CN215883856U

CN215883856U - Robot vision device and robot

Info

Publication number: CN215883856U
Application number: CN202120802286.0U
Authority: CN
Inventors: 杨宗保
Original assignee: Beijing Xiaomi Mobile Software Co Ltd
Current assignee: Beijing Xiaomi Mobile Software Co Ltd
Priority date: 2021-04-19
Filing date: 2021-04-19
Publication date: 2022-02-22
Anticipated expiration: 2031-04-19

Abstract

The utility model provides a robot vision device and a robot, wherein the robot comprises a body, the robot vision device comprises a mounting frame, a camera module and a driving assembly, the mounting frame is mounted on the body, the camera module is mounted on the mounting frame, and the driving assembly is used for driving at least one of the mounting frame and the camera module to move relative to the body. The robot vision device provided by the utility model has the advantages that the visual field is adjustable, and further more image information can be acquired.

Description

Robot vision device and robot

Technical Field

The utility model relates to the technical field of robots, in particular to a robot vision device and a robot.

Background

Legged robots, also known as legged robots or robot dogs, typically include a torso assembly and leg assemblies, with a vision device in front of the torso assembly for capturing images. The foot type robot vision device in the related art has the defects of small visual field and limited image information acquisition.

SUMMERY OF THE UTILITY MODEL

The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.

Therefore, the embodiment of the utility model provides a robot vision device which has the advantages that the visual field is adjustable, and further more image information can be acquired.

The robot vision device comprises a mounting frame, a camera module and a driving assembly, wherein the robot comprises a body, and the mounting frame is mounted on the body; the camera module is mounted on the mounting frame; the driving assembly is used for driving at least one of the mounting frame and the camera module to move relative to the body.

According to the robot vision device provided by the embodiment of the utility model, the driving assembly is arranged to drive at least one of the mounting frame and the camera module to move relative to the body, so that the visual field can be dynamically adjusted in real time under the condition that the robot is kept still, more image information can be acquired, and the robot has higher functionality.

In some embodiments, the camera module comprises a support frame and a main camera, the driving assembly further comprises a first motor, the first motor is mounted on the mounting frame, a motor shaft of the first motor is connected with the support frame so as to drive the support frame to rotate, and the main camera is mounted on the support frame.

In some embodiments, the drive assembly includes a second motor mounted to the body, a motor shaft of the second motor being coupled to the mounting bracket for driving the mounting bracket to rotate relative to the body, an axial direction of the motor shaft of the second motor being at an angle to an axial direction of the motor shaft of the first motor.

In some embodiments, an axial direction of a motor shaft of the second motor is perpendicular to an axial direction of a motor shaft of the first motor.

In some embodiments, the number of the second motors is two, and the two second motors are symmetrically arranged on two sides of the mounting frame along the width direction of the body.

In some embodiments, the mounting frame is provided with a first mounting hole in the middle of the width direction of the body, the support frame is located in the first mounting hole, the support frame has a first end and a second end opposite to each other in the width direction of the body, the first end of the support frame is pivotally connected with the mounting frame through a pivot, and the second end of the support frame is connected with a motor shaft of the first motor.

In some embodiments, the camera module further includes two auxiliary cameras, and the two auxiliary cameras are distributed on the mounting frame at intervals along the width direction of the body.

In some embodiments, the two auxiliary cameras are symmetrically distributed on two sides of the main camera in the width direction of the body.

In some embodiments, the robotic vision device further comprises a gyroscope and an accelerometer, the gyroscope and the accelerometer being mounted on the support frame.

The robot according to the embodiment of the utility model comprises a body and a vision device, wherein the vision device is the robot vision device according to any one of the embodiments, and the vision device is mounted at the front end of the body.

The technical advantages of the robot according to the embodiments of the present invention are the same as those of the robot vision device described above, and are not described herein again.

Drawings

Fig. 1 is a schematic diagram of a robot vision apparatus according to an embodiment of the present invention.

Fig. 2 is an exploded view of a robot vision device according to an embodiment of the present invention.

Fig. 3 is a schematic view of a robot according to an embodiment of the utility model.

Reference numerals:

the robot 100 is provided with a robot arm which,

the robot vision device 10, the body 20,

the mounting bracket 1, the first mounting hole 11, the second mounting hole 12, the first coupling hole 13, the second coupling hole 14,

a main camera 2, a support frame 3, an auxiliary camera 4,

a first motor 5, a second motor 6 and a pivot 7.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the utility model and are not to be construed as limiting the utility model.

