CN115706859A - Robot and camera assembly - Google Patents

Abstract

The application discloses robot and subassembly of making a video recording, the robot includes main part, position control device and camera device. The camera device comprises a main body, a position adjusting device, a camera device and a control device, wherein the position adjusting device is installed on the main body, the camera device is selectively arranged on the main body or the position adjusting device, and under the condition that the camera device is arranged on the position adjusting device, the position adjusting device can drive the camera device to move in at least two different directions. The robot in this application embodiment, camera device can selectively set up in main part or position control device, when setting up camera device in the main part can not acquire sufficient field of vision information in order to satisfy the demand that the robot carries out the task, can set up camera device on position control device, drive camera device through position control device and move in two at least not equidirectional, acquire field of vision information in suitable position with adjustment camera device, thereby the robot can adapt to more application scenes, the complete machine function of robot is also abundanter, it is nimble.

Description

Robot and camera assembly

Technical Field

The application relates to the technical field of robots, in particular to a robot and a camera shooting assembly.

Background

In robots such as robots, camera equipment is often installed to collect image information and feed the image information back to a processor for detection and identification, so as to assist the robot to autonomously process tasks such as walking, jumping, obstacle crossing and the like. However, the camera apparatus is often fixedly installed at a certain position of the robot, limiting the visual field range of the camera apparatus, and if a plurality of camera apparatuses are installed in order to obtain a larger visual field range, the manufacturing cost of the robot may increase.

Disclosure of Invention

The embodiment of the application provides a robot and a camera shooting assembly.

The robot of this application embodiment includes main part, position control device and camera device, position control device installs in the main part, camera device selectively sets up in the main part or on the position control device camera device sets up under the last condition of position control device, position control device can drive camera device moves in at least two not equidirectional.

In the robot in this application embodiment, camera device can selectively set up in main part or position control device, and when setting up camera device in the main part can not acquire enough field of vision information in order to satisfy the demand that the robot carries out the task, can set up camera device on position control device, then drive camera device through position control device and move in at least two not equidirectional to adjust camera device and be in suitable position and shoot and acquire field of vision information. Therefore, the robot can obtain a larger visual field range, so that the robot is suitable for more application scenes, and the whole function of the robot is richer and more flexible.

The embodiment of the application provides a camera shooting assembly, camera shooting assembly includes camera device and position control device, position control device for camera device independent setting, position control device includes fixture, fixture can press from both sides and get camera device or will camera device release press from both sides and get the mechanism clamp and get under camera device's the condition, position control device can drive camera device moves in two at least not equidirectional.

The camera shooting assembly in the embodiment of the application can drive the camera shooting device to move in at least two different directions through the position adjusting device, so that the camera shooting device can be in different positions to shoot operation so as to acquire visual field information, and then the camera shooting assembly can be installed on any power machine, so that the camera shooting assembly provides a stable and wide visual field information source for the power machine, and the applicability of the camera shooting assembly is greatly improved.

The embodiment of the present application further provides a robot, the robot includes a main body and the camera assembly in the above embodiment, the position adjusting device is mounted on the main body, the camera device is selectively disposed on the main body or clamped on the position adjusting device, and the camera device can be driven by the position adjusting device to move in at least two different directions when the camera device is disposed on the position adjusting device.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic perspective view of a robot according to an embodiment of the present invention;

fig. 2 is an exploded schematic view of a robot according to an embodiment of the present application;

fig. 3 is a schematic view of a scene in which the position adjustment device clamps the image pickup device in the embodiment of the present application;

fig. 4 is a schematic structural view of a position adjustment device in an embodiment of the present application;

fig. 5 is a schematic configuration diagram of an image pickup apparatus in the embodiment of the present application;

FIG. 6 is a schematic view of a robot acquiring visual field information of a high-wall blocking object according to an embodiment of the present application;

fig. 7 is a schematic view of a scene in which a robot collects the visual field information of the bottom seam of the table in the embodiment of the present application.

Description of the main element symbols:

the robot 1000, the main body 100, the upper end surface 11, the mounting portion 12, the mounting groove 120, the positioning column 121, the connecting piece 13, the first side 14, the second side 15, the position adjusting device 200, the clamping mechanism 21, the chuck 210, the first arm 22, the second arm 23, the third arm 24, the fourth arm 25, the first motor 220, the second motor 230, the third motor 240, the fourth motor 250, the fifth motor 211, the base 26, the camera device 300, the mounting seat 31, the camera head 32, the upper surface 320, the insertion and assembly hole 321, the hole wall 3210, the protrusion 3211, the moving device 400, the joint motor 41, the mechanical leg 42, the first axis L1, the second axis L2, the third axis L3, the fourth axis L4, and the camera assembly 500.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and are only for the purpose of explaining the present application and are not to be construed as limiting the present application.

The following disclosure provides many different embodiments or examples for implementing different features of the application. In order to simplify the disclosure of the present application, specific example components and arrangements are described below. Of course, they are merely examples and are not intended to limit the present application. Moreover, the present application may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, examples of various specific processes and materials are provided herein, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.

Referring to fig. 1, 2 and 3, an embodiment of the present disclosure provides a robot 1000, where the robot 1000 includes a main body 100, a position adjustment device 200 and a camera 300. Wherein, the position adjustment device 200 is installed on the main body 100, the camera device 300 is selectively disposed on the main body 100 or the position adjustment device 200, and under the condition that the camera device 300 is disposed on the position adjustment device 200, the position adjustment device 200 can drive the camera device 300 to move in at least two different directions.

