Navigation device

Abstract

The embodiment of the utility model provides a navigation device, and the navigation device comprises a lower cover which is provided with an accommodation part for loading a circuit board, and the circuit board is provided with a main control chip and an IMU device electrically connected with the main control chip; the camera is electrically connected with the main control chip, and the camera is fixed on the first side surface of the lower cover; wherein the main control chip is used for calibrating parameters of the camera and the IMU device in the same coordinate system according to the distance between the camera and the IMU device, and generating navigation data according to the parameters in the same coordinate system. According to the technical scheme provided by the embodiment of the invention, the problem that reinstallation and calibration are needed when a traditional method is used each time can be solved, and the use convenience is improved.

Description

Technical Field

[0001] This application relates to the technical field of multi-source fusion positioning, and particularly to a navigation device. Background Art

[0002] At present, satellite positioning technology has become a key means for intelligent devices such as robots and autonomous vehicles to achieve precise positioning, greatly promoting the progress of fields such as intelligent transportation and autonomous driving. In the environmental perception module of autonomous driving, the integrated application of visual sensors and IMU devices is becoming increasingly widespread.

[0003] However, in traditional methods, each deployment requires independent installation of a camera and an IMU device, and each installation requires re-calibration, significantly increasing the complexity of the operation.

[0004] It should be noted that the above content is not necessarily prior art and does not limit the scope of patent protection of this application. Summary of the Utility Model

[0005] Embodiments of this application provide a navigation device to solve or alleviate one or more of the above-mentioned technical problems.

[0006] As an aspect of the embodiments of this application, embodiments of this application provide a navigation device, including:

[0007] A lower cover having a receiving portion for loading a circuit board, on which a main control chip and an IMU device electrically connected to the main control chip are provided;

[0008] A camera electrically connected to the main control chip, the camera being fixed to the first side of the lower cover;

[0009] Wherein, the main control chip is configured to calibrate the parameters of the camera and the IMU device in the same coordinate system according to the distance between the camera and the IMU device, and generate navigation data based on the parameters in the same coordinate system.

[0010] Optionally, the navigation device further includes:

[0011] A camera fixing member fixed to the inner wall of the first side;

[0012] The camera fixing member is provided with a camera receiving portion for receiving the camera.

[0013] Optionally, the camera fixing member is a metal member.

[0014] Optionally, the camera fixing member includes: a bracket, a first fastener, and a fixing base;

[0015] Wherein: the bracket is provided with the camera receiving portion;

[0016] The fixed base is used to fix the bottom of the camera.

[0017] The bracket and the fixed base are connected by a first fastener and form a semi-closed space for placing and fixing the camera.

[0018] Optionally, a glass plate, a first through hole along a first direction and a groove are provided on a first side surface of the lower cover.

[0019] The glass plate is fixed in the groove.

[0020] The first through hole is located at the bottom of the groove.

[0021] The bracket is in an "I" shape. A first surface of the bracket fits against an inner wall of the first side surface, and a second through hole along the first direction is provided on the first surface of the bracket.

[0022] Wherein, the first through hole and the second through hole are opposite in position and cooperate to allow a lens portion of the camera to pass through.

[0023] Optionally, a third through hole along a second direction is provided on the bracket.

[0024] A first threaded hole seat opposite in position to the third through hole is provided in a receiving portion of the lower cover.

[0025] The camera fixing member further includes a second fastener. The second fastener passes through the third through hole and is connected to the first threaded hole seat to fix the bracket and the lower cover.

[0026] Optionally, the number of the second fasteners is two.

[0027] Optionally, the navigation device further includes

[0028] an upper cover. The upper cover is provided on the lower cover. Wherein, a second threaded hole seat is provided at the bottom of the upper cover.

[0029] A threaded hole opposite in position to the second threaded hole seat is provided on the lower cover.

[0030] Wherein, a screw passes through the second threaded hole seat and the threaded hole to fix the upper cover and the lower cover.

[0031] Optionally, the number of the cameras is two.

[0032] Optionally, the two cameras are arranged at intervals.

