The invention discloses a quadruped robot vision auxiliary frame based on an non-structural terrain. The quadruped robot vision auxiliary frame comprises a quadruped robot body. A tracking camera used for collecting posture information and position information is arranged above the top of the quadruped robot body. A depth camera used for collecting depth information and posture information is arranged at the position between front legs of the quadruped robot body. The tracking camera and the depth camera form a visual sensor of a visual auxiliary frame to sense the external environment. According to the invention, two depth cameras are used to replace a laser radar; the depth camera is used for collecting depth information and posture information of the quadruped robot body, so that the problem that a laser radar sensor which is large in size, high in price and large in power consumption needs to be used in the prior art is solved, and the cost is greatly reduced.

    本发明公开了一种基于非结构地形的四足机器人视觉辅助框架,包括四足机器人本体,所述四足机器人本体的顶部上方设置有用于采集姿态信息和位置信息的跟踪相机,所述四足机器人本体的前腿间位置设置有用于采集到的深度信息和姿态信息的深度相机,所述跟踪相机和深度相机构成视觉辅助框架的视觉感知器用来感知外部环境,本发明运用两个深度相机来代替激光雷达的方案,通过深度相机用于采集四足机器人本体的深度信息和姿态信息,解决了现有技术需要使用体积较大、价格昂贵和功耗较大的激光雷达传感器,成本大大减低。


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    Title :

    Quadruped robot vision auxiliary frame based on non-structural terrain


    Additional title:

    一种基于非结构地形的四足机器人视觉辅助框架


    Contributors:
    HUANG ZHENGJIE (author) / WU YUANQING (author) / ZHAO JIAJUN (author) / LI JUN (author) / ZHONG WENJIAN (author) / LI YANZHOU (author) / LU YONGKANG (author)

    Publication date :

    2021-12-31


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / B62D MOTOR VEHICLES , Motorfahrzeuge



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