True position and attitude acquisition device for land robots

Abstract

True position and orientation acquisition system for land robots The present invention relates to a single unit device that does not require additional installation and can be easily attached to the robot in use, and that can obtain actual position and orientation information of the land robot.

Description

[Technical Field]

[0001] The present invention relates to a simple, low-cost system for obtaining true position and orientation information for an autonomous terrestrial robot.

[0002] More particularly, the present invention relates to a stand-alone device that requires no additional equipment, can be easily attached to the robot in use, and obtains real position and attitude information of the land robot. [Background technology]

[0003] The problem of estimating the robot's position, i.e., determining the robot's position on a map, is the most fundamental problem for autonomous robots. In a land robot, the robot's position is determined by the x- and y-coordinates on a map and its orientation information (x r ,y r ,θ r ) To analyze how accurate the robot's predictions are, it is necessary to obtain ground truth information about where the robot is actually located on the map and at what angle. Only in this way can the developed localization algorithm be tested and its prediction accuracy analyzed.

[0004] Acquiring real-world position information in robotic systems has traditionally been achieved by capturing images from multiple cameras simultaneously and processing these images. This process allows for position information to be acquired in six axes, including x, y, z, and the angles along each axis, including for flying robots. However, for land robots, most applications require only three axes (x, y, z) r ,y r ,θ r ) location information is sufficient.

[0005] Patent document 1, which is a known state of the art, describes special cameras designed to determine the position of an object and a motion capture system made using two or more of these cameras. By simultaneously detecting markers placed on the object whose position is to be calculated using different cameras, the position of the object in 3D space can be calculated.

[0006] Patent Document 2, which is a known state of the art, describes a mobile robot that can accurately calculate the position of a wireless signal source using a wireless signal and return to a charging station accurately and quickly using the calculated position. The positioning system for the mobile robot includes a wireless signal source and a directional antenna that detects the signal.

[0007] Patent Document 3, which is a known state of the art, describes an indoor mapping construction system in a straight corridor environment. This system consists of a robot body, a visual acquisition device, an automatic telescopic arm, a laser range finder, and a controller. A feature of this system is that the visual acquisition device is attached to the robot body using the automatic telescopic arm. The controller determines whether the robot has entered a long straight corridor environment using depth information acquired by the laser range finder.

[0008] Patent document 4, which is a known state of the art, describes an autonomous robot with a driver configured to move the robot on the floor. A camera with a ground view is attached to the robot. There is a buffer for storing images. The robot has a drive motor.

[0009] Patent document 5, which is a known state of the art, describes a navigation system that can be used in a mobile robotic device, comprising a primary mapping device adapted to detect features in the environment and create an abridged map of the environment including an estimate of a current position point in the environment, a secondary mapping device, and a processor that determines navigable points in the environment by combining information from the detailed map.

[0010] Patent document 6, which is a known state of the art, describes a data processing system and method used to predict the movement trajectory of a robot moving at a specific position.

[0011] However, devices and robots in the art lack a simple, low-cost, stand-alone device that can be easily attached to a robot for use and that obtains real-world position and orientation information for a land-based robot. Hence, there was a need to develop the device of the present invention. [Prior art documents] [Patent documents]

[0012] [Patent Document 1] US Patent Application Publication No. 20160044217 [Patent Document 2] European Patent Application Publication No. 1717660 [Patent Document 3] Chinese Patent Application Publication No. 106959697 [Patent Document 4] U.S. Patent No. 10,102,429 [Patent Document 5] International Publication No. 2007051972 [Patent Document 6] European Patent Application Publication No. 3656513 Summary of the Invention [Problem to be solved by the invention]

[0013] An object of the present invention is to realize a device for obtaining true position and orientation information of a land robot simply and at low cost.

[0014] Another object of the present invention is to provide a stand-alone device that does not require additional equipment, can be easily attached to the robot in use, and obtains real position and attitude information of the land robot. [Means for solving the problem]

[0015] Another objective of the present invention is to realize a device that can solve the real-world robot localization problem, one of the most fundamental problems for autonomous ground robots, using equipment attached directly to the ground robot and that can acquire the actual robot position and orientation by physically leaving traces on the ground. To perform this task, an autonomous robot must calculate its position on a map with the greatest accuracy (localization problem). The developed device is used to acquire the position / orientation information (ground truth) needed to analyze the solution to the localization problem, one of the most fundamental problems for autonomous ground robots. In this way, it becomes possible to analyze the actual inaccuracy of the robot's calculated position information. The actual robot position and orientation can be acquired by physically leaving traces on the ground using equipment attached directly to the ground robot. The actual position and orientation information of the traces left can be obtained by manual measurement performed later. In this way, the actual position / orientation is measured directly rather than indirectly. Since this device can be easily attached to the robot, there is no complexity in installation. The device has a low-cost structure. The device is applicable to different robots. Because the traces are left directly on the ground, it operates without the problem of the robot being invisible from above, as in previous technologies.