In the robot 1000 according to the embodiment of the present application, the camera device 300 may be selectively disposed on the main body 100 or the position adjustment device 200, when the camera device 300 disposed on the main body 100 cannot acquire enough visual field information to meet the requirement of the robot 1000 to perform a task, the camera device 300 may be disposed on the position adjustment device 200, and then the position adjustment device 200 drives the camera device 300 to move in at least two different directions, so as to adjust the camera device 300 to be in a proper position for capturing and acquiring the visual field information. Therefore, the robot 1000 can obtain a larger visual field range, so that the robot 1000 is suitable for more application scenes, and the whole function of the robot 1000 is richer and more flexible.

With the progress of modern science and technology, the role of "robot" in modern society becomes more and more important, and the concept of "robot" refers to an electromechanical system composed of a mechanical structure and electronic components, such as an automated mechanical arm commonly used in industry and a wheeled platform capable of being driven, and the electromechanical system is also called "industrial robot"; also, for example, a "humanoid robot" having a human form or a "multi-legged robot" having a quadruped animal form moving like these living things, both of which are collectively called "legged robots", is advantageous in adaptability to various terrains, and thus research on the legged robots is helpful to advance the development of robot technology. The robot 1000 shown in fig. 1 in the present application is a four-legged robot.

It can be understood that camera equipment is often installed on the robot for detection and identification, and then the robot is assisted to complete set tasks. However, in the existing robot, the camera device is often fixedly installed at a certain position of the robot, or the position of the camera cannot be changed, so that the field of view of the camera has limitations, and for example, when the robot faces a high obstacle and blocks, and detects a special scene such as a ground gap, the camera device has difficulty in acquiring sufficient field of view information. In order to obtain a larger field of view, it may be selected to install camera devices at a plurality of positions of the robot, however, this may result in a significant increase in the manufacturing cost of the robot.

In order to solve the above problems, in the embodiment of the present application, the whole structure of the robot 1000 is modified, so that the position of the camera 300 can be adjusted, and on the premise that only one camera 300 is provided to save the manufacturing cost of the robot 1000, the position of the camera 300 relative to the main body 100 of the robot 1000 can be adjusted by using the position adjusting device 200, and then the camera 300 can adapt to a special scene to capture and acquire the visual field information.

Specifically, the main body 100 may be a trunk of the robot 1000, the main body 100 may be a regular shape such as a rectangular parallelepiped, a square, a cylinder, or an irregular shape, and the shape of the main body 100 may be determined according to a specific appearance effect desired to be presented by the robot 1000.

The position adjusting apparatus 200 may be mounted on the main body 100, the position adjusting apparatus 200 may include a base 26, the base 26 may be fixedly mounted on the main body 100 by a fastener such as a screw, and other components of the position adjusting apparatus 200 may be connected to the base 26 to be mounted on the main body 100.

In one embodiment, the position adjustment device 200 may be a robotic arm with a high degree of freedom, such that the position adjustment device 200 may be more flexible. Under the control of the related commands, the position adjustment device 200 itself can perform multi-directional rotation, so that when the position adjustment device 200 is connected with other devices, the other devices can be driven to move along with the movement of itself.

The camera device 300 may include a camera 32 and a mounting seat 31 connected to the camera 32, the camera 32 may be partially used to collect image information for detection and analysis, and the camera 32 may be disposed on the main body 100 through the mounting seat 31. The image capturing device 300 may be disposed on the main body 100, and the application does not limit the specific position where the image capturing device 300 is placed on the main body 100, for example, the image capturing device 300 may be installed at any position such as the upper end, the lower end, the left end, or the right end of the main body 100. When the robot 1000 is a four-footed robot, the imaging device 300 may be provided on the upper end face 11 of the trunk of the four-footed robot, that is, on the upper end face 11 of the main body 100, in order to obtain a wider field of view.

The camera 300 can also be optionally disposed on the position adjustment device 200, or the camera 300 can be connected to the position adjustment device 200, so that the position adjustment device 200 can drive the camera 300 to move, and the camera 300 can be disposed completely away from the main body 100, i.e., without making physical contact with the main body 100. In particular, the camera device 300 is provided therein with a separate power module and communication module (not shown), so that the camera device 300 can be normally used even when the camera device 300 is separated from the main body 100.

As shown in fig. 1 and 3, the image capturing device 300 may be selectively disposed on the main body 100 or the position adjustment device 200, and the selective disposition may be such that the user controls the position adjustment device 200 to adjust the position of the image capturing device 300 or maintain the state in which the image capturing device 300 is disposed on the main body 100 according to the actual situation faced by the robot 1000. For example, when the position adjustment device 200 is a mechanical arm, when the robot 1000 encounters a high-wall obstacle and needs the camera 32 to collect the wall rear view information, the user first determines that the robot 1000 encounters the high-wall obstacle on the moving path according to the image information of the high wall collected and fed back by the camera 300 mounted on the main body 100, then operates the position adjustment device 200 to clamp the camera 300 to lift the camera 300 for shooting to obtain the wall rear view information, and feeds back the wall rear view information to the user for further processing after the shooting is completed.

