Land robot true position and attitude acquisition device

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 an apparatus for simply and at low cost acquiring true position and attitude information of an autonomous land robot.

[0002] More specifically, the present invention relates to a single apparatus that does not require additional equipment, can be easily attached to a robot to be used, and acquires the actual position and attitude information of a land robot.

Background Art

[0003] The problem of robot position estimation, that is, grasping the position of a robot on a map, is the most basic problem of an autonomous robot. In a land robot, the position of the robot consists of x-y coordinates on a map and attitude information (x r , y r , θ r ). In order to analyze how well this prediction of the robot hits the mark, it is necessary to obtain ground truth information regarding where and at what angle the robot is actually located on the map. The developed position estimation algorithms can only be tested in this way and the prediction accuracy can be analyzed.

[0004] The acquisition of actual position information in a robot system has been realized by simultaneous imaging from a plurality of cameras and processing of these images. In this process, position information can be obtained in six axes including x-y-z and angles in each axis, including flying robots. However, in a land robot, in most applications, position information of three axes (x r , y r , θ r ) is sufficient.

[0005] Patent Document 1 in the known state of the art describes a special camera designed to obtain the position of an object and a motion capture system manufactured using two or more of these cameras. By simultaneously detecting markers arranged on an object for which the position is to be calculated with different cameras, the position of the object in 3D space can be calculated.

[0006] Patent document 2, which is in the realm of known technology, 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 mobile robot's positioning system includes a wireless signal source and a directional antenna for detecting the signal.

[0007] Patent document 3, which is in the realm of known technology, describes a system for constructing indoor mapping in a straight corridor environment. This system consists of a robot body, a vision acquisition device, an automatic telescopic arm, a laser rangefinder, and a controller. A key feature of this system is that the vision 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 rangefinder.

[0008] Patent document 4, which is in the realm of known technology, describes an autonomous robot equipped 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 in the known state of the art, describes a navigation system that can be used in a mobile robot device, comprising: a primary mapping device adapted to detect features in the environment and create a summary map of the environment including an estimated current position in the environment; a secondary mapping device; and a processor that determines navigable points in the environment by combining information from a detailed map.

[0010] Patent document 6, which is in the realm of known technology, describes a data processing system and method used for predicting the motion trajectory of a robot moving at a specific location.

[0011] However, devices and robots in this field do not have a simple, low-cost standalone device that can be easily attached to a robot for use and that can acquire the actual position and attitude information of a ground robot. Therefore, it was necessary to develop the device of the present invention. [Prior art documents] [Patent Documents]

[0012] [Patent Document 1] U.S. Patent Application Publication No. 20160044217 [Patent Document 2] European Patent Application Publication No. 1717660 [Patent Document 3] Chinese Patent Application Publication No. 106959697 Specification [Patent Document 4] U.S. Patent No. 10102429 [Patent Document 5] International Publication No. 2007051972 [Patent Document 6] European Patent Application Publication No. 3656513 [Overview of the Initiative] [Problems that the invention aims to solve]

[0013] The objective of this invention is to realize a device that can acquire the true position and attitude information of a land-based robot simply and at low cost.

[0014] Another objective of the present invention is to realize a standalone device that does not require additional equipment, can be easily attached to a robot in use, and acquires the actual position and attitude information of a land-based robot. [Means for solving the problem]

[0015] Another object of the present invention is to solve the problem of estimating the position of a real robot, which is one of the most basic problems of an autonomous land robot, by means of a device directly attached to the land robot, and to obtain the actual position and orientation of the robot by physically leaving a trace on the ground. An autonomous robot needs to calculate the position information on the map most accurately in order to perform this task (position estimation problem). It is necessary to obtain position / orientation information (ground truth) for analyzing the solution to the position estimation problem, which is the most basic problem of an autonomous land robot, using the developed device. In this way, it becomes possible to analyze how inaccurate the position information calculated by the robot actually is. By using a device directly attached to the land robot and physically leaving a trace on the ground, it becomes possible to obtain the actual position and orientation of the robot. The actual position and orientation information of the trace left can be obtained by manual measurement performed later. In this way, direct measurement is performed instead of indirectly obtaining the actual position / angle. Since this device can be easily attached to the robot, there is no complexity in installation. This device has a low-cost structure. This device is applicable to different robots. Since the trace is directly left on the ground, it operates regardless of problems such as the robot not being visible from above as in the prior art.

[0016] The device for obtaining the actual position and orientation of a land robot realized for achieving the object of the present invention is shown in the accompanying drawings.

Brief Description of the Drawings

[0017] [Figure 1] It is a schematic diagram of the device for obtaining the actual position and orientation of the land robot of the present invention. [Figure 2] It is a schematic diagram of the device for obtaining the actual position and orientation of the land robot of the present invention from different angles. [Figure 3] It is a schematic vertical cross-sectional view of the device for obtaining the actual position and orientation of the land robot of the present invention. [Figure 4] It is a schematic diagram of the rack gear of the device of the present invention. [Figure 5] It is a schematic diagram of the pinion gear of the device of the present invention. [Figure 6] This is a schematic diagram of the main body of the device of the present invention. [Figure 7] This is a schematic diagram of the upper vertical arm of the device of the present invention. [Figure 8] This is a schematic diagram of the clamp chuck lock collar of the device of the present invention. [Figure 9] This is a schematic diagram of the clamp chuck of the device of the present invention. [Figure 10] This is a schematic diagram of the lower vertical arm of the device of the present invention. [Figure 11] This is a schematic diagram of the clamp chuck lock collar of the device of the present invention. [Figure 12] This is a schematic diagram of the bevel gear of the device of the present invention. [Figure 13] This is a schematic diagram of the chuck body of the device of the present invention. [Figure 14] This is a schematic diagram of the bevel chuck wrench of the device of the present invention. [Figure 15] This is a schematic diagram of the holder cover of the device of the present invention. [Figure 16] This is a schematic diagram of the chuck jaw of the device of the present invention.

