Four-eye visual positioning device

Abstract

The utility model discloses a four-eye vision positioning device, which comprises a protective shell and four camera modules, two sides of the protective shell are respectively provided with two mounting grooves, the camera modules are arranged in the corresponding mounting grooves, the outer side of the protective shell is provided with four U-shaped side frames, and each U-shaped side frame is provided with a U-shaped groove. The side walls of the four camera modules are all provided with spherical connecting mechanisms, the outer sides of the spherical connecting mechanisms are sleeved with supporting rings, and the bottom ends of the supporting rings are fixedly connected with supporting rods. The front binocular camera and the rear binocular camera are formed through the four camera modules, by means of the layout, the device can cover the view fields of the front view angle and the rear view angle at the same time, the observation area is remarkably increased, depth information can be obtained through the stereoscopic vision technology, data of the four camera modules are processed through a fusion algorithm, and the image quality is improved. The device is particularly suitable for visual SLAM (Simultaneous Localization and Mapping) application in a complex environment, and can realize stable positioning in dynamic and static scenes.

Description

Technical Field

[0001] This utility model relates to the field of visual positioning device technology, specifically a 4-eye visual positioning device. Background Technology

[0002] In today's rapidly developing technological landscape, visual SLAM technology plays a crucial role in numerous cutting-edge fields due to its unique advantages. In robotics, from the autonomous navigation of indoor service robots, such as robotic vacuum cleaners efficiently cleaning furniture, to the precise operation of industrial robots on complex production lines, visual SLAM technology is one of the core technologies for achieving robot intelligence. However, the monocular or binocular cameras commonly used in traditional visual SLAM systems have significant limitations. Monocular cameras rely on a single lens to acquire images. While low-cost and simple in structure, they are inherently deficient in acquiring depth information, requiring complex algorithms such as motion estimation to calculate depth. This not only involves a large computational load but also results in significant depth estimation errors in areas with similar textures or lacking features, making it difficult to guarantee positioning accuracy. Furthermore, monocular cameras have a limited field of view, making it difficult to comprehensively capture surrounding environmental information. In complex scenarios, blind spots can easily appear, affecting the accuracy and completeness of positioning.

[0003] Therefore, this utility model provides a 4-eye visual positioning device. Utility Model Content

[0004] In view of the shortcomings of the existing technology, this utility model provides a 4-eye visual positioning device to solve the above problems.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a 4-eye visual positioning device, comprising a protective housing and four camera modules. Two mounting slots are provided on both sides of the protective housing, and each camera module is located within its corresponding mounting slot. Four U-shaped side frames are provided on the outer side of the protective housing. A spherical connecting mechanism is installed on the side wall of each of the four camera modules. A support ring is sleeved on the outer side of each spherical connecting mechanism, and a support rod is fixedly connected to the bottom end of each support ring. The support rod is installed on the inner wall of its corresponding mounting slot. Two protective rings are installed between the four U-shaped side frames, and the two protective rings are symmetrically distributed vertically.

[0006] Preferably, two dust covers are installed on both sides of the protective housing. The dust covers correspond to the openings of the mounting slots. The dust covers are fitted onto the outer side of the corresponding camera module. A connecting ring is installed on the outer side of the camera module and is installed on the inner ring of the corresponding dust cover.

[0007] Preferably, each of the two protective rings is provided with a rotating ring cover on its outer side, and the protective ring is rotatably connected to the inner wall of the corresponding rotating ring cover.

[0008] Preferably, each of the four mounting slots is rotatably connected to a rotating frame, and an electrically controlled telescopic rod for adjusting the angle of the camera module is installed on one side of each rotating frame. Each of the four rotating frames is provided with a drive mechanism on one side, and each of the four drive mechanisms is installed on the inner wall of the protective housing.

[0009] Preferably, each of the four camera modules is rotatably connected to a rotating disk on one side, and a folding connecting rod is installed on one side of the rotating frame, with one end of the folding connecting rod installed on one side of the rotating disk.