In particular, the position adjustment device 200 can move the camera device 300 in at least two different directions, or the camera device 300 can move and/or rotate in two different directions under the driving of the position adjustment device 200. For example, the position adjustment device 200 may drive the camera device 300 to rotate around at least one of an X axis, a Y axis, and a Z axis, and may also drive the camera device 300 to move along at least one of the X axis, the Y axis, and the Z axis, where the X axis, the Y axis, and the Z axis are perpendicular to each other, the X axis and the Y axis are horizontal, and the Z axis is vertical. The positive directions of the X axis, the Y axis and the Z axis conform to the rule of right hand, namely, the Z axis is held by the right hand, and when the four fingers of the right hand turn to the positive Y axis at an angle of pi/2 from the positive X axis, the pointing direction of the thumb is the positive direction of the Z axis.

In one example, in the case that the position adjustment device 200 is a robot arm, the position adjustment device 200 is provided with a plurality of motors for driving the position adjustment device 200 to move, so that the position adjustment device 200 can be driven to complete the movements in the pitch direction, the front-back direction, and the left-right direction, and further drive the image pickup device 300 disposed on the position adjustment device 200 to move to find a proper working position of the image pickup device 300.

In the description of the present application, it is to be understood that the terms "upper", "lower", "vertical", "horizontal", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present application.

Referring to fig. 2, in some embodiments, the main body 100 may be provided with a mounting part 12 spaced apart from the position adjustment device 200, and in the case where the image pickup device 300 is provided at the main body 100, the image pickup device 300 may be mounted at the mounting part 12, and the position of the image pickup device 300 with respect to the main body 100 may be maintained.

In this manner, by providing the mounting portion 12 on the main body 100, the image pickup device 300 can be stably mounted on the main body 100, so that the position of the image pickup device 300 with respect to the main body 100 remains unchanged, and thus the image pickup device 300 can provide a good field of view for the robot 1000.

Specifically, the image pickup device 300 may be provided on the upper end surface 11 of the main body 100, and then the mounting part 12 is formed on the upper end surface 11 of the main body 100 and is provided spaced apart from the position adjustment device 200, so that the position adjustment device 200 can more conveniently grip the image pickup device 300. Wherein the mounting portion 12 can be engaged with the mounting seat 31 of the image pickup device 300 to mount the image pickup device 300 on the mounting portion 12, i.e., fixed on the main body 100. In the case of mounting the camera 300 on the mounting portion 12, the mounting portion 12 is coupled with the mounting seat 31 stably enough, so that the position of the camera 300 relative to the main body 100 can be maintained, and the camera 300 can also perform image capturing stably when the robot 1000 moves.

Referring to fig. 2, in some embodiments, the mounting portion 12 may be formed with a mounting groove 120, and the image pickup device 300 may be mounted in the mounting groove 120. As such, the image pickup device 300 is mounted in the mounting groove 120, so that the image pickup device 300 can be more stably disposed on the main body 100.

Specifically, the shape of the mounting groove 120 may be consistent with the shape of the image pickup device 300, and further, may be consistent with the shape of the mounting seat 31, so that the mounting groove 120 has a good covering property for the mounting seat 31, and the image pickup device 300 is stably accommodated in the mounting groove 120. It can be understood that if a large gap still exists between the camera device 300 and the mounting groove 120 in a state that the camera device 300 is accommodated in the mounting groove 120, the camera device 300 may be damaged in the mounting groove 120 due to the movement of the robot 1000, and the operation of the precision components such as the camera head 32 may be affected. In particular, in order to complete the functions of shooting and the like, the camera head 32 of the camera device 300 needs to protrude from the mounting groove 120 to capture the environment image.

In addition, the bottom of the mounting groove 120 may further be provided with a positioning column 121, correspondingly, the bottom of the mounting seat 31 is formed with a positioning groove (not shown) corresponding to the positioning column 121, the positioning column 121 may cooperate with the positioning groove to position and install the mounting seat 31 in the mounting groove 120, the positioning column 121 may be arranged to ensure that the image pickup apparatus 300 may be installed in the mounting groove 120 more stably, and further ensure that the position of the image pickup apparatus 300 relative to the main body 100 remains unchanged.

Referring to fig. 3 and 4, in some embodiments, the position adjustment device 200 may include a first arm 22, a second arm 23, a clamping mechanism 21, and a first motor 220. Wherein the clamping mechanism 21 may be provided on the first arm 22, the clamping mechanism 21 may be used for mounting the camera device 300. The first arm 22 is rotatably connected to the second arm 23, and the first motor 220 can be used to drive the first arm 22 to rotate around the first axis L1 relative to the second arm 23, so as to drive the image capturing device 300 to rotate around the first axis L1 through the clamping mechanism 21.

Thus, by providing the first arm 22, the second arm 23, the clamping mechanism 21 and the first motor 220, the camera device 300 can be mounted on the position adjusting device 200 through the clamping mechanism 21, and then the first arm 22 is driven by the first motor 220 to drive the camera device 300 to rotate, so as to adjust the position of the camera device 300.