Embodiments for Carrying Out the Invention

[0018] The parts in the figure are individually numbered, and the corresponding numbers are shown below. 1 Main body 2 Pinion gear 3 Rack gear 4 Motor 5 Upper vertical arm 6 Clamp chuck 7 Clamp chuck lock collar <00​​​​​​​​​​​​​​​​​ 17 Chuck jaws

[0019] The present invention is a device that enables the acquisition of the actual position and orientation of a ground robot by using equipment that can be directly attached to the ground, based on the traces left physically on the ground. The pinion gear 2 of the main body 1, which performs circular motion, A rack gear 3 is connected to pinion gear 2 and is used to convert circular motion into vertical motion, A motor 4 is connected to the pinion gear 2 and moves the system up and down by a certain distance, A retractable upper vertical arm 5 is connected to a rack gear 3, giving the device a wide height range so that it can be used with many autonomous ground robots of different sizes. A clamp chuck 6 is located on the upper vertical arm 5 and is used to adjust the upper vertical arm 5 to a desired height, A clamp chuck lock collar 7 is connected to the upper vertical arm 5 and the clamp chuck 6 and is used to fix the clamp chuck 6 at a desired level. A retractable lower vertical arm 8 is connected to the upper vertical arm 5 by a clamp chuck 6, allowing for height adjustment. A clamp chuck collar 9 is connected to the lower vertical arm 8 and transmits rotational motion, A bevel gear 10 is connected to the clamp chuck collar 9 and transmits rotational motion, A chuck body 11 connected to a bevel gear 10 and having a slot on the inside, A marker 12 is connected to the main body of the chuck 11 and leaves a mark on the ground, A bevel chuck wrench 13 is connected to the chuck body 11, inserted into a slot in the chuck body 11, and rotates clockwise together with the clamp chuck collar 9 and bevel gear 10 to fasten the marker 12. A holder cover 14 is connected to the chuck body 11 and prevents the lower vertical arm 8 from detaching from the chuck body 11, The upper vertical arm 5 is fixed to the rack gear 3, and the holder cover 14 is fixed to the chuck body 11 with a fastener 15, A spring 16 is used between the lower vertical arm 8 and the chuck body 11 to prevent strong contact of the marker 12 with the ground, The 3-piece chuck jaws 13 of the chuck body 11 and the movement provided by the bevel chuck turner 13 allow the marker 12 to be tightened. It is equipped with.

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

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

[0022] In the developed device, motor 4 operates pinion gear 2. The pinion gear 29, which performs circular motion, works in conjunction with 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 in an autonomous ground robot. The fastener 15 of the upper vertical arm is fixed to the flat rack gear. The lower vertical arm 8 can be fixed to the upper vertical arm 5 at the desired level by closing the lever of the clamp chuck 6, thereby reducing the diameter of the clamp chuck lock collar 7. Similarly, by opening the lever of the clamp chuck 6, the clamp chuck lock collar 7 is loosened, and the upper vertical arm 5 and the lower vertical arm 8 no longer come into contact.

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

[0024] To avoid interrupting the robot's movement, the device's marker 12 should not come into strong contact with the ground. For this purpose, a spring 16 is positioned between the lower vertical arm 8 and the chuck body 11, which are connected to each other in a retractable manner. A fastener 15 and a holder cover 14 are incorporated into the chuck body 11 to prevent the lower vertical arm 8 from detaching from the chuck body 11.

[0025] The main body 1, which is the part 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. A device that uses equipment directly attached to a ground robot to acquire the actual position and orientation of the robot by physically leaving traces on the ground, A pinion gear (2) located in the main body (1) and performing circular motion, A rack gear (3) is connected to the pinion gear (2) and used to convert the circular motion into vertical motion, A motor (4) connected to the pinion gear (2) moves the system up and down by a certain distance, An upper vertical arm (5) is connected to the rack gear (3) and provides a wide height range so that the device can be used with many autonomous ground robots of different sizes, A clamp chuck (6) is located on the upper vertical arm (5) and is used to adjust the upper vertical arm (5) to a desired level, A clamp chuck lock collar (7) is connected to the upper vertical arm (5) and the clamp chuck (6) and is used to fix the clamp chuck (6) at a desired level. A lower vertical arm (8) is connected to the upper vertical arm (5) by the clamp chuck (6), allowing for height adjustment. A clamp chuck collar (9) is connected to the lower vertical arm (8) and transmits rotational motion, A bevel gear (10) connected to the clamp chuck collar (9) transmits the rotational motion, A chuck body (11) connected to the bevel gear (10) and having a slot on the inside, A marker (12) is connected to the chuck body (11) and can leave a mark on the ground. A device characterized by being equipped with the following features.

2. In the apparatus according to claim 1, The apparatus is characterized by comprising a bevel chuck driver (13) which is connected to the chuck body (11), inserted into the slot of the chuck body (11), and rotated clockwise by the clamp chuck collar (9) and the bevel gear (10) to fasten the marker (12).

3. The apparatus according to claim 1, further comprising a holder cover (14) connected to the chuck body (11) to prevent the lower vertical arm (8) from detaching from the chuck body (11).

4. The apparatus according to claim 3, characterized in that it includes a fastener (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. The apparatus according to claim 1, characterized in that a spring (16) is provided between the lower vertical arm (8) and the chuck body (11) to prevent the marker (12) from coming into strong contact with the ground.

6. The apparatus according to claim 2, characterized in that it comprises a three-piece chuck jaw (17) that tightens the marker (12) by the movement of the bevel chuck turner (13) located on the chuck body (11).

Images