[0010] Beneficial effects

[0011] Compared with the prior art, the present invention has the following advantages:

[0012] (1) This utility model forms two sets of binocular cameras in the front and rear through four camera modules. With this layout, the device can cover the field of view of the front and rear perspectives at the same time, significantly increasing the observation area. It can obtain depth information through stereo vision technology. The data of the four camera modules are processed by the fusion algorithm to generate more accurate environmental maps and positioning information. This device is particularly suitable for visual SLAM applications in complex environments and can achieve stable positioning in dynamic and static scenes.

[0013] (2) By controlling the camera module and the spherical connecting mechanism to tilt in the support ring, the shooting angle of the four camera modules can be adjusted, enabling them to shoot flexibly and capture more comprehensive information about the surrounding environment. In some complex scenes, the occurrence of blind spots is reduced, and the accuracy and completeness of positioning are improved.

[0014] (3) This utility model expands the protection range of the protective shell for the camera module by using two protective rings, making it less likely for the device to come into contact with external objects during use, reducing collision damage and losses. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural schematic diagram of the present invention;

[0016] Figure 2 This is the utility model Figure 1 A magnified view of the structure at point A in the middle;

[0017] Figure 3 This is a three-dimensional cross-sectional structural diagram of the present invention;

[0018] Figure 4 This is a three-dimensional enlarged structural diagram of the camera module and rotating frame components in this utility model.

[0019] In the diagram: 1. Protective housing; 11. Mounting slot; 12. Dust cover; 2. Camera module; 21. Spherical connection mechanism; 22. Support ring; 221. Support rod; 23. Connecting ring; 24. Rotating disk; 3. U-shaped side frame; 31. Protective ring; 32. Rotating ring cover; 4. Rotating frame; 41. Electrically controlled telescopic rod; 42. Drive mechanism; 43. Folding connecting rod. Detailed Implementation

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0021] Please see Figure 1-4 A four-eye visual positioning device includes a protective shell 1 and four camera modules 2. Two mounting slots 11 are opened on both sides of the protective shell 1, and the camera modules 2 are located inside the corresponding mounting slots 11. Four U-shaped side frames 3 are provided on the outside of the protective shell 1.

[0022] Among them, each of the four camera modules 2 has a spherical connecting mechanism 21 installed on its side wall. A support ring 22 is sleeved on the outside of the spherical connecting mechanism 21. A support rod 221 is fixedly connected to the bottom of the support ring 22. The support rod 221 is installed on the inner wall of the corresponding mounting groove 11.

[0023] It should be noted that the four camera modules 2 described in this embodiment are divided into two groups to form two sets of binocular cameras in front and behind the protective shell 1.

[0024] Two protective rings 31 are installed between the four U-shaped side frames 3, and the two protective rings 31 are symmetrically distributed in the vertical direction.

[0025] It should be noted that the camera module 2 described in this embodiment is located between the two protective rings 31, and the protective rings 31 do not obstruct the camera module 2.

[0026] Specifically, to address the limitations of traditional visual SLAM systems using monocular and binocular cameras, this visual positioning device employs four camera modules 2, forming two sets of binocular cameras, one in front and one behind. This layout allows the device to simultaneously cover the field of view from both front and rear perspectives, significantly increasing the observation area and enabling the acquisition of depth information through stereo vision technology. The data from the four camera modules 2 are processed using a fusion algorithm to generate more accurate environmental maps and positioning information. This device is particularly suitable for visual SLAM applications in complex environments, achieving stable positioning in both dynamic and static scenes. Furthermore, the internal space of the mounting slot 11 allows the camera modules 2 to swing. A support rod 221 is installed in the mounting slot 11, supporting a support ring 22, which in turn supports a corresponding spherical connecting mechanism 21. The spherical connecting mechanism 21 supports the camera modules 2. By controlling the phase... When the camera module 2 is tilted, the spherical connecting mechanism 21 tilts within the support ring 22. The support ring 22 limits the spherical connecting mechanism 21, preventing them from directly separating. This allows the camera module 2 to be stably supported by the support ring 22. When the support ring 22 is tilted, its shooting angle can be adjusted, enabling the four camera modules 2 to shoot flexibly and capture more comprehensive information about the surrounding environment. In complex scenarios, this reduces blind spots and improves the accuracy and completeness of positioning. Furthermore, the four U-shaped side frames 3 are bolted to the four sides of the protective shell 1, supporting the two protective rings 31. The two protective rings 31 and the four U-shaped side frames 3 do not obstruct the camera module 2. The two protective rings 31 expand the protective range of the protective shell 1 for the camera module 2, making it less likely for the device to come into contact with external objects during use, reducing collision damage and minimizing losses.