A legged robotic vision apparatus 10 in accordance with an embodiment of the present invention is described below in conjunction with fig. 1-3.

The legged robot vision apparatus 10 according to the embodiment of the present invention includes a mounting frame 1, a camera module, and a driving assembly. The legged robot 100 includes a body 20, and a mounting bracket 1 is mounted to the body 20. The camera module is installed on the installation frame 1. The driving component is used for driving at least one of the mounting frame 1 and the camera module to move relative to the body 20.

According to the robot vision device 10 of the embodiment of the utility model, the driving component is arranged to drive at least one of the mounting frame 1 and the camera module to move relative to the body 20, so that the visual field can be dynamically adjusted in real time under the condition that the robot 100 is kept still, more image information can be acquired, and the robot 100 has higher functionality.

For convenience of understanding, an arrow a in fig. 3 indicates a front-rear direction of the foot robot 100 according to the embodiment of the present invention, an arrow B in fig. 3 indicates a left-right direction of the foot robot 100 according to the embodiment of the present invention, and an arrow C in fig. 3 indicates an up-down direction of the foot robot 100 according to the embodiment of the present invention.

In some embodiments, the camera module includes a support frame 3 and a main camera 2, the driving assembly further includes a first motor 5, the first motor 5 is installed on the mounting frame 1, a motor shaft of the first motor 5 is connected with the support frame 3 so as to drive the support frame 3 to rotate, and the main camera 2 is installed on the support frame 3.

Specifically, the main camera 2 is fixedly arranged on the support frame 3, the axial direction of the motor shaft of the first motor 5 is the up-down direction, and the first motor 5 drives the support frame 3 to rotate left and right relative to the mounting frame 1, so that the main camera 2 can realize the head rotating action similar to a person, and then all the visual fields from the left side to the right side (or from the right side to the left side) in front of the foot robot 100 can be seen clearly, so as to acquire sufficient image information.

In some embodiments, the driving assembly includes a second motor 6, the second motor 6 is mounted to the body 20, and a motor shaft of the second motor 6 is connected to the mounting frame 1 so as to drive the mounting frame 1 to rotate relative to the body 20. The axial direction of the motor shaft of the second motor 6 forms an angle with the axial direction of the motor shaft of the first motor 5.

From this, under the drive of second motor 6, mounting bracket 1 can do the reciprocal swing except that the left-right direction to body 20, and then makes the module of making a video recording can obtain more fields of vision in real time to further increase the acquireing of image information.

In some embodiments, the axial direction of the motor shaft of the second motor 6 is perpendicular to the axial direction of the motor shaft of the first motor 5. Specifically, as shown in fig. 2, the axial direction of the motor shaft of the first motor 5 is the up-down direction, and the axial direction of the motor shaft of the second motor 6 is the left-right direction. That is, the mount can perform human-like head-up and head-down motions by the driving of the second motor 6, so that the main camera 2 can see all the views from the top to the bottom of the foot in front of the legged robot 100. As a result, the main camera 2 can obtain almost all the field of view in front of the foot robot 100, and further can obtain almost all the image information in front of the foot robot 100, and the functionality of the foot robot 100 is enhanced.

In some embodiments, the number of the second motors 6 is two, and the two second motors 6 are symmetrically arranged on both sides of the mounting bracket 1 along the width direction of the body 20.

Specifically, the axes of the motor shafts of the two second motors 6 are substantially coincident, and the motor shafts of the two second motors 6 are fitted into the fitting holes on the left and right end faces of the mounting bracket 1, respectively, thereby achieving pivotable connection of the mounting bracket 1 and the body 20.

In some embodiments, the mounting bracket 1 is provided with a first mounting hole 11 at a middle portion of the body 20 in the width direction, and the support frame 3 is located in the first mounting hole 11. The supporting frame 3 has a first end and a second end opposite to each other in the width direction of the body 20, the first end of the supporting frame 3 is pivotably connected to the mounting frame 1 by a pivot shaft 7, and the second end of the supporting frame 3 is connected to a motor shaft of the first motor 5.

From this, the main camera 2 that is located the centre can acquire the image at different angles, and then can more conveniently seek the personage, conveniently through face identification personage, and the rethread is compared with the face that has gathered, realizes face identification to let sufficient robot 100 carry out action and correspondence on next step, for example follow owner or according to owner's action, the appointed action of predesigned is made to the expression, even the gesture.