[0016] A real position and attitude acquisition system for a land robot implemented to achieve the objectives of the present invention is shown in the accompanying drawings. [Brief explanation of the drawings]

[0017] [Figure 1] 1 is a schematic diagram of a land robot real position and orientation acquisition device of the present invention. [Figure 2] 1A-1C are schematic diagrams of a real position and attitude acquisition device for a land robot of the present invention from different angles. [Figure 3] 1 is a schematic vertical cross-sectional view of a real position and attitude acquisition device for a land robot according to the present invention. [Figure 4] 1 is a schematic diagram of a rack gear of the device of the present invention. [Figure 5] FIG. 2 is a schematic diagram of a pinion gear of the device of the present invention. [Figure 6] 1 is a schematic diagram of the main body of the device of the present invention. [Figure 7] 1 is a schematic diagram of the upper vertical arm of the device of the present invention. [Figure 8] 1 is a schematic diagram of a clamp chuck locking collar of the device of the present invention. [Figure 9] 2 is a schematic diagram of a clamping chuck of the device of the present invention. [Figure 10] 1 is a schematic diagram of the lower vertical arm of the device of the present invention. [Figure 11] 1 is a schematic diagram of a clamp chuck collar of the device of the present invention. [Figure 12] 1 is a schematic diagram of a bevel gear of the device of the present invention. [Figure 13] 1 is a schematic diagram of a chuck body of the device of the present invention. [Figure 14] FIG. 1 is a schematic diagram of a bevel chuck rotating device of the present invention. [Figure 15] 1 is a schematic view of a holder cover of the device of the present invention. [Figure 16] 1 is a schematic diagram of a chuck jaw of the device of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0018] The parts in the diagram are individually numbered and the corresponding numbers are shown below. 1 Main unit 2 pinion gear 3 Rack Gear 4 motors 5 Upper vertical arm 6 Clamp chuck 7 Clamp chuck lock collar 8 Lower vertical arm 9 Clamp chuck collar 10 Bevel gear 11 Chuck body 12 markers 13 Bevel chuck turning 14 Holder cover 15 Fasteners 16 Spring 17 Chuck jaws

[0019] The present invention provides an apparatus that allows for the acquisition of actual robot position and orientation by physical traces left on the ground using equipment attached directly to the land robot, the apparatus comprising: A pinion gear 2 of a main body 1 that performs a circular motion; A rack gear 3 connected to the pinion gear 2 and used to convert circular motion into vertical motion; a motor 4 connected to the pinion gear 2 to move the system up and down a certain distance; an extendable upper vertical arm 5 connected to the rack gear 3 and providing a wide height range so that the device can be used with many autonomous land robots of different sizes; a clamp chuck 6 located on the upper vertical arm 5 and used to adjust the upper vertical arm 5 to a desired height; a clamp chuck lock collar 7 connected to the upper vertical arm 5 and the clamp chuck 6 and used to fix the clamp chuck 6 at a desired level; a telescopic lower vertical arm 8 connected to the upper vertical arm 5 by a clamp chuck 6 and allowing height adjustment; a clamp chuck collar 9 connected to the lower vertical arm 8 and transmitting rotational motion; a bevel gear 10 connected to the clamp chuck collar 9 and transmitting rotational motion; a chuck body 11 connected to the bevel gear 10 and having a slot therein; a marker 12 connected to the chuck body 11 and for leaving a mark on the ground; a bevel chuck driver 13 connected to the chuck body 11, inserted into a slot in the chuck body 11, and rotating clockwise together with the clamp chuck collar 9 and the bevel gear 10 to fasten the marker 12; a holder cover 14 connected to the chuck body 11 to prevent the lower vertical arm 8 from coming off the chuck body 11; a fastener 15 for fixing the upper vertical arm 5 to the rack gear 3 and fixing the holder cover 14 to the chuck body 11; A spring 16 between the lower vertical arm 8 and the chuck body 11 is used to prevent the marker 12 from coming into strong contact with the ground; The three-piece chuck jaws 13 of the chuck body 11 enable the marker 12 to be fastened by the motion provided by the bevel chuck turner 13. Equipped with.