[0027] In one embodiment of this utility model, such as Figures 1-4 As shown, two dust covers 12 are installed on both sides of the protective housing 1. The dust covers 12 correspond to the opening positions of the mounting grooves 11. The dust covers 12 are fitted onto the outside of the corresponding camera module 2. A connecting ring 23 is installed on the outside of the camera module 2. The connecting ring 23 is installed on the inner ring of the corresponding dust cover 12.

[0028] It should be noted that the dust cover 12 described in this embodiment wraps around the camera module 2 via a connecting ring 23.

[0029] Specifically, the dust cover 12 seals the opening of the protective shell 1 to prevent external dust particles from entering the internal space of the mounting slot 11, thereby improving the stability of the internal components of the mounting slot 11. Furthermore, when the camera module 2 is tilted, the camera module 2 can drive the dust cover 12 to extend and deform.

[0030] In one embodiment of this utility model, such as Figures 1-4As shown, a rotating ring cover 32 is provided on the outer side of each of the two protective rings 31, and the protective ring 31 is rotatably connected to the inner wall of the corresponding rotating ring cover 32.

[0031] Specifically, the rotating ring cover 32 can rotate on the protective ring 31, so that the rotating ring cover 32 can rotate in conjunction with the protective ring 31 when in contact with external objects, reducing friction and facilitating the passage of the device.

[0032] In one embodiment of this utility model, such as Figures 1-4 As shown, a rotating frame 4 is rotatably connected to the inner wall of each of the four mounting slots 11. An electrically controlled telescopic rod 41 for adjusting the angle of the camera module 2 is installed on one side of the rotating frame 4. A drive mechanism 42 is provided on one side of each of the four rotating frames 4. All four drive mechanisms 42 are installed on the inner wall of the protective housing 1.

[0033] It should be noted that the rotating frame 4 and the electrically controlled telescopic rod 41 described in this embodiment are located behind the camera module 2, and the drive mechanism 42 is a motor.

[0034] Specifically, the rotating frame 4 is supported and driven by the driving mechanism 42. The rotating frame 4 supports and drives the electrically controlled telescopic rod 41 to rotate. When the electrically controlled telescopic rod 41 extends, it can drive the camera module 2 to tilt. Then, the rotating frame 4 drives the electrically controlled telescopic rod 41 to rotate, so that the direction of the electrically controlled telescopic rod 41 driving the camera module 2 to tilt can be adjusted, thereby enabling the camera module 2 to achieve multi-angle adjustment.

[0035] In one embodiment of this utility model, such as Figures 1-4 As shown, each of the four camera modules 2 is rotatably connected to a rotating disk 24 on one side, and a folding connecting rod 43 is installed on one side of the rotating frame 4, with one end of the folding connecting rod 43 installed on one side of the rotating disk 24.

[0036] It should be noted that the electrically controlled telescopic rod 41 and the rotating frame 4 described in this embodiment do not contact the camera module 2 and the rotating disk 24.

[0037] Specifically, when the electrically controlled telescopic rod 41 rotates with the rotating frame 4, the camera module 2 is connected to the folding connecting rod 43 through the rotating disk 24, so that the rotation of the electrically controlled telescopic rod 41 will not cause the camera module 2 to rotate together, ensuring the stability of the camera module 2 during use. When the electrically controlled telescopic rod 41 extends, the angle is changed through the folding connecting rod 43 to prevent motion interference when the electrically controlled telescopic rod 41 drives the camera module 2 to tilt.

[0038] Furthermore, any content not described in detail in this specification is existing technology known to those skilled in the art.