Specifically, the position adjusting device 200 may be a robot arm, and then the clamping mechanism 21 may be a robot arm for grabbing the target object, for example, for grabbing the image capturing device 300 to move the image capturing device 300. The first arm 22 may be in a rectangular parallelepiped shape, the first arm 22 may be in a hollow structure or a solid structure, and the clamping mechanism 21 may be disposed on the first arm 22, so that in order to enable the clamping mechanism 21 to perform a grabbing task, the first motor 220 needs to be disposed to drive the first arm 22 to move so as to drive the clamping mechanism 21 to move.

The position adjusting device 200 further includes a second arm 23, the size of the second arm 23 is larger than that of the first arm 22, the second arm 23 can rotatably connect the first arm 22 to the second arm 23, a motor shaft of the first motor 220 can be connected to the first arm 22, the first motor 220 can output a rotation motion around the first axis L1, so as to drive the first arm 22 connected to the second arm, the clamping mechanism 21 disposed on the first arm 22, and the whole camera device 300 mounted on the clamping mechanism 21 to move around the first axis L1 relative to the second arm 23, and further adjust a working position of the camera device 300, and as seen in a visual effect, the position adjusting device 200 can be embodied to drive the camera device 300 to perform a pitching motion.

It should be noted that the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, features defined as "first" and "second" may explicitly or implicitly include one or more of the described features.

Referring to fig. 4, in some embodiments, the position adjustment apparatus 200 may include a third arm 24 and a second motor 230, the third arm 24 may be rotatably connected to an end of the second arm 23 away from the first arm 22, and the second motor 230 may be configured to drive the second arm 23 to rotate around a second axis L2 relative to the third arm 24, where the second axis L2 is parallel to the first axis L1.

In this way, by providing the third arm 24 and the second motor 230, the second arm 23 can be driven by the second motor 230 to rotate around the second axis L2 with respect to the third arm 24, and the first arm 22 connected to the second arm 23, the gripper mechanism 21 provided on the first arm 22, and the image pickup apparatus 300 mounted on the gripper mechanism 21 can be driven to rotate together around the second axis L2 with respect to the third arm 24, so that the position of the image pickup apparatus 300 can be adjusted more finely.

Specifically, in order to allow the position adjustment device 200 to have a higher degree of freedom, the second motor 230 and the third arm 24 may be added. One end of the second arm 23 is connected to the first arm 22, and the other end of the second arm 23, i.e., the end away from the first arm 22, can be connected to the motor shaft of the second motor 230 and rotatably connected to the third arm 24. The second motor 230 can output a rotational motion around the second axis L2, so as to drive the second arm 23 connected to the second motor, the first arm 22 connected to the second arm 23, the clamping mechanism 21 disposed on the first arm 22, and the camera device 300 mounted on the clamping mechanism 21 to move around the second axis L2 integrally relative to the third arm 24, and as seen in a visual effect, the position adjustment device 200 can be embodied to drive the camera device 300 to perform a higher pitching motion. In particular, the second axis L2 is parallel to the first axis L1.

Referring to fig. 4, in some embodiments, the position adjustment apparatus 200 may include a fourth arm 25 and a third motor 240, the fourth arm 25 may be rotatably connected to an end of the third arm 24 away from the second arm 23, and the third motor 240 may be configured to drive the third arm 24 to rotate around a third axis L3 relative to the fourth arm 25, where the third axis L3 is parallel to the second axis L2.

In this way, by providing the fourth arm 25 and the third motor 240, the third arm 24 can be driven by the third motor 240 to rotate about the third axis L3 with respect to the fourth arm 25, and the second arm 23 connected to the third arm 24, the first arm 22 rotatably connected to the second arm 23, the gripper mechanism 21 provided on the first arm 22, and the image pickup device 300 mounted on the gripper mechanism 21 can be driven to rotate together about the third axis L3 with respect to the fourth arm 25, so that the position of the image pickup device 300 can be adjusted more finely.

Specifically, in order to provide the position adjustment device 200 with a higher degree of freedom, a third motor 240 and a fourth arm 25 may be added. One end of the third arm 24 is connected to the second arm 23, and one end of the third arm 24 remote from the second arm 23 is connected to the motor shaft of the third motor 240 and rotatably connected to the fourth arm 25. The third motor 240 can output a rotational motion around the third axis L3, so as to drive the third arm 24 connected to the third motor, the second arm 23 connected to the third arm 24, the first arm 22 connected to the second arm 23, the clamping mechanism 21 disposed on the first arm 22, and the camera device 300 mounted on the clamping mechanism 21 to move around the third axis L3 integrally with respect to the fourth arm 25, and as seen in a visual effect, the position adjustment device 200 can be embodied to drive the camera device 300 to perform a pitching motion with a higher height. In particular, the third axis L3 is parallel to the second axis L2, i.e. also to the first axis L1.

Referring to fig. 4, in some embodiments, the position adjustment apparatus 200 may include a fourth motor 250 connected to the fourth arm 25, and the fourth motor 250 may be configured to drive the fourth arm 25 to rotate around a fourth axis L4 with respect to the main body 100, where the fourth axis L4 is perpendicular to the third axis L3.

In this manner, by providing the fourth motor 250 connected to the fourth arm 25, the fourth motor 250 is set to output a rotational motion about the fourth axis L4, and the fourth axis L4 is perpendicular to the third axis L3, so that the fourth arm 25 can be driven by the fourth motor 250 to rotate about the fourth axis L4 with respect to the main body 100, and further, the third arm 24 connected to the fourth arm 25, the second arm 23 connected to the third arm 24, the first arm 22 rotatably connected to the second arm 23, the clamp mechanism 21 provided on the first arm 22, and the entire image pickup apparatus 300 attached to the clamp mechanism 21 can be driven to rotate about the fourth axis L4 with respect to the main body 100, and the position of the image pickup apparatus 300 can be adjusted in the front-rear and right-left directions.

