CN209593641U - Camera module, binocular camera mould group and mobile robot - Google Patents
Camera module, binocular camera mould group and mobile robot Download PDFInfo
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- CN209593641U CN209593641U CN201920683024.XU CN201920683024U CN209593641U CN 209593641 U CN209593641 U CN 209593641U CN 201920683024 U CN201920683024 U CN 201920683024U CN 209593641 U CN209593641 U CN 209593641U
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- turntable
- camera
- mobile robot
- mould group
- binocular camera
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Abstract
The utility model provides a kind of camera module, forms eccentric rotational motion by the camera that turntable rotation driving is located off rotary shaft, so that camera is changed different location while not changing structure, can effectively expand the detection visual field.A kind of binocular camera mould group is also provided, is made rotating motion in the bracket using two above-mentioned camera module fixations, binocular camera can change different location while not changing structure, can effectively expand the detection visual field.A kind of mobile robot is also provided, using above-mentioned binocular camera mould group, environmental information data are obtained in the larger detection visual field.
Description
Technical field
The utility model relates to camera module, binocular camera mould group and mobile robots, belong to domestic robot neck
Domain.
Background technique
The mobile robot of household generally includes sweeper, floor cleaning machine, grass trimmer etc., in the life of modernization increasingly
It is welcome.In order to obtain better performance and more preferably user experience, it is more next that binocular camera, which is arranged, in mobile robot
More multi-vendor selection, such benefit are that binocular camera can be used for copying the binocular stereoscopic of animal to establish mobile machine
The accurate data of people's surrounding enviroment, the method as disclosed in CN109213137A.But due to the configuration of existing mobile robot
Camera designs for mechanical fixed-type external, and the camera view of inside setting is limited and causes the environmental data established limited or endless
It is whole.
Utility model content
The utility model provides a kind of camera module, and the camera of rotary shaft is located off by turntable rotation driving
Eccentric rotary motion is formed, makes camera that can change different location in the case where not changing physical structure, effectively expands
Detect the visual field.
The utility model also provides a kind of binocular camera mould group, fixed in the bracket using two above-mentioned camera modules
It makes rotating motion, binocular camera can change different location while not changing structure, can effectively expand the detection visual field.
The utility model also provides a kind of mobile robot, using above-mentioned binocular camera mould group, in the larger detection visual field
Interior acquisition environmental information data.
Camera module includes turntable, camera and bracket, and turntable is rotatably arranged on bracket, and camera is eccentric
Set on turntable, turntable is rotated about its center axis.The turntable includes the drive shaft with central axis, drive shaft driving
Turntable makes rotating motion, and preferred drive shaft and camera are distributed in the two sides of turntable.
Binocular camera mould group includes 2 above-mentioned cameras and turntable, and turntable further includes and central axis
Drive shaft, drive shaft driving turntable make rotating motion.Two drive shaft synchronized links drive two cameras to realize synchronous rotation
Turn.Branch is provided with through-hole accommodating turntable and camera makes rotating motion.It is parallel to each other between two cameras, and towards same
Direction guarantees while obtaining the information of same direction environment.Wherein communication is Bluetooth communication, camera module and control
Bluetooth module is set respectively in device processed.
Mobile robot includes binocular camera mould group for detecting ambient enviroment, and binocular camera mould group is located at moving machine
Device people front, bracket are fixed on mobile robot, and bracket and mobile robot are integrally formed or are fixedly mounted thereon.Mobile machine
People includes controller, and mode communicates camera module with controller by wireless communication.Communication is Bluetooth communication, is taken the photograph
As setting bluetooth module respectively in head mould group and controller.Communication can also be the existing channel radios such as WIFI, ZigBee
Communication method accordingly sets module in camera module and controller respectively.Mobile robot include sweeper, grass trimmer or
Floor cleaning machine.
The beneficial effects of the present invention are: camera module is located off the camera of rotary shaft by turntable rotation driving
Eccentric rotary motion is formed, makes camera that can change different location under conditions of not changing mechanical structure, thus effectively
Expand the detection visual field；The binocular camera mould group of mobile robot obtains ambient enviroment, can obtain in the case where not changing structure
Larger information within the vision is obtained with feedback capture to more environmental datas.
Detailed description of the invention
It, below will be to attached drawing needed for embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment
It is briefly described, it is clear that the accompanying drawings in the following description is the section Example of the utility model embodiment, general for this field
For logical technical staff, without creative efforts, other embodiments attached drawing obtained should be included in this
In the technical solution of utility model.