[0020] This real position and attitude acquisition device for the developed land robot consists of a flat rack gear 3, a motor 4, a pinion gear 2, a main body 1, a telescopic upper vertical arm 5, a clamp chuck lock collar 7, one clamp chuck 6, one telescopic lower vertical arm 8, one clamp chuck collar 9, one bevel gear 10, one chuck main body 11, one marker 12, one bevel chuck turner 13, and one holder cover 14 (Fig. 1).

[0021] FIG. 2 shows fastener 15, spring 16, and three-piece chuck jaws 13, which are also included in the equipment of the device.

[0022] In the developed device, a motor 4 drives a pinion gear 2. The pinion gear 29, which performs circular motion, interacts with a flat rack gear 3 to convert the circular motion into vertical motion. The telescopic vertical arm mechanism, consisting of a telescopic upper vertical arm 5 and a telescopic lower vertical arm 8, is designed to allow the device to be used at different heights on an autonomous ground robot. The upper vertical arm's fastener 15 is fixed to the flat rack gear. The lower vertical arm 8 can be fixed to the upper vertical arm 5 at a desired level by closing the lever of the clamping chuck 6, thereby reducing the diameter of the clamping chuck locking collar 7. Similarly, opening the lever of the clamping chuck 6 loosens the clamping chuck locking collar 7, eliminating contact between the upper vertical arm 5 and the lower vertical arm 8.

[0023] A diameter adjustment mechanism similar to that of a drill chuck is incorporated into the device to allow for the use of markers 12 of different diameters that can leave marks on the ground. A bevel chuck driver 13 is inserted into one of the slots in the chuck body 11 and manually rotated clockwise by a bevel gear 10 connected to the clamp chuck collar 9 by an interference fit. This rotation closes the chuck jaws 17 of the chuck body 11, clamping the marker 12. Similarly, when rotation is counterclockwise, the chuck jaws 17 open, releasing the marker 12.

[0024] During the movement of the robot, the marker 12 of the device should not come into strong contact with the ground so as not to interrupt the movement. For this purpose, a spring 16 is arranged between the lower vertical arm 8 and the chuck body 11, which are elastically connected to each other. A fastener 15 and a holder cover 14 are incorporated into the chuck body 11 to prevent the lower vertical arm 8 from coming off the chuck body 11.

[0025] The body 1, to which the motor 4 and electronic control unit are attached, is designed to be fixed to all types of autonomous land vehicles.

Claims

1. The present invention is a device for determining the actual position and orientation of a land robot by means of a device attached directly to the land robot and by means of a trajectory physically left on the ground, a pinion gear (2) disposed on the body (1) and providing a circular motion; A rack gear (3) connected to the pinion gear (2) is used to convert the circular motion into vertical motion; A motor (4) connected to the pinion gear (2) can move it a certain distance in a direction, The upper vertical arm (5) connected to the rack gear (3) provides a wide range of heights so that the system can be used with many autonomous ground robots of different sizes; a clamp chuck (6) disposed on the upper vertical arm (5) and used to adjust the upper vertical arm (5) to a desired level; A clamp chuck lock collar (7) connected to the upper vertical arm (5) and the clamp chuck (6) and used to fix the clamp chuck (6) at a desired level; a lower vertical arm (8) connected to the upper vertical arm (5) by a clamping chuck (6); a clamping chuck collar (9) connected to the lower vertical arm (8) through which the rotational movement is provided; a bevel gear (10) connected to the clamping chuck collar (9); a chuck body (11) connected to a bevel gear (10) and having a slot therein; A marker (12) connected to the chuck body (11) is a marker that allows tracing on the ground.

2. 2. The device according to claim 1, further comprising a bevel chuck wrench (13) connected to the chuck body (11), which is inserted into a slot in the chuck body (11) and rotated clockwise by a clamping chuck collar (9) and a bevel gear (10), thereby clamping the marker (12).

3. 3. The device according to claim 1 or 2, characterized in that it comprises a holder cover (14) connected to the chuck body (11) to prevent the lower vertical arm (8) from coming off the chuck body (11).

4. 10. The device according to any one of the preceding claims, characterized in that it comprises a fixture (15) for fixing the upper vertical arm (5) to the rack gear (3) and for fixing the holder cover (14) to the chuck body (11).

5. 10. The device according to any one of the preceding claims, characterized in that it comprises a spring (16) between the lower vertical arm (8) and the chuck body (11) to prevent the marker (12) from coming into hard contact with the ground.

6. 10. The device according to any one of the preceding claims, characterized in that it comprises a three-piece chuck jaw (17) for clamping the marker (12) by means of a movement provided by an bevel chuck wrench (13) arranged in the chuck body (11).

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