[0033] The embodiments of the present application adopting the above technical solutions may include the following advantages: The lower cover is provided with a receiving portion for loading a circuit board. The circuit board is provided with a main control chip and an IMU device electrically connected to the main control chip. The camera is fixed on the first side of the lower cover. The camera is electrically connected to the main control chip. The distance between the camera and the IMU device is measured. The main control chip calibrates the parameters of the camera and the IMU device in the same coordinate system according to the distance between the camera and the IMU device. Navigation data is generated according to the parameters in the same coordinate system, solving the problem that the traditional method requires reinstallation and calibration every time it is used, thereby improving the convenience of use. Description of the Drawings

[0034] In the drawings, unless otherwise specified, the same reference numerals throughout the several views denote the same or similar components or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings only depict some embodiments disclosed in accordance with the present application and should not be regarded as limiting the scope of the present application.

[0035] Figure 1 It is a schematic structural diagram of a combined navigation device provided by an embodiment of the present application.

[0036] Figure 2 It is an exploded view of a combined navigation device provided by an embodiment of the present application.

[0037] Figure 3 It is a schematic diagram of the lower cover and the circuit board provided by an embodiment of the present application.

[0038] Figure 4 It is a schematic structural diagram of a camera fixing member provided by an embodiment of the present application.

[0039] Figure 5 is Figure 4 top view of

[0040] Figure 6 It is a schematic diagram of the lower cover provided by an embodiment of the present application.

[0041] Description of Reference Numerals:

[0042] 1. Lower cover; 11. Circuit board; 12. Main control chip; 13. IMU device; 14. First side; 141. Glass plate; 142. First through hole; 143. Groove; 15. First threaded hole seat; 16. Threaded hole; 2. Camera; 3. Camera fixing member; 31. Bracket; 311. Camera receiving portion; 312. First surface; 313. Second through hole; 314. Third through hole; 32. First fastener; 33. Fixed seat; 34. Second fastener; 4. Upper cover; 41. Second threaded hole seat. Detailed Description of the Embodiments

[0043] In order to make the objectives, technical solutions and advantages of the present application clearer and more understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the drawings and embodiments.

[0044] It should be noted that the terms "first", "second", etc. in the description and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that such terms can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0045] The following provides an explanation of the terms of the present application.

[0046] IMU device (Inertial Measurement Unit): An electronic device used to measure and report the motion state of an object, mainly measuring and reporting the three basic linear motions and three basic angular motions of an object.

[0047] To facilitate the understanding of the technical solutions provided in the embodiments of the present application by those skilled in the art, the related technologies will be described below:

[0048] The inventor of the present application found that when vision and IMU are fused in unmanned driving, the traditional method is to purchase a binocular camera module such as RealSense D450, and then purchase an independent IMU device, because the two are two independent devices. Therefore, secondary calibration is required every time for installation and use.

[0049] For this reason, the embodiments of the present application provide a technical solution for a navigation device. Based on this, the present invention fixes two cameras through a camera fixing member. In a combined navigation system, two independent cameras are combined into a binocular camera module. Since the CNC metal part is not easily deformed, the relative positions of the cameras will not be displaced. Therefore, the external parameters of the cameras do not need to be recalibrated. The camera fixing member is fixed to the combined navigation housing through two screws, so that the distance between the camera and the IMU device is also kept fixed. After internal calibration, vision and IMU fusion positioning can be directly used, improving the convenience of use. See the following for details.

[0050] Next, exemplary embodiments according to the present application will be described in more detail with reference to the accompanying drawings. It should be noted that these exemplary embodiments can be implemented in many different forms and should not be construed as being limited only to the embodiments set forth herein.

[0051] As Figures 1 to 6 shown, the navigation device may include: a lower cover 1 and a camera 2.

[0052] Next, the structures and the cooperation relationship of the lower cover 1 and the camera 2 will be introduced.

[0053] The lower cover 1 has a receiving portion for loading a circuit board 11. A main control chip 12 and an IMU device 13 electrically connected to the main control chip 12 are provided on the circuit board 11.

