CN215920470U

CN215920470U - Robot

Info

Publication number: CN215920470U
Application number: CN202121327439.7U
Authority: CN
Inventors: 黄寅; 朱俊安
Original assignee: Shenzhen Pudu Technology Co Ltd
Current assignee: Shenzhen Pudu Technology Co Ltd
Priority date: 2021-06-11
Filing date: 2021-06-11
Publication date: 2022-03-01
Anticipated expiration: 2031-06-11
Also published as: WO2022257821A1

Abstract

The utility model provides a robot, which comprises a chassis, a robot body arranged on the chassis, a first camera arranged on the chassis in an obliquely upward mode, and a second camera arranged on the robot body in an obliquely downward mode, wherein the first camera is arranged on the chassis in an obliquely upward mode; a first center line of a detection visual angle of the first camera and a first reference line in a first vertical plane where the first center line is located are arranged to form a first preset included angle; the first reference line is arranged in parallel with the length direction of the robot pointing to the chassis from the robot body; a second center line of a detection visual angle of the second camera and a second reference line in a second vertical plane where the second center line is located are arranged to form a second preset included angle; the second reference line is arranged in parallel with the length direction of the robot. The robot can effectively detect the suspended obstacles and the ground close-range obstacles, realizes the optimization of the sensing range of the robot, has high detection precision, and effectively ensures the safety of the robot and the obstacles.

Description

Robot

Technical Field

The utility model belongs to the technical field of robots, and particularly relates to a robot.

Background

With the development of scientific technology, robots are more and more widely used in various fields. In the application process of the robot, the robot is usually required to move to finally realize specific functions, such as automatic distribution, automatic movement detection and the like, and in the moving process of the robot, the situation that an obstacle exists in front is inevitably met, and at the moment, the position of the obstacle needs to be determined in time and the obstacle is automatically avoided. In the prior art, a robot often has a relatively large range of sensing blind areas in the moving process, so that obstacles are relatively dense or the obstacles (such as pedestrians) are movable, the obstacles cannot be timely and accurately avoided, and the collision between the robot and the obstacles is caused, so that the effect of realizing the functions of the robot is influenced, the use experience of the robot is reduced, and even safety accidents may occur.

SUMMERY OF THE UTILITY MODEL

The utility model provides a robot aiming at the problem that the robot in the prior art cannot timely and accurately avoid obstacles due to the existence of large-amplitude perception blind areas.

In view of the above technical problems, an embodiment of the present invention provides a robot, including a chassis, a robot body disposed on the chassis, a first camera disposed on the chassis in an obliquely upward direction, and a second camera disposed on the robot body in an obliquely downward direction;

a first center line of a detection visual angle of the first camera and a first reference line in a first vertical plane where the first center line is located are arranged to form a first preset included angle; the first reference line is arranged in parallel with the length direction of the robot pointing to the chassis from the robot body;

a second center line of a detection visual angle of the second camera and a second reference line in a second vertical plane where the second center line is located are arranged to form a second preset included angle; the second reference line is arranged in parallel with the length direction of the robot.

Optionally, a connection line between the first camera and the second camera is parallel to the length direction of the robot, and the robot further includes a display screen located between the first camera and the second camera and disposed on the robot body.

Optionally, the distance between the first camera and the second camera is 700mm to 800 mm.

Optionally, the distance between the first camera and the second camera is 750 mm; the mounting height of first camera is 150mm, the mounting height of second camera is 900 mm.

Optionally, the first camera and the second camera are both RGBD cameras.

Optionally, the first preset included angle is 30 to 60 degrees.

Optionally, the first preset included angle is 45 degrees.

Optionally, the second preset included angle is 25 to 50 degrees.

Optionally, the second preset included angle is 35.4 degrees.

Optionally, the horizontal field angle of the first camera is 70 to 100 degrees, and the vertical field angle is 45 to 70 degrees; the horizontal field angle of the second camera is 70-100 degrees, and the vertical field angle is 45-70 degrees.

