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CN-224205253-U - 4-Vision positioning device

CN224205253UCN 224205253 UCN224205253 UCN 224205253UCN-224205253-U

Abstract

The utility model discloses a 4-view visual positioning device which comprises a protective shell and four camera modules, wherein two sides of the protective shell are respectively provided with two mounting grooves, the camera modules are positioned in the corresponding mounting grooves, four U-shaped side frames are arranged on the outer sides of the protective shell, spherical connecting mechanisms are arranged on the side walls of the four camera modules, supporting rings are sleeved on the outer sides of the spherical connecting mechanisms, supporting rods are fixedly connected to the bottom ends of the supporting rings, front and rear two groups of binocular cameras are formed through the four camera modules, the device can cover the view fields of the front and rear two view angles at the same time through the arrangement, the observation area is remarkably increased, depth information can be acquired through a stereoscopic vision technology, data of the four camera modules are processed through a fusion algorithm, more accurate environment map and positioning information are generated, and the device is particularly suitable for visual SLAM application in complex environments, and stable positioning can be realized in dynamic and static scenes.

Inventors

  • LI JIAN

Assignees

  • 南京比特图科技有限公司

Dates

Publication Date
20260505
Application Date
20250327

Claims (5)

  1. 1. The 4-vision positioning device comprises a protective shell (1) and four camera modules (2), and is characterized in that two mounting grooves (11) are formed in two sides of the protective shell (1), the camera modules (2) are positioned in the corresponding mounting grooves (11), four U-shaped side frames (3) are arranged on the outer side of the protective shell (1), The four camera module (2) side walls are provided with spherical connecting mechanisms (21), the outer sides of the spherical connecting mechanisms (21) are sleeved with supporting rings (22), the bottom ends of the supporting rings (22) are fixedly connected with supporting rods (221), and the supporting rods (221) are arranged on the inner walls of the corresponding mounting grooves (11); Two protection rings (31) are arranged among the four U-shaped side frames (3), and the two protection rings (31) are symmetrically distributed in the vertical direction.
  2. 2. The 4-view visual positioning device according to claim 1, wherein two shielding dust covers (12) are mounted on two sides of the protective housing (1), the shielding dust covers (12) correspond to the opening positions of the mounting grooves (11), the shielding dust covers (12) are sleeved on the outer sides of the corresponding camera modules (2), connecting rings (23) are mounted on the outer sides of the camera modules (2), and the connecting rings (23) are mounted on the inner rings of the corresponding shielding dust covers (12).
  3. 3. A 4-vision positioning device as claimed in claim 1, characterized in that the outer sides of both the guard rings (31) are provided with rotating ring covers (32), and the guard rings (31) are rotatably connected to the inner walls of the corresponding rotating ring covers (32).
  4. 4. The 4-view visual positioning device according to claim 1, wherein four inner walls of the mounting grooves (11) are respectively and rotatably connected with a rotating frame (4), an electric control telescopic rod (41) for adjusting the angle of the camera module (2) is arranged on one side of the rotating frame (4), driving mechanisms (42) are respectively arranged on one side of the four rotating frames (4), and the four driving mechanisms (42) are respectively arranged on the inner wall of the protective housing (1).
  5. 5. The 4-vision positioning device according to claim 4, wherein the rotating discs (24) are rotatably connected to one sides of the four camera modules (2), a folding connecting rod (43) is mounted on one side of the rotating frame (4), and one end of the folding connecting rod (43) is mounted on one side of the rotating disc (24).

Description

4-Vision positioning device Technical Field The utility model relates to the technical field of visual positioning devices, in particular to a 4-vision positioning device. Background At the moment of rapid development of technology, the visual SLAM technology plays a key role in numerous leading-edge fields by virtue of its unique advantages. In the robot field, from autonomous navigation of an indoor service robot, such as shuttling of a sweeping robot between furniture to efficient completion of a cleaning task, to precise operation of an industrial robot on a complex production line, a visual SLAM technology is one of core technologies for realizing the intellectualization of the robot. However, there are significant limitations to monocular or binocular cameras commonly used with conventional vision SLAM systems. The monocular camera only acquires images by means of a single lens, and has low cost and simple structure, but has congenital defects in depth information acquisition, depth is calculated by complex algorithms such as motion estimation and the like, so that the calculated amount is large, and in areas with similar textures or lacking features, the depth estimation error is large, so that the positioning accuracy is difficult to guarantee. Meanwhile, the field of view of the monocular camera is limited, surrounding environment information is difficult to comprehensively capture, and in some complex scenes, visual blind areas are easy to appear, so that the accuracy and the integrity of positioning are affected. To this end, the utility model provides a 4-vision positioning device. Disclosure of utility model In order to solve the problems, the utility model provides a 4-vision positioning device. The utility model aims at achieving the purpose through the following technical scheme that the 4-view visual positioning device comprises a protective shell and four camera modules, wherein two mounting grooves are formed in two sides of the protective shell, the camera modules are located in the corresponding mounting grooves, four U-shaped side frames are arranged on the outer side of the protective shell, spherical connecting mechanisms are mounted on the side walls of the four camera modules, supporting rings are sleeved on the outer sides of the spherical connecting mechanisms, supporting rods are fixedly connected to the bottom ends of the supporting rings, the supporting rods are mounted on the inner walls of the corresponding mounting grooves, two protecting rings are mounted between the four U-shaped side frames, and the two protecting rings are symmetrically distributed in the vertical direction. Preferably, two shielding dust covers are mounted on two sides of the protective casing, the shielding dust covers correspond to the opening positions of the mounting grooves, the shielding dust covers are sleeved on the outer sides of the camera modules, connecting rings are mounted on the outer sides of the camera modules, and the connecting rings are mounted on the inner rings of the shielding dust covers. Preferably, the outer sides of the two protection rings are respectively provided with a rotary ring cover, and the protection rings are rotationally connected with the inner walls of the corresponding rotary ring covers. Preferably, four the mounting groove inner wall is all rotated and is connected with the swivel mount, swivel mount one side install right the automatically controlled telescopic link of camera module angular adjustment, four swivel mount one side all is provided with actuating mechanism, four actuating mechanism all install in protective housing inner wall. Preferably, one side of each of the four camera modules is rotatably connected with a rotary disk, a folding connecting rod is installed on one side of the rotary frame, and one end of the folding connecting rod is installed on one side of the rotary disk. Advantageous effects Compared with the prior art, the utility model has the following beneficial effects: (1) According to the utility model, a front group of binocular cameras and a rear group of binocular cameras are formed through the four camera modules, through the layout, the device can cover the fields of view of the front view and the rear view, the observation area is obviously increased, depth information can be acquired through a stereoscopic vision technology, data of the four camera modules are processed through a fusion algorithm to generate more accurate environment map and positioning information, and the device is particularly suitable for vision SLAM application in complex environments, and can realize stable positioning in dynamic and static scenes. (2) According to the utility model, the camera modules and the spherical connecting mechanism are controlled to incline in the supporting ring, and the shooting angles are adjusted, so that four camera modules can flexibly shoot, the surrounding environment information can be more comprehensively captured,