Intelligent tracking device for autonomous operation equipment

Abstract

The utility model discloses an intelligent tracking device for autonomous operation equipment, a laser radar and a camera are installed on a driving assembly through a bearing assembly, and the driving assembly can drive the laser radar and the camera to rotate synchronously. According to the utility model, the camera and the laser radar are driven to rotate together for target tracking and positioning, target detection positioning and target tracking are highly integrated, flexible and accurate, the transverse range of target detection and identification by the camera is enlarged, the problem of visual field blind areas of detection and identification by the traditional camera is solved, and the detection and identification efficiency is improved. And the camera and the laser radar are convenient to install and easy to adjust positions.

Description

Technical Field

[0001] The utility model relates to the technical field of tracking devices, in particular to an intelligent tracking system and device for autonomous operation equipment. Background Technique

[0002] In scenarios such as streets, sidewalks, parks, industrial parks, parking lots or roads, lidar and / or cameras are often used for environmental perception or target detection and calibration. The function of the sensor can accurately perceive the surrounding environment, including the basic road conditions, detection and identification of obstacles (dynamic obstacles and static obstacles), classification of target points, etc., but its range of action is limited, and it is restricted by the (moving) direction or trajectory of its carrier.

[0003] For example, in the current application of road autonomous tracking operations, the relatively traditional solution is the combination of lidar and camera. However, both are fixed in front of the vehicle end. During the target detection and tracking process, when the target moves at a large angle or turns within a large range, there will be a certain lateral vision detection blind area for the sensor. Due to the non-rotatability of its body, the target object may be lost; moreover, when applied to the vehicle end, in a small space, it is necessary to appropriately arrange the lidar and camera and adjust their positions to adapt so that the sensor can accurately perform joint calibration on the target object, and a corresponding easily adjustable structure is also required. Summary of the Utility Model

[0004] The purpose of the utility model is to provide an intelligent tracking system and device for autonomous operation equipment. The camera and lidar are driven to rotate together for target tracking and positioning, which has a high degree of integration, flexibility and accuracy in target detection and positioning and target tracking, and increases the lateral range of the camera for target detection and identification, solving the problem of the vision blind area of traditional camera detection and identification.

[0005] To achieve the above purpose, the technical solution adopted by the utility model is: an intelligent tracking system for autonomous operation equipment, including:

[0006] A data acquisition unit, which includes a camera and a lidar, and is used for jointly calibrating and collecting data,

[0007] A perception unit, which is arranged inside the vehicle terminal. The perception unit includes a GPS navigation system and an IMU inertial measurement unit,

[0008] A motion control unit, which includes a servo motor integrated control unit and a steering sensor. The steering sensor receives the angle offset value of the camera detecting and tracking the target and feeds it back to the servo motor integrated control unit. The servo motor integrated control unit drives the camera and the lidar to rotate according to the offset angle value.

[0009] The domain controller, being a high-performance computer, is connected to the sensing unit and the motion control unit, and is used to control the data acquisition unit for joint calibration processing. When the angle value of the tracking target detected by the camera changes, the domain controller will receive the corresponding angle offset value and send it to the servo motor. At this time, the servo motor will drive the camera and the lidar to rotate together for target tracking and positioning. Moreover, the domain controller establishes a data environment model and a real-time dynamic map based on the data collected by the lidar and the camera about the surrounding environment. At the same time, the domain controller calibrates and fuses the data of the camera vision and the lidar data, fuses the lidar data and the camera data, extracts the drivable area on the dynamic map to detect the tracked target and plans the operation path.

[0010] The OBU unit is arranged inside the vehicle terminal and is connected to the domain controller for uploading data to the cloud and monitoring the operating status and real-time data of the sensing unit and the motion control unit through the cloud.

[0011] As a further optimization, the camera is a monocular camera.

[0012] Based on the above system, the present utility model also provides an intelligent tracking device for an autonomous operation device as the carrier of the above system, including:

[0013] A bracket

[0014] A driving component, which is arranged on the bracket

[0015] A bearing component, which includes a bottom plate, a vertical plate and a top plate in an inverted L-shaped structure. The bottom plate is arranged on the driving component and is provided with a lidar thereon. The vertical plate is arranged on the bottom plate. The vertical plate of the top plate is arranged on the vertical plate, and one of them is provided with a waist hole and the other is provided with a through hole, and they are fixed by bolts passing through the waist hole and the through hole. The cross plate of the top plate is provided with a camera.