[0054] The camera 2 is electrically connected to the main control chip 12. The camera 2 is fixed to the first side surface 14 of the lower cover 1.

[0055] Among them, the main control chip 12 is used to calibrate the parameters of the camera 2 and the IMU device 13 in the same coordinate system according to the distance between the camera 2 and the IMU device 13, and generate navigation data according to the parameters in the same coordinate system. It should be noted that calibrating the parameters in the same coordinate system and generating navigation data can be achieved by those skilled in the art according to requirements.

[0056] In this embodiment, the lower cover 1 is provided with a receiving portion for loading the circuit board 11. A main control chip 12 and an IMU device 13 electrically connected to the main control chip 12 are provided on the circuit board 11. The camera 2 is electrically connected to the main control chip 12. After the camera 2 and the IMU device 13 are fixed, the distance between the camera 2 and the IMU device 13 is measured. The main control chip 12 calibrates the parameters of the camera 2 and the IMU device in the same coordinate system according to this distance. Navigation data is generated according to the parameters in the same coordinate system, thus solving the problem that the traditional method needs to be reinstalled and calibrated every time it is used, and improving the convenience of use.

[0057] In some embodiments, the lower cover 1 is buckled upward to form a box shape. It can be made of metal or other materials. Different function multiple circuit boards 11 can be fixed and loaded in the receiving portion of the lower cover 1 according to actual needs, or a single circuit board 11 with multiple functions can be concentrated in a state, which is not limited herein. The capacity of the receiving portion of the lower cover 1 can be determined according to the actual situation.

[0058] In some embodiments, after fixing the camera 2 and the IMU device 13, the distance between the camera 2 and the IMU device 13 is measured. According to this distance, the parameters of the camera 2 and the IMU device are calibrated in the same coordinate system. Specifically, the coordinate system of the camera 2 can be defined. For example, it can be defined that the X-axis points to the right, the Y-axis points downwards, and the Z-axis points outwards. The coordinate system of the IMU device 13 can be defined. For example, it can be defined that the X-axis points forward, the Y-axis points to the left, and the Z-axis points upwards. The rotation matrix and displacement vector between the coordinate system of the camera 2 and the coordinate system of the IMU device 13 are obtained through calibration. The rotation matrix represents the rotation between the two coordinate systems. The translation vector represents the translation between the two coordinate systems. It can be calibrated manually. For example, by measuring the relative position and orientation between the camera 2 and the IMU device 13, the rotation matrix and displacement vector are estimated. It can also be calibrated automatically. For example, through a calibration board and special software, the rotation matrix and displacement vector are automatically calculated. Through the rotation matrix and displacement vector obtained by calibration, the data in the coordinate system of the IMU device 13 is converted to the coordinate system of the camera 2, or the data in the coordinate system of the camera 2 is converted to the coordinate system of the IMU device 13. Multiple sets of data can be used to verify whether the converted coordinates meet the expectations, so as to improve the positioning reliability of the navigation device.

[0059] In an alternative embodiment, the navigation device further includes a camera fixing member 3. It is fixed to the inner wall of the first side surface 14. The camera fixing member 3 is provided with a camera receiving portion 311 for receiving the camera 2. This embodiment enables the camera to be stably mounted on the inner wall of the lower cover 1.

[0060] In an alternative embodiment, the camera fixing member 3 can be a metal part. For example, CNC (Computer Numerical Control) metal parts such as stainless steel and aluminum alloy. Since CNC metal parts are not easily deformed, the camera 2 will not be displaced. Therefore, the external parameters of the camera 2 do not need to be recalibrated.

[0061] In an alternative embodiment, the camera fixing member 3 includes: a bracket 31, a first fastener 32, and a fixing seat 33. The bracket 31 is provided with a camera receiving portion 311. The fixing seat 33 is used to fix the bottom of the camera 2. The bracket 31 and the fixing seat 33 are connected by the first fastener 32 and form a semi-closed space for placing and fixing the camera 2. In this embodiment, the camera 2 is fixed by integrating the bracket 31, the first fastener 32, and the fixing seat 33, thereby improving the stability of the camera 2 and preventing the relative position of the camera 2 from being displaced.