Specifically, the fourth arm 25 may be a hollow cylinder, the size of the fourth arm 25 is smaller than that of the third arm 24 and the second arm 23, the fourth motor 250 may be an outer rotor motor, and a motor shaft of the fourth motor 250 is connected to the fourth arm 25, and further, the fourth motor 250 may be formed integrally with the fourth arm 25, that is, the fourth motor 250 may be disposed inside the fourth arm 25.

The fourth arm 25 may be rotatably connected to an end of the third arm 24 away from the second arm 23, so that when the fourth motor 250 drives the fourth arm 25 to rotate around the fourth axis L4 relative to the main body 100, the third arm 24, the second arm 23 connected to the third arm 24, the first arm 22 connected to the second arm 23, the clamping mechanism 21 disposed on the first arm 22, and the camera 300 mounted on the clamping mechanism 21 may be integrally moved around the fourth axis L4 relative to the main body 100.

In particular, the fourth axis L4 is perpendicular to the third axis L3, i.e., perpendicular to both the second axis L2 and the first axis L1. Then, from the visual effect, it appears that the camera device 300 can be driven by the position adjustment device 200 to make a 360-degree rotation movement.

Referring to fig. 3 and 4, in some embodiments, the position adjusting apparatus 200 may include a fifth motor 211 mounted on the first arm 22, the clamping mechanism 21 may be connected to the fifth motor 211, and the fifth motor 211 may be configured to drive the clamping mechanism 21 to clamp the image capturing apparatus 300.

In this way, by providing the fifth motor 211 installed on the first arm 22 and connected to the clamping mechanism 21 to drive the clamping mechanism 21 to complete the clamping action on the image capturing apparatus 300, the position adjusting apparatus 200 can clamp the image capturing apparatus 300 through the clamping mechanism 21 to drive the image capturing apparatus 300 to move.

Specifically, the gripper mechanism 21 may be a robot arm, a motor shaft of the fifth motor 211 is connected to the gripper mechanism 21, a bottom of the fifth motor 211 is connected to the first arm 22, and the fifth motor 211 may drive the gripper mechanism 21 to grip the image pickup apparatus 300. As can be seen from the above, the first arm 22 can be driven by the first motor 220 to rotate around the first axis L1 relative to the second arm 23, so that the first arm 22 can drive the clamping mechanism 21 to rotate around the first axis L1 during the rotation, that is, when the position of the image pickup apparatus 300 mounted on the main body 100 needs to be adjusted, the first arm 22 drives the clamping mechanism 21 to move downward to contact the image pickup apparatus 300, and then the fifth motor 211 drives the clamping mechanism 21 to perform the clamping task, so as to connect the image pickup apparatus 300 with the position adjustment device 200.

After the camera 300 is gripped by the position adjusting device 200, the first motor 220, the second motor 230, the third motor 240 and the fourth motor 250 of the position adjusting device 200 can be controlled to operate according to an actually required visual field range, so as to drive the first arm 22, the second arm 23, the third arm 24 and the fourth arm 25 to move the camera 300 to a proper position.

Referring to fig. 4, in some embodiments, the clamping mechanism 21 may include two opposite clamping heads 210, and the fifth motor 211 may drive the two clamping heads 210 to move closer to each other via a transmission assembly (not shown) to clamp the image capturing apparatus 300.

Specifically, the chuck 210 may be a plastic part or a metal part, and the plastic part is light in weight, low in cost, more wear-resistant, and highly durable. The transmission assembly can adopt screw nut transmission or gear and rack transmission. The transmission assembly can convert the rotation of the fifth motor 211 into the opening and closing movement of the clamping mechanism 21, which can be embodied as the two clamping heads 210 are relatively far away to open or close to each other to close.

It can be understood that when the position of the camera device 300 mounted on the main body 100 needs to be adjusted, the first arm 22 drives the clamping mechanism 21 to move downward to contact the camera device 300, and then the fifth motor 211 drives the two clamping heads 210 of the clamping mechanism 21 to move relatively close to clamp the camera device 300 between the two clamping heads 210, so as to connect the camera device 300 with the position adjusting device 200. In addition, the number of the chucks 210 is not limited to two, and may be two or more, and the application does not specifically limit the number of the chucks 210.

Referring to fig. 5, in some embodiments, the camera 300 may include a plug hole 321, and the collet 210 may be inserted into the plug hole 321 to clamp the camera 300. In this manner, by inserting the collet 210 into the insertion hole 321, the gripping mechanism 21 can grip the image pickup apparatus 300 more securely, and the image pickup apparatus 300 is less likely to fall off during gripping.

Specifically, the number of the insertion holes 321 may be multiple, in this embodiment, the number of the chucks 210 is two, so that the number of the corresponding insertion holes 321 is also two, and the two insertion holes 321 are arranged at an interval to facilitate the two chucks 210 to be inserted into the corresponding insertion holes 321 to clamp the image pickup apparatus 300. A fitting hole 321 may be formed on the upper surface 320 of the camera device 300, and the fitting hole 321 has a depth into which the collet 210 is inserted. By providing the insertion and fitting hole 321, the clamping mechanism 21 can be effectively prevented from falling and damaging the image pickup apparatus 300 due to insufficient force application when clamping the image pickup apparatus 300.