[0016] The lidar and the camera are located on the same side of the vertical plate.

[0017] As a further optimization, limiting plates are respectively arranged on the opposite sides of the vertical plate. A pair of the limiting plates respectively abut against the opposite sides of the upper end of the vertical plate to ensure that the top plate with the camera is horizontally and accurately installed on the vertical plate.

[0018] As a further optimization, positioning plates are respectively arranged on the opposite sides of the upper end of the vertical plate. The positioning plates abut against the limiting plates, and the through hole and the waist hole are respectively arranged on the positioning plates and the limiting plates, so that the installation or adjustment of the top plate and the vertical plate can be carried out from the side far away from the camera, improving the convenience.

[0019] As a further optimization, the vertical plate includes a first L-shaped plate and a second L-shaped plate. The first L-shaped plate is disposed on the bottom plate, and the second L-shaped plate is disposed at the upper end of the first L-shaped plate and is in abutting connection with the vertical plate, which can facilitate the installation position of the camera to shift towards the lidar side and ensure the stability of the center of gravity of the entire device.

[0020] As a further optimization, the driving assembly includes a servo motor and a mounting seat. The servo motor is disposed on the bracket, and the mounting seat is disposed at the output end of the servo motor, and a bottom plate is provided at the upper end.

[0021] As a further optimization, the mounting seat includes a plurality of struts arranged side by side, and a pair of mounting plates disposed at the upper and lower ends of the plurality of struts. The pair of mounting plates are respectively connected to the servo motor and the bottom plate, and at least the mounting plate connected to the bottom plate is provided with a wire hole.

[0022] As a further optimization, the number of the struts is three, and the mounting plate has a Y-shaped structure.

[0023] As a further optimization, a lower slot is provided on the bracket, and at least the lower part of the driving assembly is embedded in the lower slot, which can save the occupied space.

[0024] Compared with the prior art, the present utility model has the following beneficial effects:

[0025] 1. The driving assembly can drive the camera and the lidar to rotate together for target tracking and positioning, and has high integration, flexibility and accuracy for target detection and positioning and target tracking; the method of using a servo motor to rotate the lidar and the camera increases the lateral range of the camera for target detection and recognition, and solves the problem of the visual blind area in traditional camera detection and recognition;

[0026] 2. The accurate installation of the vertical plate and the top plate can ensure the accuracy of the camera installation position and the convenience of adjustment, and can realize the accurate positioning of the positions of the camera and the lidar, which is beneficial to the joint calibration of the two. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a topology diagram of the intelligent tracking system for the autonomous operation device in the present utility model.

[0028] Figure 2 It is a working flow chart of the intelligent tracking system for the autonomous operation device in the present utility model.

[0029] Figure 3 It is a structural diagram of the intelligent tracking device for the autonomous operation device in the present utility model.

[0030] Figure 4This is an installation structure diagram of an embodiment of the vertical plate and top plate of the intelligent tracking device for autonomous operation equipment in the present utility model.

[0031] Figure 5 This is an installation structure diagram of another embodiment of the vertical plate and top plate of the intelligent tracking device for autonomous operation equipment in the present utility model.

[0032] Figure 6 This is a structure diagram of another embodiment of the intelligent tracking device for autonomous operation equipment in the present utility model.

[0033] Figure 7 This is a structure diagram of the bracket and drive assembly of the intelligent tracking device for autonomous operation equipment in the present utility model.

[0034] Figure 8 This is a structure diagram of another embodiment of the drive assembly of the intelligent tracking device for autonomous operation equipment in the present utility model. Detailed implementation manners

[0035] The following are specific embodiments of the present utility model and in combination with the accompanying drawings, the technical solutions of the present utility model are further described, but the present utility model is not limited to these embodiments.