Fig. 1 is the stereoscopic schematic diagram of binocular camera mould group；
Fig. 2 is the floor map of binocular camera mould group；
Fig. 3 is the mould group first state schematic diagram of binocular camera；
Fig. 4 is the second status diagram of binocular camera mould group；
Fig. 5 is the third state schematic diagram of binocular camera mould group；
Fig. 6 is single camera module stereoscopic schematic diagram；
Fig. 7 is single camera module floor map；
Fig. 8 is the detection range schematic diagram of binocular camera mould group；
Fig. 9 is mobile robot schematic diagram.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
It clearly and completely describes, it is clear that described embodiment is only the utility model one embodiment, and and not all reality
Apply example.Based on the embodiments of the present invention, those of ordinary skill in the art institute without making creative work
The every other embodiment obtained, fall within the protection scope of the utility model.
Embodiment one
As shown in Fig. 1 to 5, binocular camera mould group includes bracket 101, camera 102, turntable 103 and drive shaft
104, bracket 101 is equipped with through-hole and accommodates and turntable 103 is supported to do the rotary motion for limiting direction, and camera 102 is fixed at
Position other than the central axis of turntable 103 forms eccentric structure, and drive shaft 104 is fixed on the central axis of turntable 103,
The both sides of turntable are arranged in camera 102.Wherein camera 102 includes the first camera 1021 and second camera
1022, turntable 103 includes the first turntable 1031 and the second turntable 1032, and drive shaft 104 includes the first drive shaft 1041
With the second drive shaft 1042.In order to more clearly demonstrate the motion process of camera, as shown in Fig. 2,6,7,8, illustrates and take the photograph
As first 102 running track R (R1, R2) will drive turntable 103 when drive shaft 104 makes rotating motion under external force
Rotation, camera 102 will do continuous movement to which opposite bracket 101 generates change in location, in this way by running track R as illustrated
There can be different image pickup scopes in different positions, when the image superposition that the camera 102 of multiple positions is shot is together
B area as shown in Figure 8 can be formed, wherein a-quadrant is image pickup scope when camera 102 is fixed on bracket 101, B area
It is bigger than the range of a-quadrant namely achieved the purpose that expand the detection visual field in the case where not changing structure.
The specific embodiment of the present embodiment is, for 1042 input power of the first drive shaft 1041 and the second drive shaft, sheet
Synchronized links mode (not shown) is used in embodiment, for example is adopted in two drive shafts using synchronous belt synchronized links
Synchronous rotary is realized with the same motor-driven mode.Since the first turntable 1031 and the second turntable 1032 are limited at
In the through-hole of bracket 101, thus it also can be only driven the movement to make rotating motion without generating displacement or other directions, first
Camera 1031 and second camera 1032 are also driven to rotate and generate position with respect to bracket 101 according to running track R1, R2
On variation, if Fig. 3 to 5 be three kinds of different conditions position view, respectively first state schematic diagram, the second state signal
Figure and third state schematic diagram, in fact the different location among several status diagrams also has a corresponding state.This
It the first camera 1031 in embodiment and is parallel to each other between second camera 1032, and towards same direction for acquiring ring
Border data information can guarantee positioning and the monitoring function of realizing binocular camera in this way.
It should be noted that drive shaft 104 is not required, turntable 103 can also be driven to rotate by other means,
Such as in such a way that driving is engaged with turntable 103 in direct geared, i.e., setting in the through-hole wall of bracket 101 independently to rotate
External gear, 103 outer wall of turntable also set the internal gear of engagement, and synchronous rotary movement, this feelings are realized under the drive of external gear
The external gear of power drive through-hole wall is only needed under condition to be rotated relative to bracket 101, and specific implementation is without limitation.
Embodiment two
The present embodiment is the mobile robot for including binocular camera mould group in embodiment one, and mobile robot, which can be, sweeps
The equipment that ground machine, grass trimmer or floor cleaning machine etc. have autonomous function, as shown in figure 9, the present embodiment selects sweeper 2, it is preceding
It is F into direction.Binocular camera mould group 1 is arranged in the front of sweeper 2, and the bracket 101 of binocular camera mould group 1, which is fixed on, to be swept
On ground machine 2, the drive shaft 104 equipped with motor (not shown) and binocular camera mould group 1 in sweeper 2 is separately connected and drives it
Rotation, to realize with the change in location in embodiment one to achieve the purpose that expand the detection visual field.