The robot comprises a chassis, a robot body arranged on the chassis, a first camera arranged on the chassis in an obliquely upward mode, and a second camera arranged on the robot body in an obliquely downward mode; a first center line of a detection visual angle of the first camera and a first reference line in a first vertical plane where the first center line is located are arranged to form a first preset included angle; the first reference line is arranged in parallel with the length direction of the robot pointing to the chassis from the robot body; a second center line of a detection visual angle of the second camera and a second reference line in a second vertical plane where the second center line is located are arranged to form a second preset included angle; the second reference line is arranged in parallel with the length direction of the robot.

In the utility model, the robot carries out obstacle avoidance detection through a first camera which is arranged on a chassis of the robot towards the upper oblique direction and a second camera which is arranged on a robot body towards the lower oblique direction, and at the moment, the first camera is mainly used for detecting a three-dimensional suspended obstacle and serves a three-dimensional obstacle avoidance function; the second camera is mainly used for detecting low obstacles and low-lying areas on the ground and serves three-dimensional obstacle avoidance, presser foot prevention and falling prevention functions, so that the first camera and the second camera realize cooperative monitoring, the range of a perception blind area is reduced, and the optimization of the perception range of the robot is realized; the robot provided by the utility model can minimize the upper blind area and the lower blind area of the robot on the premise of mechanical structure limitation by using only two cameras, so that the head of the robot is effectively protected to avoid collision with a suspended obstacle, meanwhile, a ground short-distance obstacle can be effectively detected, and a wider buffer area is provided for the robot to avoid the obstacle; and based on the size of the robot and the sensible monitoring range of the two cameras (the first camera and the second camera), the robot can achieve the optimal detection effect, and the running safety of the robot and the safety of pedestrians (or other obstacles) are effectively guaranteed.

Drawings

The utility model is further illustrated with reference to the following figures and examples.

Fig. 1 is a schematic view illustrating a structure and a detection view of a robot according to an embodiment of the present invention.

The reference numerals in the specification are as follows:

1. a robot body; 11. a second camera; 2. a chassis; 21. a first camera; 3. a first vertical plane; 31. a first centerline; 4. a second vertical plane; 41. a second centerline; alpha, a first preset included angle; beta and a second preset included angle.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.

It is to be understood that the terms "upper", "lower", "left", "right", "front", "rear", "middle", 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 invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention.

As shown in fig. 1, a robot according to an embodiment of the present invention includes a chassis 2, a robot main body 1 disposed on the chassis 2, a first camera 21 disposed on the chassis 2 in an obliquely upward direction, and a second camera 11 disposed on the robot main body 1 in an obliquely downward direction; preferably, the first camera 21 is installed in front of the robot body 1 to be directed obliquely upward, and the detection angle of view of the first camera 21 is directed obliquely upward, the second camera 11 is installed in front of the robot body 1 to be directed obliquely downward, and the detection angle of view of the second camera 11 is directed obliquely downward. Wherein, the connection mode of robot body 1 and chassis 2 can be set for according to the demand, for example joint, screw connection or welding etc. all can, as long as can realize stable connection between them can. Understandably, the shape of the robot body 1 can be set according to the requirement, for example, it can be a cylinder, and most of the outer surface of the support body of the cylinder is designed into a curved surface, so that the appearance aesthetic degree of the robot body is improved, and the robot body can not be damaged when contacting with an external object or a person.

A first central line 31 of a detection view angle of the first camera 11 (i.e. a view angle of the first camera 21 shown in fig. 1) is arranged at a first preset included angle α with a first reference line (not shown) in the first vertical plane 3 where the first central line 31 is located; the first reference line is arranged in parallel with a robot length direction F pointing to the chassis 2 from the robot body 1; the robot length direction F is a direction parallel to a plumb line when the robot is in an upright state, and the robot length direction F may not only point to the chassis 2 from the robot body 1, but also may be considered to point to the robot body 1 from the chassis 2.