Referring to fig. 5, in some embodiments, a plurality of protrusions 3211 may be formed on the hole wall 3210 of the insertion hole 321. In this way, when the collet 210 is inserted into the insertion hole 321 to clamp the camera device 300, the collet 210 can be in sufficient contact with the plurality of protrusions 3211 to increase friction between the collet 210 and the hole wall 3210, thereby ensuring that the collet 210 can reliably clamp the camera device 300 during clamping of the camera device 300.

Specifically, the protrusions 3211 may be regular shapes such as a square block, a circle, a triangle, or other irregular shapes, the number of the protrusions 3211 may be multiple, and the multiple protrusions 3211 are regularly or irregularly arranged on the hole wall 3210. In one embodiment, the protrusion 3211 is square, the number of the insertion and coupling holes 321 is two, and the two insertion and coupling holes 321 are spaced side by side. The single insertion and assembly hole 321 has four hole walls 3210, the plurality of protrusions 3211 may be arranged in an array on two hole walls 3210 of the two insertion and assembly holes 321 that are relatively close to each other, and of course, the protrusions 3211 may also be selectively formed on any one of the hole walls 3210 of the two insertion and assembly holes 321, or formed on the multi-surface hole walls 3210 of the two insertion and assembly holes 321.

In this way, the plurality of protrusions 3211 formed on the hole wall 3210 may sufficiently contact the collet 210 to increase friction between the collet 210 and the hole wall 3210, thereby ensuring that the collet 210 can reliably clamp the image capture device 300 during clamping of the image capture device 300.

In some embodiments, the robot 1000 may further include a motion device 400, and the motion device 400 may drive the robot 1000 to perform forward, running, following, and other activities. For example, when the robot 1000 is a four-legged robot, the exercise device 400 may constitute the lower limbs, i.e., four leg assemblies, of the robot 1000.

As shown in fig. 1, the main body 100 may be provided with a connecting member 13, and the exercise device 400 may include a plurality of robot legs 42 and a corresponding number of joint motors 41, one end of each joint motor 41 being connected to the robot leg 42, and the other end thereof being connected to the connecting member 13, so that the exercise device 400 may be connected to the main body 100 through the connecting member 13, and the motion of the robot leg 42 is driven by the joint motor 41. The exercise device 400 can not only drive the robot 1000 to complete the activities such as advancing, running and following, but also can be bent and extended after receiving the instructions given by the operator through the terminal equipment such as a handle and a remote controller so as to adjust the overall height of the robot 1000.

Referring to fig. 6, in an embodiment, when the robot 1000 works in a special environment, for example, the robot 1000 is in a scene where the field of view of the camera 300 is blocked and information acquisition is not possible, the position adjusting device 200 may be used to hold the camera 300, so that the position of the camera 300 is changed to obtain a wide field of view, thereby implementing normal information acquisition. For example, the chuck 210 can be vertically inserted into the insertion hole 321 by controlling the rotation angle of each motor of the position adjusting device 200, the fifth motor 211 is controlled to drive the two chucks 210 to move relatively close to each other through the transmission assembly, so as to clamp the image capturing device 300, and then the position adjusting device 200 is controlled to drive the image capturing device 300 to move to a proper position according to different situations.

Fig. 6 shows a scene of acquiring visual information when the robot 1000 encounters a high-wall high-altitude shelter. In such an environment, when the camera device 300 is mounted on the main body 100, the view of the camera head 32 is blocked by a high wall, and the situation and information behind the wall cannot be detected and recognized.

At this time, the rotation angles of the motors of the position adjusting device 200 can be controlled to drive the position adjusting device 200 to move around the first axis L1, the second axis L2, the third axis L3, or the fourth axis L4, and the two chucks 210 of the clamping mechanism 21 are used to clamp and lift the image capturing device 300. Meanwhile, the moving device 400 of the robot 1000 is extended under the control of an operator or under the control of the operator, so as to increase the standing height of the robot 1000, and the camera 300 can be lifted by the combined action of the position adjusting device 200 and the moving device 400, so that the height of the camera 32 exceeds the height of the high wall.

In this way, the camera 300 can obtain a wide field of view to collect information in normal work. After the information collection is completed, the image pickup device 300 held by the holding mechanism 21 is moved into the mounting groove 120 by adjusting the rotation angle of any one or more of the first motor 220, the second motor 230, the third motor 240, and the fourth motor 250 again, and then the fifth motor 211 controls the chuck 210 to be relatively distant to remount the image pickup device 300 on the mounting portion 12 of the main body 100, so that the holding mechanism 21 can be in an idle state for other work.

Referring to fig. 1 and 7, in some embodiments, the main body 100 may include a first side 14 and a second side 15 opposite to each other, the position adjustment device 200 may be installed on the first side 14, and the position adjustment device 200 may drive the image capturing device 300 to move to the second side 15 for capturing images. Thus, the visual field range of the camera device 300 can be expanded, so that when the robot 1000 faces an obstacle on the second side 15, the camera device 300 can be driven by the position adjusting device 200 to move to the second side 15 to capture obstacle information.