[0039] Working Principle: The device employs four camera modules 2 arranged in a front and rear dual-lens camera configuration. Each camera module 2 can acquire depth information through stereo vision technology. The front-rear layout allows the device to simultaneously cover the field of view from both front and rear perspectives, significantly increasing the observation area and reducing blind spots. This layout enables the device to capture surrounding environmental information more comprehensively in complex scenes, providing a rich data foundation for subsequent accurate positioning and map building. In terms of structural design, the internal space of the mounting slot 11 allows the camera modules 2 to swing. A spherical connecting mechanism 21 mounted on the side wall of the camera module 2 is fitted with a support ring 22 on its outer side. The support rod 221 at the bottom of the support ring 22 is installed on the inner wall of the mounting slot 11, forming a stable support structure. When it is necessary to adjust the shooting angle of the camera module 2, the camera module 2 can be tilted. At this time, the spherical connecting mechanism 21 tilts in the support ring 22, and the support ring 22 supports the spherical... The connecting mechanism 21 limits the movement of the two components to ensure they do not detach, allowing the camera module 2 to be stably supported by the support ring 22, thus enabling the adjustment of the shooting angle. Simultaneously, the rotating frame 4, which is rotatably connected to the inner wall of the four mounting slots 11, rotates under the drive of the motor of the drive mechanism 42, causing the electrically controlled telescopic rod 41 installed on one side to rotate and extend. When the electrically controlled telescopic rod 41 extends, it causes the camera module 2 to tilt. Furthermore, the direction of the electrically controlled telescopic rod 41's tilting of the camera module 2 can be adjusted by rotating the rotating frame 4, enabling multi-angle adjustment of the camera module 2. In addition, the rotating disk 24, which is rotatably connected to one side of the camera module 2, is connected to the folding connecting rod 43 installed on one side of the rotating frame 4, ensuring that the camera module 2 does not rotate with the electrically controlled telescopic rod 41 when it rotates, thus ensuring the stability of the camera module 2 during use and preventing motion interference when the electrically controlled telescopic rod 41 tilts the camera module 2.

[0040] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0041] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A four-eye visual positioning device, comprising a protective housing (1) and four camera modules (2), characterized in that, The protective housing (1) has two mounting slots (11) on both sides, and the camera module (2) is located inside the corresponding mounting slot (11). Four U-shaped side brackets (3) are provided on the outer side of the protective housing (1). Each of the four camera modules (2) is equipped with a spherical connecting mechanism (21) on its sidewall. A support ring (22) is sleeved on the outside of the spherical connecting mechanism (21). A support rod (221) is fixedly connected to the bottom end of the support ring (22). The support rod (221) is installed on the inner wall of the corresponding mounting groove (11). Two protective rings (31) are installed between the four U-shaped side frames (3), and the two protective rings (31) are symmetrically distributed in the vertical direction.

2. The four-eye visual positioning device according to claim 1, characterized in that, Two dust covers (12) are installed on both sides of the protective shell (1). The dust covers (12) correspond to the opening of the mounting groove (11). The dust covers (12) are fitted on the outside of the corresponding camera module (2). A connecting ring (23) is installed on the outside of the camera module (2). The connecting ring (23) is installed on the inner ring of the corresponding dust cover (12).

3. The four-eye visual positioning device according to claim 1, characterized in that, A rotating ring cover (32) is provided on the outer side of each of the two protective rings (31), and the protective ring (31) is rotatably connected to the inner wall of the corresponding rotating ring cover (32).

4. A four-eye visual positioning device according to claim 1, characterized in that, The inner walls of the four mounting slots (11) are rotatably connected to rotating frames (4). One side of the rotating frame (4) is equipped with an electrically controlled telescopic rod (41) for adjusting the angle of the camera module (2). One side of each of the four rotating frames (4) is provided with a drive mechanism (42). The four drive mechanisms (42) are all installed on the inner wall of the protective shell (1).

5. A four-eye visual positioning device according to claim 4, characterized in that, Each of the four camera modules (2) is rotatably connected to a rotating disk (24) on one side. A folding connecting rod (43) is installed on one side of the rotating frame (4), and one end of the folding connecting rod (43) is installed on one side of the rotating disk (24).

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