A second central line 41 of the detection angle of view of the second camera 11 (i.e. the depression angle of the second camera 11 shown in fig. 1) is set at a second preset included angle β with the second reference line (not shown) in the second vertical plane 4 where the second central line 41 is located; the second reference line is arranged in parallel with the robot length direction F.

In the present invention, the front of the robot body 1 refers to a direction in which the robot body 1 advances toward a preset traveling route in a normal moving process. The first camera 21 facing obliquely upward and the second camera facing obliquely downward are both the orientations of the robot body 1 in the normal state (e.g., in the normal operating state or in the standing state). It is understood that the first camera 21 and the second camera 11 may be installed at a specific position in front of the robot body 1, for example, a middle position point in front of the robot body 1, or any one position point set within a preset adjustable range extending to both sides with the middle position point as a center. Thus, the first camera 21 is mainly used for detecting a three-dimensional suspended obstacle in front of the robot body 1 and serving a three-dimensional obstacle avoidance function; the first camera 21 is mainly used for detecting short obstacles and low-lying areas on the ground in front of the robot body 1, and serves three-dimensional obstacle avoidance, presser foot prevention and falling prevention functions.

Preferably, the first preset included angle alpha is 30-60 degrees; specifically, as shown in fig. 1, the first predetermined included angle α is 45 degrees, but the first predetermined included angle α may be other than 45 degrees, such as 30 degrees, 35 degrees, 50 degrees, 55 degrees, and so on. The second central line 41 and the horizontal line form a second preset included angle beta; preferably, the second preset included angle β is 25 to 50 degrees. Specifically, as shown in fig. 1, the second preset included angle β is 35.4 degrees. However, the second predetermined included angle β may be other than 35.4 degrees, such as 30 degrees, 35 degrees, 40 degrees, 45 degrees, etc. In the above embodiment of the present invention, the robot performs obstacle avoidance detection by the first camera 21 installed on the robot chassis 2 facing obliquely upward and the second camera 11 installed on the robot body 1 facing obliquely downward, and at this time, the first camera 21 is mainly used for detecting a three-dimensional suspended obstacle, serving a three-dimensional obstacle avoidance function; the second camera 11 is mainly used for detecting low obstacles and low-lying areas on the ground and serves three-dimensional obstacle avoidance, presser foot prevention and falling prevention functions, so that the first camera 21 and the second camera 11 realize cooperative monitoring, the range of a perception blind area is reduced, and the optimization of the perception range of the robot is realized; the robot provided by the utility model can minimize the upper blind area and the lower blind area of the robot on the premise of mechanical structure limitation by using only two cameras, so that the head of the robot is effectively protected to avoid collision with a suspended obstacle, meanwhile, a ground short-distance obstacle can be effectively detected, and a wider buffer area is provided for the robot to avoid the obstacle; and based on the size of the robot and the perceivable monitoring range of the two cameras (the first camera 21 and the second camera 11), the robot can achieve the optimal detection effect, and the operation safety of the robot and the safety of pedestrians (or other obstacles) are effectively guaranteed.

Further, a connecting line of center points of the first camera 21 and the second camera 11 is parallel to the length direction F of the robot, and the robot further includes a display screen (not shown) located between the first camera 21 and the second camera 11 and disposed on the robot body 1. That is, when the robot is in the upright state, the second camera 11 is located directly above the first camera 21, and at this time, the first camera 21 and the second camera 11 are disposed on the same vertical line, the first camera 21 can detect a three-dimensional suspended obstacle with the vertical line as the center, and the second camera 11 can detect a low obstacle and a ground low-lying area with the vertical line as the center, so that the synergy performance of the detection view angles of the first camera 21 and the second camera 11 is better.