Specifically, in one embodiment, the robot 1000 is a quadruped robot, the body 100 is the torso of the robot 1000, the first side 14 of the body 100 can be one side located on the upper end face 11 of the body 100, and the second side 15 of the body 100 can be the other side facing away from the upper end face 11. In general, the camera 300 is disposed on the first side 14 for providing a wide view for the camera 300, and the position adjusting device 200 is disposed on the same side as the camera 300 for facilitating the clamping of the camera 300 to move the camera.

As shown in fig. 1, in a general environment, the robot 1000 may be configured such that the imaging device 300 is attached to the attachment portion 12 of the main body 100 and operates such that the field of view of the imaging device 300 is wide and is not blocked. In this state, the clamping mechanism 21 of the position adjustment device 200 is not occupied, and when the robot 1000 performs work such as forward movement, running, following, obstacle crossing, obstacle avoidance, etc., the image information in the visual field range is acquired by the image pickup device 300, and the information is fed back to the processor of the robot 1000 for autonomous processing, thereby realizing autonomous operation of the robot 1000. Of course, the information may also be fed back to the operator, and the operator may control the robot 1000 to operate through a terminal device, such as a handle or a remote controller, and at the same time, the operator may operate the robot 1000 to a specified position according to the information fed back by the camera device 300, and then operate the position adjusting device 200 to perform an action, so that the clamping mechanism 21 reaches the specified position, and then control the chuck 210 to perform actions such as clamping, taking and placing an article through the fifth motor 211.

When the robot 1000 works in a special environment, for example, the robot 1000 is in a scene where the field of view of the camera device 300 is blocked and information acquisition cannot be performed, the camera device 300 may be clamped by the position adjusting device 200 at this time, so that the position of the camera device 300 is changed, and an open field of view is obtained, so as to realize normal information acquisition.

As shown in fig. 7, fig. 7 shows a scene of collecting visual information in a bottom seam of a low cabinet when the robot 1000 encounters a shelter such as a low cabinet. In such a scenario, when the camera device 300 is fixed on the first side 14 of the main body 100, the view of the camera head 32 of the camera device 300 will be blocked, and even if the robot 1000 lowers itself to the lowest position by the motion device 400, the second side 15 of the main body 100, i.e. the middle of the bottom seam, cannot be detected and identified.

At this time, the rotation angles of the respective motors in the position adjustment device 200 may be controlled, and the collet 210 of the gripping mechanism 21 is controlled to be inserted into the insertion hole 321 of the image pickup device 300 to grip and move down the image pickup device 300 while the moving device 400 of the robot 1000 is lowered in height under operator control or autonomous control. In this way, the camera 300 can be moved down to the second side 15 of the main body 100 by the cooperation of the position adjusting device 200 and the moving device 400, so that the camera 300 is lower than the bottom seam, and thus the camera 300 can obtain a wide field of view, can work normally, and can collect information.

After the information collection is completed, the clamping mechanism 21 clamps the image pickup device 300 and moves the image pickup device 300 into the mounting groove 120 by adjusting the rotation angle of any one or more of the first motor 220, the second motor 230, the third motor 240 and the fourth motor 250 again, and then the fifth motor 211 controls the chuck 210 to move relatively far away to re-mount the image pickup device 300 on the mounting portion 12 of the main body 100, so that the clamping mechanism 21 can be in an idle state for other work.

In particular, in fig. 1 to 3 and 6 to 7 of the present application, in order to better show the structures of the motion device 400 and the main body 100, it should be noted that in all the structures of the robot 1000, the main body 100 and the motion device 400 are not directly connected in the drawings. It is to be understood that the sporting apparatus 400 is connected to the main body 100 through the connecting member 13 as described above, and a part of the structure of the connecting member 13 is omitted in the drawings.

Referring to fig. 1 to fig. 7, the present disclosure further provides a camera assembly 500, where the camera assembly 500 includes a camera device 300 and a position adjustment device 200. The position adjusting device 200 includes a clamping mechanism 21, the clamping mechanism 21 can clamp the image capturing device 300 or release the image capturing device 300, and under the condition that the clamping mechanism 21 clamps the image capturing device 300, the position adjusting device 200 can drive the image capturing device 300 to move in at least two different directions.

The camera assembly 500 in the embodiment of the application can drive the camera device 300 to move in at least two different directions through the position adjusting device 200, so that the camera device 300 can be in different positions to perform shooting operation to acquire visual field information, and then the camera assembly 500 can be installed on any power machine, so that the camera assembly 500 provides a stable and wide visual field information source for the power machine, and the applicability of the camera assembly 500 is greatly improved.

Referring to fig. 1 to 7, a robot 1000 according to an embodiment of the present disclosure includes a main body 100 and a camera assembly 500 according to an embodiment of the present disclosure, wherein a position adjustment device 200 is mounted on the main body 100, a camera 300 is selectively disposed on the main body 100 or the clamped position adjustment device 200, and the camera 300 can be driven by the position adjustment device 200 to move in at least two different directions when the camera 300 is disposed on the position adjustment device 200.

