 1043 is provided in the middle of the rectangular structure of the IMU groove 1021. The third through hole 1043 is used for heat dissipation of IMU102, reduces the weight of the second base 105, and can also provide a path for the wiring of IMU102. IMU groove screw holes are arranged along the circumference of the IMU groove 1021 for mounting and fixing the IMU 102. Correspondingly, IMU screw holes are arranged on the IMU 102. The IMU bolts are screwed and fixed to the IMU groove 1021 and the IMU 102 through the IMU groove screw holes and the IMU screw holes. Preferably, the bolts are triangularly arranged bolts.

[0041] The second base 105 is provided with a power line groove 1051 to provide a wiring path for the IMU 102. The power line groove 1051 extends from the edge of the second base 105 to the IMU groove 1021 along the radial line of the second base 105. The position of the power line of the IMU 102 is slightly lower than the top surface of the second base 105. Therefore, in order to facilitate wiring, the groove depth of the power line groove 1051 is less than the IMU groove 1021. A protrusion is provided on the edge of the second base 105 for positioning the visual sensor 103; the bottom surface of the protrusion contacts the top surface of the second base 105, and the top surface of the protrusion is set as the positioning plane 1031 of the visual sensor 103 for positioning the visual sensor 103. A camera platform is provided on the outer side of the protrusion of the second base 105 (the outer side is away from the center of the layered multi-sensor fusion device) for mounting the visual sensor 103. The camera platform and the protrusion form a step shape. In a specific embodiment, a camera stage screw hole is provided on the camera stage, and correspondingly, a camera screw hole is provided on the visual sensor 103, and the bolts are screwed and fixed to the camera stage and the visual sensor 103 through the camera stage screw hole and the camera screw hole. The visual sensor 103 is located on the camera stage and is used to collect visual image data, namely, positioning measurement, perception recognition, and environmental modeling. Because the camera of the visual sensor 103 is located on the outside of the second base 105, the visual sensor 103 has a wide field of view without obstruction, which facilitates the collection of clear visual data. Since the visual sensor 103 viewing angle is only focused on the front of the robot, and the IMU 102 is an inertial measurement unit and has no requirements for the field of view, the IMU 102 and the visual sensor 103 are installed in the lower layer. Preferably, the visual sensor 103 is a video camera.

[0042] A second mounting hole is arranged along the circumference of the second base 105, and the first mounting hole corresponds to the second mounting hole. Preferably, a plurality of second mounting holes are evenly arranged along the circumference of the second base 105. The layered multi-sensor fusion device also includes a screw 106, through which the first base 104 and the second base 105 are screwed and fixed. Preferably, the screw 106 adopts a hexagonal arrangement screw, thereby reducing the load of each screw 106, and effectively ensuring the stability of the laser radar sensor 101, IMU102 and visual sensor 103 during the operation of the robot; the outer sleeve of the screw 106 is provided with a support sleeve 107 for supporting and protecting the screw 106, thereby achieving a reasonable gap between the above two layers of devices, and ensuring that the lower layer IMU102 and visual sensor 103 do not interfere with the upper layer laser radar sensor 101. The second base 105 is provided with a countersunk hole for screwing and fixing with the quadruped robot body device 2, ensuring that the sensor fusion device is reliably connected to the quadruped robot body device 2. In a specific embodiment, the bottom of the second base 105 is also provided with an upwardly concave wiring groove 1032 for providing a wiring passage.

[0043] In a specific embodiment, the top of the quadruped robot body device 2 is provided with power output holes of 5V, 12V, and 48V voltages, and power can be provided to various components of the layered multi-sensor fusion device through the wiring groove 1032. The quadruped robot body device 2 and the layered multi-sensor fusion device (i.e., the multi-sensor fusion device 1) are screwed or glued. The top of the quadruped robot body device 2 adopts a planar structure, which can effectively and conveniently integrate and install other equipment.

[0044] In view of the shortcomings of the multi-sensor fusion device 1 of the quadruped robot, the utility model provides a layered multi-sensor fusion device, a layered multi-sensor fusion device, which can be combined with different quadruped robots to perceive the surrounding environment information.

[0045] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features of the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0046] For those skilled in the art, the utility model can be implemented by other implementation schemes that do not deviate from its spirit or essential features. Obviously, the utility model is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic features of the utility model. Therefore, no matter from which point of view, it is only an example, not the only one, and the embodiments should be regarded as exemplary and non-restrictive. The scope of the utility model is limited by the attached claims rather than the above description, so it is intended to include all changes within the meaning and scope of the equivalent elements of the claims in the utility model. Any figure mark in the claims should not be regarded as limiting the claims involved. All changes within the scope of the utility model or within the scope equivalent to the utility model are included in the utility model.

Claims

1. A hierarchical multi-sensor fusion device, characterized in that: include: Multi-sensor fusion device; The multi-sensor fusion device includes: a laser radar sensor, an IMU inertial measurement unit, a visual sensor, a first base and a second base; The first base is used to install the laser radar sensor, and the second base is used to install the IMU and the visual sensor; The laser radar sensor is located above the first base, and the first base is suspended above the second base.

2. The hierarchical multi-sensor fusion device according to claim 1, characterized in that: A radar groove is provided in the middle of the first base for installing the laser radar sensor.

3. The hierarchical multi-sensor fusion device according to claim 2, characterized in that: A first through hole is provided in the middle of the radar groove for reducing weight, and a second through hole is provided between the first through hole and the edge of the radar groove, and the second through hole provides a wiring path.

4. The hierarchical multi-sensor fusion device according to claim 1, characterized in that: An IMU groove is provided in the middle of the second base for installing the IMU; The second base is provided with a power line groove to provide a wiring path for the IMU, and the power line groove extends from the edge of the second base to the IMU groove along the radial line of the second base; the groove depth of the power line groove is smaller than that of the IMU groove.

5. The hierarchical multi-sensor fusion device according to claim 1, characterized in that: A protrusion is provided on the edge of the second base, the bottom surface of the protrusion contacts the top surface of the second base, and the top surface of the protrusion is set as the positioning plane of the visual sensor; A camera platform is arranged on the outer side of the protrusion for mounting the visual sensor.

6. The hierarchical multi-sensor fusion device according to claim 1, characterized in that: The visual sensor is a video camera.

7. The hierarchical multi-sensor fusion device according to claim 5, characterized in that: The camera platform and the protrusion are in a stepped shape.

8. The hierarchical multi-sensor fusion device according to claim 1, characterized in that: Also includes: Screw, A first mounting hole is arranged along the circumference of the first base, and a second mounting hole is arranged along the circumference of the second base. The first mounting hole corresponds to the second mounting hole of the second base, and the first base and the second base are screwed and fixed by the screw rod and the first mounting hole and the second mounting hole.

9. The hierarchical multi-sensor fusion device according to claim 8, characterized in that: The outer sleeve of the screw rod is provided with a supporting sleeve for supporting and protecting the screw rod.

10. A quadruped robot, characterized in that: It comprises a quadruped robot body device and the layered multi-sensor fusion device according to any one of claims 1 to 9, wherein the quadruped robot body device is provided with a power output hole to provide power for the layered multi-sensor fusion device.

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