[0062] In an alternative embodiment, the first side surface 14 of the lower cover 1 is provided with a glass plate 141, along the first direction ( Figure 2a first through hole 142 and a groove 143 in the direction of arrow a). The glass plate 141 is fixed in the groove 143. The first through hole 142 is located at the bottom of the groove 143. The bracket 31 is in the shape of a "worker", the first surface 312 of the bracket 31 fits against the inner wall of the first side 14, and a second through hole 313 along the first direction is provided on the first surface 312 of the bracket 31. Among them, the first through hole 142 and the second through hole 313 are opposite in position and cooperate to allow the lens part of the camera 2 to pass through. This embodiment realizes that the lens penetrates the side wall of the lower cover 1 to capture external image data. The effective protection of the camera 2 is achieved through the glass plate 141, reducing the influence of pollutants and excessive light on the lens, thereby improving the clarity of the camera 2 and the stability of the imaging quality.

[0063] In some embodiments, the material of the glass plate 141 can be tempered glass, polycarbonate plate, etc., which is not limited here. The bracket 31 has two camera receiving parts 311. A gasket or sealant can be added between the glass plate 141 and the groove 143 to increase the sealing performance, thereby protecting the camera 2 and internal electronic components.

[0064] In an alternative embodiment, the bracket 31 is provided with a third through hole 314 along the second direction ( Figure 2 in the direction of arrow b). The receiving part of the lower cover 1 is provided with a first threaded hole seat 15 opposite to the position of the third through hole 314. The camera fixing member 3 further includes a second fastener 34. The second fastener 34 passes through the third through hole 314 and is connected to the first threaded hole seat 15 to fix the bracket 31 and the lower cover 1. By fixing the bracket 31 and the lower cover 1 with the second fastener 34, the problem of the camera 2 shifting or loosening caused by vibration or external force is reduced.

[0065] In an alternative embodiment, the number of the second fasteners 34 is two. During implementation, the number of the second fasteners 34 can also be adjusted according to actual needs. In this embodiment, the bracket 31 is fixed to the lower cover 1 by two second fasteners 34.

[0066] In an alternative embodiment, the navigation device further includes an upper cover 4. The upper cover 4 is provided on the lower cover 1. A second threaded hole seat 41 is provided at the bottom of the upper cover 4. The lower cover 1 is provided with a threaded hole 16 opposite to the position of the second threaded hole seat 41. Among them, a screw passes through the second threaded hole seat 41 and the threaded hole 16 to fix the upper cover 4 and the lower cover 1. This embodiment not only improves the sealing performance of the navigation device, but also provides convenience for its disassembly, debugging and maintenance.

[0067] In some embodiments, the upper cover 4 is buckled downward to form a box shape. It can be made of metal or other materials. Second threaded hole seats 41 can be provided at the four corners of the upper cover 4. The second threaded hole seats 41 are of a hollow structure. Through holes 16 can be provided at the four corners of the lower cover 1. Internal threads corresponding to screws are provided on the inner walls of the second threaded hole seats 41 and the through holes 16. In addition to connecting the upper cover 4 and the lower cover 1 by threads, there are also many other options. For example, snap connection, magnetic attraction connection, etc.

[0068] In an alternative embodiment, the number of cameras 2 is two. During implementation, the number of cameras 2 can also be adjusted according to actual needs.

[0069] In an alternative embodiment, the two cameras 2 are arranged at intervals. The cooperation of the two cameras 2 improves the accuracy of the image data.

[0070] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0071] For the sake of convenience of description, the orientation or positional relationship indicated by orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description. Without contrary description, these orientation words do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the protection scope of the present application; the orientation words "inner, outer" refer to the inside and outside relative to the contour of each component itself. For example, if the device in the drawing is inverted, the device described as "above other devices or structures" or "on other devices or structures" will be positioned as "below other devices or structures" or "under other devices or structures" afterwards. Thus, the exemplary term "above..." can include both the orientation of "above..." and "below...". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and corresponding explanations are made for the relative spatial descriptions used herein.