Understandably, the distance between the first camera 21 and the second camera 11 can be set according to requirements. Preferably, the distance between the first camera 21 and the second camera 11 is 700mm to 800 mm. Within the above distance, the first camera 21 and the second camera 11 can monitor cooperatively to achieve a better detection effect. Further, the distance between the first camera 21 and the second camera 11 is 750mm, in a specific embodiment, the installation height of the first camera 21 is 150mm, and the installation height of the second camera 11 is 900 mm. The setting of the preset distance and the installation height can reasonably utilize the first camera 21 and the second camera 11 to reach the optimal sensing range.

Preferably, the first camera 21 and the second camera 11 are both RGBD cameras (depth image cameras). In this embodiment, the first camera 21 and the second camera 11 are used to collect image color information and the like, thereby allowing the robot to perform positioning or determination based on the collected information and avoid an obstacle.

Further, the horizontal field angle of the first camera is 70-100 degrees, and the vertical field angle is 45-70 degrees; the horizontal field angle of the second camera is 70-100 degrees, and the vertical field angle is 45-70 degrees. In one embodiment, the horizontal field of view of the first camera 21 is 85 degrees and the vertical field of view is 58 degrees. Optionally, the horizontal field angle of the second camera 11 is 85 degrees, and the vertical field angle is 58 degrees. That is, the first camera 21 and the second camera 11 in the above embodiments have a large field angle, so that the monitoring effect can be improved, and the three-dimensional obstacle avoidance function of the robot can be better realized.

In the robot shown in fig. 1, the distance between the first camera 21 and the second camera 11 is 750mm, the installation height of the first camera 21 is 150mm, and the installation height of the second camera 11 is 900 mm; the first preset included angle is 45 degrees; the second preset included angle is 35.4 degrees; the horizontal field angle of the first camera 21 is 85 degrees, and the vertical field angle is 58 degrees; the horizontal angle of view of the second camera 11 is 85 degrees, and the vertical angle of view is 58 degrees. At the moment, the blind area above the robot is only about 0.15 meter, so that the head of the robot can be effectively protected, and the robot is prevented from colliding with a suspended obstacle; the blind area below is also very little, and is only 0.1 meter, can effectively detect the ground closely barrier, and the barrier of 2 meters or so (for example 2088.43mm) can be detected to the farthest for the robot can rationally utilize two cameras to realize carrying out the barrier detection in the best perception scope. Meanwhile, the area about 0.15-1.2 m in front of the robot shown in fig. 1 is completely in the sensing range of the first camera 21 and the second camera 11, a wider buffer area is provided for the robot to avoid obstacles, and the detection precision of the two cameras in the sensing range is ideal, which is beneficial to the detection of pedestrians.

The present invention is not limited to the above embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot is characterized by comprising a chassis, a robot body arranged on the chassis, a first camera arranged on the chassis in an obliquely upward mode, and a second camera arranged on the robot body in an obliquely downward mode;

2. The robot of claim 1, wherein a line connecting center points of the first camera and the second camera is parallel to a length direction of the robot, the robot further comprising a display screen disposed between the first camera and the second camera and on the robot body.

3. The robot of claim 2, wherein the distance between the first camera and the second camera is 700mm to 800 mm.

4. A robot as claimed in claim 3, wherein the distance between the first camera and the second camera is 750 mm; the mounting height of first camera is 150mm, the mounting height of second camera is 900 mm.

5. The robot of claim 1, wherein the first camera and the second camera are both RGBD cameras.

6. The robot of claim 1, wherein the first predetermined included angle is 30 degrees to 60 degrees.

7. A robot as claimed in claim 5, wherein the first predetermined angle is 45 degrees.

8. The robot of claim 1, wherein the second predetermined included angle is 25 degrees to 50 degrees.

9. A robot as claimed in claim 8, wherein the second predetermined included angle is 35.4 degrees.

10. The robot according to claim 1, wherein the first camera has a horizontal angle of view of 70 to 100 degrees and a vertical angle of view of 45 to 70 degrees; the horizontal field angle of the second camera is 70-100 degrees, and the vertical field angle is 45-70 degrees.