Specifically, the mounting bracket 1 is provided with a first connecting hole 13 and a second connecting hole 14, the first connecting hole 13 and the second connecting hole 14 are respectively arranged above and below the first mounting hole 11, and the axes of the two are substantially coincident. The upper end of the support frame 3 is connected with the lower end of the pivot 7, and the upper end of the pivot 7 is matched in the first connecting hole 13. The first motor 5 is arranged below the mounting frame 1, and a motor shaft of the first motor 5 passes through the second connecting hole 14 and is connected with the lower end of the support frame 3.

In some embodiments, the camera module further includes two auxiliary cameras 4, and the two auxiliary cameras 4 are distributed on the mounting frame 1 at intervals along the width direction of the body 20.

Specifically, two auxiliary cameras 4 are fixedly arranged on the mounting frame 1 and spaced apart in the left-right direction, the two auxiliary cameras 4 acquire images simultaneously, and then the distance between an object in a visual field and the legged robot 100 can be calculated through binocular vision, so that functions of distance judgment, visual image construction, obstacle avoidance and the like are realized, and the legged robot 100 is higher in functionality.

In some embodiments, the two auxiliary cameras 4 are symmetrically distributed on both sides of the main camera 2 in the width direction of the body 20. Specifically, the mounting bracket 1 is provided with second mounting holes 12 for mounting the auxiliary cameras 4 on both left and right sides of the first mounting hole 11.

At this moment, two auxiliary cameras 4 and a main camera 2 simultaneous working can realize signal and image synchronization through hardware synchronization signal line, carry out work such as image fusion, many meshes vision in real time, realize more abundant action and function.

In some embodiments, the legged robotic vision device 10 also includes a gyroscope and an accelerometer mounted on the support frame 3.

From this, through effective cooperation of gyroscope, accelerometer and first motor 5, can realize the anti-shake function in the first degree, and then can let main camera 2 acquire more stable visual image, alleviateed the influence of the shake of sufficient robot 100 walking or running in-process to the image quality.

The legged robot 100 according to the embodiment of the present invention includes a body 20 and a vision device, the vision device is the legged robot vision device 10 according to any one of the embodiments described above, and the vision device is mounted on the front end of the body 20. Specifically, the body 20 includes a torso assembly and a plurality of leg assemblies pivotally mounted to the torso assembly, with the vision device mounted to a forward end of the torso assembly.

The technical advantages of the legged robot 100 according to the embodiments of the present invention are the same as those of the above-described legged robot vision apparatus 10, and will not be described herein again.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the utility model and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the utility model.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the present disclosure, the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" and the like mean that a specific 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 disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to 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. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

1. A robot vision device, the robot including a body, the robot vision device comprising:

a mounting bracket mounted to the body;

the camera module is mounted on the mounting frame; and

the driving assembly is used for driving at least one of the mounting frame and the camera module to move relative to the body.

2. The robot vision device of claim 1, wherein the camera module includes a support frame and a main camera, the drive assembly further includes a first motor, the first motor is mounted to the mounting frame, a motor shaft of the first motor is coupled to the support frame so as to drive the support frame to rotate, and the main camera is mounted to the support frame.

3. The robot vision device of claim 2, wherein the drive assembly includes a second motor mounted to the body, a motor shaft of the second motor being coupled to the mounting bracket for driving the mounting bracket to rotate relative to the body, an axial direction of the motor shaft of the second motor being angled relative to an axial direction of the motor shaft of the first motor.

4. The robot vision device according to claim 3, wherein an axial direction of a motor shaft of the second motor is perpendicular to an axial direction of a motor shaft of the first motor.

5. The robot vision device according to claim 3, wherein the number of the second motors is two, and the two second motors are symmetrically provided on both sides of the mount frame in a width direction of the body.

6. The robot vision device of claim 2, wherein the mounting bracket has a first mounting hole at a middle portion of the body in the width direction, the support bracket is located in the first mounting hole, the support bracket has a first end and a second end opposite to each other in the width direction of the body, the first end of the support bracket is pivotably connected to the mounting bracket by a pivot, and the second end of the support bracket is connected to a motor shaft of the first motor.

7. The robot vision device of claim 2, wherein the camera module further comprises two auxiliary cameras spaced apart across the mounting frame in a width direction of the body.

8. The robot vision device according to claim 7, wherein two of the auxiliary cameras are symmetrically distributed on both sides of the main camera in a width direction of the body.

9. A robot vision device according to claim 2, further comprising a gyroscope and an accelerometer, the gyroscope and the accelerometer being mounted on the support frame.

10. A robot comprising a body and a vision device, the vision device being a robot vision device as claimed in any one of claims 1 to 9, the vision device being mounted to a front end of the body.