[0072] Unless otherwise expressly specified or limited, terms such as "installed", "connected", "coupled", "fixed", etc. shall be construed broadly. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection, or a communication connection; it may be directly connected, or indirectly connected through an intermediate medium, and may be the internal connection of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0073] Unless otherwise specifically stated, the first feature being "on" or "under" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through additional features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely means that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "beneath" and "underneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely means that the horizontal height of the first feature is lower than that of the second feature.

[0074] Unless otherwise specifically stated, the relative arrangements, numerical expressions and values of the components and steps set forth in these embodiments do not limit the scope of this application. At the same time, it should be understood that, for the sake of convenience of description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationships. Technologies, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the said technologies, methods and devices should be regarded as part of the authorization specification. In all the examples shown and discussed here, any specific value should be construed as merely exemplary, rather than as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0075] It should also be noted that the "one embodiment", "another embodiment", "embodiment", etc. mentioned in this specification refer to the specific features, structures or characteristics described in connection with that embodiment being included in at least one embodiment generally described in this application. The same expression appearing in multiple places in the specification does not necessarily refer to the same embodiment. Further, when describing a specific feature, structure or characteristic in connection with any one embodiment, it is intended that the implementation of such feature, structure or characteristic in combination with other embodiments also fall within the scope of this application.

[0076] In the above embodiments, the descriptions of the respective embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0077] It should also be noted that the above are only the preferred embodiments of the present application, and do not limit the patent protection scope of the present application. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall equally be included in the patent protection scope of the present application.

Claims

1. A navigation device, characterized in that: include: The lower cover has a receiving portion for loading a circuit board, on which a main control chip and an IMU device electrically connected to the main control chip are arranged; A camera, electrically connected to the main control chip, and the camera is fixed to the first side surface of the lower cover; Among them, the main control chip is used to calibrate the parameters of the camera and the IMU device in the same coordinate system according to the distance between the camera and the IMU device, and generate navigation data according to the parameters in the same coordinate system.

2. The navigation device according to claim 1, characterized in that: Also includes: A camera fixing member, fixed to the inner wall of the first side surface; The camera fixing member is provided with a camera accommodating portion, and the camera accommodating portion is used to accommodate the camera.

3. The navigation device according to claim 2, characterized in that: The camera fixing piece is a metal piece.

4. The navigation device according to claim 2, characterized in that: The camera fixing member comprises: a bracket, a first fastener and a fixing seat; Wherein: the bracket is provided with the camera accommodating portion; The fixing seat is used to fix the bottom of the camera; The bracket and the fixing seat are connected by a first fastener, and form a semi-enclosed space for placing and fixing the camera.

5. The navigation device according to claim 4, characterized in that: The first side surface of the lower cover is provided with a glass plate, a first through hole along a first direction, and a groove; The glass plate is fixed in the groove; The first through hole is located at the bottom of the groove; The bracket is in an "I" shape, the first surface of the bracket is in contact with the inner wall of the first side surface, and the first surface of the bracket is provided with a second through hole along the first direction; The first through hole and the second through hole are located opposite to each other and are used for allowing the lens part of the camera to pass through.

6. The navigation device according to claim 4, characterized in that: The bracket is provided with a third through hole along the second direction; The receiving portion of the lower cover is provided with a first threaded hole seat which is opposite to the position of the third through hole; The camera fixing member also includes a second fastener, which passes through the third through hole and is connected to the first threaded hole seat to fix the bracket and the lower cover.

7. The navigation device according to claim 6, characterized in that: The number of the second fasteners is two.

8. The navigation device according to claim 1, characterized in that: Also includes, An upper cover, the upper cover is arranged on the lower cover, wherein a second threaded hole seat is arranged at the bottom of the upper cover; The lower cover is provided with a threaded hole corresponding to the position of the second threaded hole seat; Wherein, the screw passes through the second threaded hole seat and the threaded hole to fix the upper cover and the lower cover.

9. The navigation device according to any one of claims 1 to 8, characterized in that: The number of the cameras is 2.

10. The navigation device according to claim 9, characterized in that: The two cameras are arranged at intervals.

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