In this way, by mounting the camera assembly 500 in the above embodiment on a power machine such as the robot 1000, the camera 300 can be selectively disposed on the main body 100 or the clamped position adjusting device 200, so that the position of the camera 300 can be adjusted according to different situations where the robot 1000 is located; moreover, under the condition that the camera device 300 is arranged on the position adjusting device 200, the camera device 300 can be driven by the position adjusting device 200 to move in at least two different directions, so that the camera device 300 can be adjusted to be in a proper position to shoot and acquire the visual field information, and thus, the robot 1000 can obtain a larger visual field range, adapt to more application scenes, and the whole function of the robot 1000 is richer and more flexible.

In the description herein, references to the description of the terms "one embodiment," "certain embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: numerous changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.

Claims (22)

1. A robot, comprising:

a main body;

a position adjustment device mounted on the main body; and

the camera shooting device is selectively arranged on the main body or the position adjusting device, and under the condition that the camera shooting device is arranged on the position adjusting device, the position adjusting device can drive the camera shooting device to move in at least two different directions.

2. A robot according to claim 1, wherein the main body is provided with a mounting portion provided at a distance from the position adjusting means, and in a case where the image pickup means is provided on the main body, the image pickup means is mounted on the mounting portion, and a position of the image pickup means with respect to the main body is maintained.

3. The robot according to claim 2, wherein the mounting portion is formed with a mounting groove in which the image pickup device is mounted.

4. The robot of claim 1, wherein the position adjustment device includes a first arm, a second arm, a clamping mechanism, and a first motor, the clamping mechanism is disposed on the first arm, the clamping mechanism is configured to mount the camera device, the first arm is rotatably connected to the second arm, and the first motor is configured to drive the first arm to rotate about a first axis relative to the second arm, such that the camera device is driven to rotate about the first axis by the clamping mechanism.

5. A robot as claimed in claim 4, wherein the position adjustment means comprises a third arm pivotally connected to an end of the second arm remote from the first arm, and a second motor for driving the second arm to pivot relative to the third arm about a second axis parallel to the first axis.

6. A robot as claimed in claim 4, characterized in that the position adjustment means comprise a fourth arm which is pivotally connected to an end of the third arm remote from the second arm, and a third motor for driving the third arm in rotation relative to the fourth arm about a third axis which is parallel to the second axis.

7. A robot as claimed in claim 6, wherein the position adjustment means comprises a fourth motor connected to the fourth arm for driving the fourth arm to rotate relative to the body about a fourth axis, the fourth axis being perpendicular to the third axis.

8. The robot of claim 4, wherein the position adjustment device comprises a fifth motor mounted on the first arm, the gripper mechanism is connected to the fifth motor, and the fifth motor is used for driving the gripper mechanism to grip the image capture device.

9. The robot of claim 8, wherein the gripping mechanism comprises two opposing grippers, and the fifth motor drives the two grippers to move closer together via a transmission assembly to grip the camera device.

10. The robot of claim 9, wherein the camera includes a mating hole into which the collet can be inserted to grip the camera.

11. The robot of claim 10, wherein a plurality of protrusions are formed on a wall of the insertion hole.

12. The robot of claim 1, wherein the body includes a first side and a second side opposite to each other, the position adjustment device is mounted on the first side, and the position adjustment device can drive the camera device to move to the second side for shooting.

13. A camera assembly, comprising:

a camera device;

for the independent position control device who sets up of camera device, position control device includes fixture, fixture can press from both sides and get camera device or will camera device release, press from both sides the mechanism and press from both sides the circumstances of getting camera device, position control device can drive camera device moves in at least two not equidirectional.

14. The camera assembly of claim 13, wherein the gripping mechanism includes two opposing jaws that can be brought into relative proximity to grip the camera device.

15. The camera assembly of claim 14, wherein the camera device includes a mating hole into which the collet can be inserted to grip the camera device.

16. The camera assembly of claim 15, wherein the walls of the mating holes have a plurality of protrusions formed thereon.

17. The camera assembly of claim 13, wherein the position adjustment device includes a first arm, a second arm, a clamping mechanism disposed on the first arm, the clamping mechanism configured to mount the camera device, the first arm rotatably coupled to the second arm, and a first motor configured to drive the first arm to rotate about a first axis relative to the second arm, such that the camera device is rotated about the first axis by the clamping mechanism.

18. The camera assembly of claim 17, wherein the position adjustment device includes a third arm pivotally connected to an end of the second arm remote from the first arm, and a second motor for driving the second arm to pivot relative to the third arm about a second axis parallel to the first axis.

19. The camera assembly of claim 17, wherein the position adjustment device includes a fourth arm rotatably coupled to an end of the third arm remote from the second arm, and a third motor for driving the third arm to rotate relative to the fourth arm about a third axis parallel to the second axis.

20. The camera assembly of claim 19, wherein the position adjustment device includes a fourth motor coupled to the fourth arm for driving the fourth arm to rotate relative to the body about a fourth axis, the fourth axis being perpendicular to the third axis.

21. The camera assembly of claim 17, wherein the position adjustment device comprises a fifth motor mounted on the first arm, the gripper mechanism being connected to the fifth motor, the fifth motor being configured to drive the gripper mechanism to grip the camera assembly.

22. A robot, comprising:

a main body;

the camera assembly of claims 13-21, the position adjustment device being mounted on the body, the camera device being selectively disposed on the body or clamped to the position adjustment device, the camera device being movable by the position adjustment device to move in at least two different directions with the camera device disposed on the position adjustment device.

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