[0036] As Figure 1 and 2 shown, the intelligent tracking system for autonomous operation equipment includes a data acquisition unit, a perception unit, a motion control unit, a domain controller, and an OBU unit. The data acquisition unit includes a barrage camera and a lidar, which are used for joint calibration to collect data. The perception unit is arranged inside the vehicle terminal and includes a GPS navigation system and an IMU inertial measurement unit. The motion control unit includes a servo motor integrated control unit and a steering sensor. The steering sensor receives the angle offset value of the camera detecting the tracking target and feeds it back to the servo motor integrated control unit. The servo motor integrated control unit drives the camera and the lidar to rotate according to the offset angle value. The domain controller is an intelligent device integrating a high-performance chip and an algorithm processing center. It performs software modular integration and is mainly responsible for tasks such as the perception module, the decision module, and the execution module. It is the algorithm integration processing center. The software algorithm uses the domain controller as a computing carrier to collect and analyze information such as vehicle speed, direction, road condition environment, and obstacle perception in real time through sensors, and further centrally processes the data to achieve vehicle acceleration, deceleration, steering, parking, and effective obstacle avoidance and parking for vehicle safety, so as to achieve the tracking function of the target. The domain controller is connected to the perception unit and the motion control unit, and is used to control the data acquisition unit to perform joint calibration processing. The OBU unit is arranged inside the vehicle terminal and is connected to the domain controller to complete data uploading to the cloud and monitor the operating status and real-time data of the perception unit and the motion control unit through the cloud.

[0037] The intelligent tracking system for autonomous operation equipment in this utility model can achieve functions of target detection, recognition, and tracking. It mainly adopts lidar positioning and navigation target tracking technology and is applied to detect the distance and pose information of actual objects. The lidar can obtain the density information of the tracking target, and the generated point cloud has the advantages of high density and accuracy. At the same time, the lidar can output the three-dimensional information of the object by analyzing the data, providing key data for target recognition and detection. The high-definition RGB of the monocular camera can conduct data analysis on the data, further improving the accuracy of target recognition, detection, and tracking. The monocular camera mainly presents the obstacle sensing and recognition, target detection, static targets, and dynamic targets of dynamic and static obstacle objects, realizing the real-time change and real-time tracking of the target. In the target tracking method combining lidar and camera image data, using the monocular camera can improve the detection accuracy through joint calibration. The main joint calibration of the two has the advantage of dual fusion positioning, which can better achieve dual recognition, detection, and positioning of the recognized target and distance detection, realizing the effects of fusion positioning target and depth tracking target, thereby improving the performance of target detection and tracking. Combining with the actual application, the intelligent tracking system of this autonomous operation equipment helps the monocular camera improve the horizontal range of recognition and detection of the camera's field of view, and can lock and track in real time when the target makes a large turn (the turn exceeds 90°). The servo motor integrated control unit can drive the monocular camera to rotate, thereby increasing the horizontal recognition angle range of the camera and conducting real-time target tracking and detection. Similarly, this system can also help the lidar build a map in real time and increase the range of the horizontal moving map of the real-time dynamic map at the same position.

[0038] By combining lidar data and camera image data, the accuracy of object detection and localization can be improved. The fusion localization detection of lidar and monocular camera improves object detection and localization by combining lidar data and camera image data. The use of a monocular camera and lidar for deep fusion enables dual-tracking recognition detection and localization functions through software algorithms. A lidar is an active sensor that calculates the position and distance of detected objects by emitting laser beams and measuring the time it takes for the light to return. A monocular camera is a passive sensor that obtains information about objects by capturing images of the scene through a camera. Due to the differences in the working principles of lidar and monocular vision sensors, the timing and methods of data collection also vary. Therefore, it is necessary to maintain time synchronization between the two to achieve accurate data alignment and data fusion. The monocular camera and lidar are jointly calibrated. The information of the two sensors has highly complementary advantages. After fusion, they can not only overcome the disadvantages of a single sensor in environmental perception but also obtain richer object observation data, improving the accuracy of environmental perception. The coordinate systems of the two can be converted into a unique coordinate system through the coordinate system transformation of the lidar and camera-lidar, providing a unique and accurate coordinate (x, y, z) for object tracking. Here, the calibration method can be based on the joint calibration of the autoware functional package or can also be achieved through the PIC algorithm velo2cam_calibration algorithm for sensor fusion calibration, tracking the accurate position of the target, and also ensuring a rich perception environment for tracking the target. The joint calibration enables the lidar and camera to work together in a common environment to provide polymorphic perception data.

[0039] The intelligent tracking system of the present utility model for autonomous operation equipment feeds back the offset angle value of the tracking target to the host computer in real time through the camera detection program. The host computer then sends the offset angle value of the tracked target to the servo motor integrated control unit, enabling the servo motor integrated control unit to start rotating in real time according to the offset angle value of the tracking target to lock the tracked target. The above control logic can enable the servo motor integrated control unit to drive and simultaneously drive the lidar and camera to effectively track and lock the target in real time when the angle of the tracked target changes. For example, when turning, when the camera detection program detects a change in the offset angle value of the tracking target in real time, the camera detection and tracking program sends the detected offset angle value of the target to the servo motor integrated control unit through the host computer. At this time, the servo motor integrated control unit starts rotating according to the offset angle value and updates the changing angle value in real time to be sent to the servo motor integrated control unit through the host computer to achieve overall motion control.