The specific embodiment of the present embodiment is that sweeper 2 controls the drive shaft 104 that motor (not shown) is drivingly connected and revolves
Turning, the first camera 1021 and second camera 1022 make rotating motion respectively and generate the change in location relative to sweeper 2,
It is fed back in the master controller (not shown) in sweeper 2 in the image information that different positions obtains different visual field environment.It can
With understanding, the image information between camera 102 and master controller is wirelessly communicated, and such camera 102 can
Do not have to worry wire transmission line wrapping around caused puzzlement to make rotating motion always.It may be omitted with propping up in the present embodiment
Frame, and being directly fixed on camera on the ontology of sweeper 2, the essence done so be by bracket 101 and 2 one of sweeper at
Type is together.
It should be noted that camera 102 can also be mounted on the other positions of sweeper 2 in the present embodiment, such as prominent
Top out, for another example on liftable platform, as long as having the condition for collecting environmental information.
It should be noted that disclosed embodiment is only the utility model specific embodiment, it is for clear explanation
The citing of the utility model, and be not to be construed as limiting the scope of the utility model, certainly this reality can not be limited with this
With novel scope of the claims, to those skilled in the art, equivalent change made according to the claim of the utility model
Change, modify, change etc., it still falls within the scope of the utility model, the claim that should be included in the utility model is protected
In range.
Claims (9)
1. a kind of camera module, it is characterised in that: including turntable, camera and bracket, turntable is rotatably arranged in branch
On frame, camera bias is set to turntable, and turntable is rotated about its center axis.
2. camera module according to claim 1, it is characterised in that: the turntable is equipped with the drive with central axis
Moving axis, drive shaft driving turntable make rotating motion.
3. a kind of binocular camera mould group, it is characterised in that: including two cameras and turntable as described in claim 1,
It further include bracket, turntable is rotatably arranged on bracket, and turntable further includes the drive shaft with central axis, and drive shaft is driven
Dynamic turntable makes rotating motion.
4. binocular camera mould group according to claim 3, it is characterised in that: it is parallel to each other between two cameras, and
Towards same direction.
5. binocular camera mould group according to claim 3, it is characterised in that: connected between two drive shafts by synchronous belt
Connect realization synchronous rotary.
6. a kind of mobile robot, it is characterised in that: including binocular camera mould group as claimed in claim 3, binocular camera
Mould group is located at mobile robot front, and bracket is fixed in mobile robot.
7. mobile robot according to claim 6, it is characterised in that: mobile robot includes controller, camera mould
Mode communicates group with controller by wireless communication.
8. mobile robot according to claim 7, it is characterised in that: set bluetooth respectively in camera module and controller
Module realizes Bluetooth wireless communication.
9. mobile robot according to claim 6, it is characterised in that: mobile robot include sweeper, grass trimmer or
Floor cleaning machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920683024.XU CN209593641U (en) | 2019-05-13 | 2019-05-13 | Camera module, binocular camera mould group and mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920683024.XU CN209593641U (en) | 2019-05-13 | 2019-05-13 | Camera module, binocular camera mould group and mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209593641U true CN209593641U (en) | 2019-11-05 |
Family
ID=68345229
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920683024.XU Active CN209593641U (en) | 2019-05-13 | 2019-05-13 | Camera module, binocular camera mould group and mobile robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021093392A1 (en) * | 2019-11-12 | 2021-05-20 | 上海肇观电子科技有限公司 | Mobile robot |
| US11054838B2 (en) | 2019-11-12 | 2021-07-06 | NextVPU (Shanghai) Co., Ltd. | Mobile robot |
-
2019
- 2019-05-13 CN CN201920683024.XU patent/CN209593641U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021093392A1 (en) * | 2019-11-12 | 2021-05-20 | 上海肇观电子科技有限公司 | Mobile robot |
| US11054838B2 (en) | 2019-11-12 | 2021-07-06 | NextVPU (Shanghai) Co., Ltd. | Mobile robot |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP02 | Change in the address of a patent holder | ||
| CP02 | Change in the address of a patent holder |
Address after: 510000 No.30 haogang Avenue, Dagang Town, Nansha District, Guangzhou City, Guangdong Province (plant a, B, c) Patentee after: GuangDong BONA Robot Co.,Ltd. Address before: 518000, Shenzhen, Guangdong, Baoan District province manhole street, East Ring Road, No. 438, block D, two or three Patentee before: GuangDong BONA Robot Co.,Ltd. |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200925 Address after: 510000 No.30 haogang Avenue, Dagang Town, Nansha District, Guangzhou City, Guangdong Province Patentee after: GUANGZHOU KEYU ROBOT Co.,Ltd. Address before: 510000 No.30 haogang Avenue, Dagang Town, Nansha District, Guangzhou City, Guangdong Province (plant a, B, c) Patentee before: GuangDong BONA Robot Co.,Ltd. |