[0040] Such as Figures 3 to 4As shown in the figure, the present utility model also provides an intelligent tracking device for autonomous operation equipment. Taking this device as the physical carrier of the above system, it includes a bracket 1, a driving component 2 and a bearing component. The driving component 2 is arranged on the bracket 1. The bearing component includes a bottom plate 31, a vertical plate 32 and a top plate 33 in an inverted L-shaped structure. The bottom plate 31 is arranged on the driving component 2, and a lidar 4 is provided thereon (a combination of mounting holes at different positions can be provided on the bottom plate 31 to be suitable for the installation of lidars 4 of different specifications and models). The vertical plate 32 is arranged on the bottom plate 31, and the vertical plate 331 on the top plate 33 is arranged on the vertical plate 32. Among them, a through hole 301 is provided on the vertical plate 32, and a waist-shaped hole 302 is provided on the vertical plate 331. The top plate 33 is fixed to the upper part of the vertical plate 32 by bolts passing through the waist-shaped hole 302 and the through hole 301. A camera 5 (monocular camera) is provided at the lower end of the horizontal plate of the top plate 33. The lidar 4 and the camera 5 are located on the same side of the vertical plate 32.

[0041] In the intelligent tracking device for autonomous operation equipment of the present utility model, the overall structure is fixedly installed through the bracket 1, and the lidar 4 is installed through the bottom plate 31 at the output end of the driving component 2, and the camera 5 is installed on the vertical plate 32 and the top plate 33. The two can be driven by the driving component 2 to rotate synchronously and at the same angle, which is convenient for the two to continuously detect and locate the target object and then achieve joint calibration; through the cooperation of the waist-shaped hole 302 on the vertical plate 331 and the through hole 301 on the vertical plate 32, the same-side installation of the camera 5 and the lidar 4 can be realized, and the relative position of the camera 5 relative to the lidar 4 can be adjusted by adjusting the relative position of the waist-shaped hole 302 and the through hole 301, avoiding the mutual interference of the positions of the camera 5 and the lidar, thus facilitating the assembly of the overall structure and the adjustment of the relative positions of the functional components, and achieving an ideal camera installation height in terms of physically adjusting the detection height of the camera 5 and combining the detection and tracking of the algorithm in the application.

[0042] Continue as Figure 4 As shown in the figure, limiting plates 33a are respectively provided on the opposite sides of the vertical plate 331. A pair of limiting plates 33a respectively abut against the opposite sides of the upper end of the vertical plate 32. When the top plate 33 is installed on the vertical plate 32, the vertical plate 331 can be moved downward along the vertical plate 32. During this process, the pair of limiting plates 33a are used for limiting with the two sides of the vertical plate 32, which can ensure that the horizontal plate 332 of the top plate 33 is in a horizontal state after installation, and further ensure the posture of the camera 5 arranged on the horizontal plate 332, avoiding visual detection deviation caused by the inclination of the camera 5 and improving the accuracy of visual detection.

[0043] Furthermore, as Figure 5As shown, positioning plates 32a are respectively provided on opposite sides of the upper end of the vertical plate 32. The positioning plates 32a are in contact with the limiting plates 33a. On the one hand, it can ensure the precise limitation of the vertical plate 331 of the top plate 33. On the other hand, the through hole 301 and the oblong hole 302 can be respectively arranged on the positioning plates 32a and the limiting plates 33a, which can avoid setting holes on the side of the vertical plate 331 close to the camera 5 (and the side of the vertical plate 32 close to the camera 5) for bolt installation. On the one hand, it can avoid damaging the camera 5 when installing or adjusting the bolts. On the other hand, when the top plate 33 is installed on the vertical plate 32 or adjusting their positions, it can be more convenient to adjust from the side, avoiding blocking the position due to the presence of the camera 5.

[0044] Of course, as Figure 6 shown, in another embodiment of the intelligent tracking device for autonomous operation equipment, the camera 5 can also be fixedly arranged at the upper end of the cross plate 332 of the top plate 33, which is also convenient for the locking and fixing operation after the top plate 33 adjusts the height relative to the vertical plate 32 in the vertical direction.

[0045] Combined with Figure 4 and 5 shown, the vertical plate 32 includes a first L-shaped plate 321 and a second L-shaped plate 322. The lower end of the first L-shaped plate 321 is arranged on the bottom plate 31. One side end of the second L-shaped plate 322 is arranged at the upper end of the first L-shaped plate 321, and the other side end is in contact and connected with the vertical plate 331. Therefore, it can ensure that the camera 5 is closer to the lidar 4 when installed, and is also beneficial to ensure the center of gravity balance of the whole device. The first L-shaped plate 321 is provided with a through hole for wire connection between the lidar 4 and the camera 5.

[0046] As Figure 7 shown, the driving assembly 2 includes a servo motor 21 and a mounting seat 22. The servo motor 21 is arranged on the bracket 1. The mounting seat 22 is arranged at the output end of the servo motor 21, and the bottom plate 31 is arranged at the upper end. Further, the bracket 1 is convex upward, that is, it has a lower groove 100. A lower slotted hole 10 is arranged on the bracket 1. The lower part of the servo motor 21 is embedded in the lower slotted hole 10 and is supported by the bottom plate 11 on the bracket 1.

[0047] The mounting seat 22 includes three columns 222 arranged side by side, and a pair of mounting plates 221 arranged at the upper and lower ends of the three columns. The pair of mounting plates 221 are respectively connected to the bottom plate 31 and the servo motor 21, and the mounting plate 221 connected to the bottom plate 31 is provided with a guiding hole 220 for wire routing. Through the installation of the pair of mounting plates 221 with a larger area, the load-bearing stability and balance can be achieved. As Figure 8 shown, in another embodiment of the present invention, the mounting plate is a Y-shaped structure in the form of a three-pronged plate 221′, and the structure and weight are more optimized.

[0048] The specific embodiments described herein are merely illustrative of the spirit of the present utility model. Those skilled in the art to which the present utility model pertains may make various modifications or supplements to the described specific embodiments or use similar means for substitution, but they will not deviate from the spirit of the present utility model or exceed the scope defined by the appended claims.

Claims

1. An intelligent tracking device for autonomous operating equipment, characterized in that: include: Bracket, A driving assembly is arranged on the bracket, The bearing assembly comprises a bottom plate, a vertical plate and a top plate in an inverted L-shaped structure. The bottom plate is arranged on the driving assembly and is provided with a laser radar. The vertical plate is arranged on the bottom plate. The vertical plate of the top plate is arranged on the vertical plate. One of the two is provided with a waist hole, and the other is provided with a through hole. The two are fixed by bolts passing through the waist hole and the through hole. The horizontal plate of the top plate is provided with a camera. The laser radar and the camera are located on the same side of the vertical plate.

2. The intelligent tracking device for autonomous operation equipment according to claim 1, characterized in that: The two opposite sides of the vertical plate are respectively provided with limiting plates, and a pair of the limiting plates are respectively abutted against the two opposite sides of the upper end of the vertical plate.

3. The intelligent tracking device for autonomous operation equipment according to claim 2, characterized in that: Positioning plates are respectively arranged on opposite sides of the upper end of the vertical plate, the positioning plates are in contact with the limiting plates, and the through holes and waist holes are respectively arranged on the positioning plates and the limiting plates.

4. The intelligent tracking device for autonomous operation equipment according to claim 1, characterized in that: The vertical plate includes a first L-shaped plate and a second L-shaped plate, wherein the first L-shaped plate is arranged on the bottom plate, and the second L-shaped plate is arranged on the upper end of the first L-shaped plate and is abutted and connected with the vertical plate.

5. The intelligent tracking device for autonomous operation equipment according to claim 1, characterized in that: The driving assembly comprises a servo motor and a mounting seat. The servo motor is arranged on a bracket. The mounting seat is arranged at the output end of the servo motor, and a bottom plate is arranged at the upper end.

6. The intelligent tracking device for autonomous operation equipment according to claim 5, characterized in that: The mounting base includes a plurality of pillars arranged side by side, and a pair of mounting plates arranged at the upper and lower ends of the plurality of pillars. The pair of mounting plates are respectively connected to the servo motor and the base plate, and at least the mounting plate connected to the base plate is provided with a wire hole.

7. The intelligent tracking device for autonomous operation equipment according to claim 6, characterized in that: The number of the pillars is three, and the mounting plate is in a Y-shaped structure.

8. The intelligent tracking device for autonomous operation equipment according to claim 1, characterized in that: The bracket is provided with a lower slot, and at least the lower portion of the driving component is embedded in the lower slot.

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