Robot and camera components

Abstract

The present application discloses a robot and a camera assembly, wherein the robot includes a main body, a position adjustment device and a camera device. The position adjustment device is installed on the main body, and the camera device is selectively arranged on the main body or on the position adjustment device. When the camera device is arranged on the position adjustment device, the position adjustment device can drive the camera device to move in at least two different directions. In the robot in the embodiment of the present application, the camera device can be selectively arranged on the main body or the position adjustment device. When the camera device arranged on the main body cannot obtain sufficient field of view information to meet the needs of the robot to perform tasks, the camera device can be arranged on the position adjustment device, and the camera device can be driven to move in at least two different directions by the position adjustment device to adjust the camera device to obtain field of view information at a suitable position, so that the robot can adapt to more application scenarios, and the overall function of the robot is also richer and more flexible.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to a robot and a camera assembly. Background Art

[0002] In robots and other machines, cameras are often installed to collect image information and feed it back to the processor for detection and recognition, so as to assist the robot to autonomously handle tasks such as walking, running, jumping, and overcoming obstacles. However, the camera device is often fixed at a certain position on the robot, which limits the field of view of the camera device. In order to obtain a larger field of view, if multiple camera devices are installed, the manufacturing cost of the robot will increase. Summary of the invention

[0003] Embodiments of the present application provide a robot and a camera assembly.

[0004] The robot of the embodiment of the present application includes a main body, a position adjustment device and a camera device, the position adjustment device is installed on the main body, and the camera device is selectively arranged on the main body or on the position adjustment device. When the camera device is arranged on the position adjustment device, the position adjustment device can drive the camera device to move in at least two different directions.

[0005] In the robot in the embodiment of the present application, the camera device can be selectively set on the main body or the position adjustment device. When the camera device set on the main body cannot obtain sufficient field of view information to meet the needs of the robot to perform tasks, the camera device can be set on the position adjustment device, and then the position adjustment device drives the camera device to move in at least two different directions to adjust the camera device to a suitable position to shoot and obtain field of view information. In this way, the robot can obtain a larger field of view, thereby adapting to more application scenarios, making the robot more functional and flexible.

[0006] An embodiment of the present application provides a camera assembly, which includes a camera device and a position adjustment device. The position adjustment device is independently arranged relative to the camera device. The position adjustment device includes a clamping mechanism. The clamping mechanism can clamp the camera device or release the camera device. When the clamping mechanism clamps the camera device, the position adjustment device can drive the camera device to move in at least two different directions.

[0007] The camera assembly in the implementation mode of the present application can be driven by a position adjustment device to move in at least two different directions, so that the camera device can be located in different positions to perform shooting operations to obtain field of view information. The camera assembly can then be installed on any power machine to allow the camera assembly to provide the power machine with a stable and wide source of field of view information, thereby greatly improving the applicability of the camera assembly.

[0008] An embodiment of the present application also provides a robot, which includes a main body and the camera assembly in the above embodiment, the position adjustment device is installed on the main body, and the camera device is selectively set on the main body or clamped on the position adjustment device. When the camera device is set on the position adjustment device, the camera device can be driven by the position adjustment device to move in at least two different directions.

[0009] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0011] Figure 1 is a schematic diagram of the three-dimensional structure of the robot in the embodiment of the present application;

[0012] Figure 2 is a schematic diagram of the exploded structure of the robot in the embodiment of the present application;

[0013] Figure 3 is a schematic diagram of a scene in which a position adjustment device clamps a camera device in an embodiment of the present application;

[0014] Figure 4 is a schematic structural diagram of a position adjustment device in an embodiment of the present application;

[0015] Figure 5 is a schematic structural diagram of a camera device in an embodiment of the present application;

[0016] Figure 6 This is a schematic diagram of a scene in which a robot in an embodiment of the present application collects visual field information of a high wall obstruction;

[0017] Figure 7 It is a schematic diagram of a scene in which the robot in the embodiment of the present application collects visual field information of the bottom seam of a table.

[0018] Description of main component symbols:

[0019] Robot 1000, main body 100, upper end surface 11, mounting portion 12, mounting groove 120, positioning column 121, connecting piece 13, first side 14, second side 15, position adjustment device 200, clamping mechanism 21, chuck 210, first arm 22, second arm 23, third arm 24, fourth arm 25, first motor 220, second motor 230, third motor 240, fourth motor 250, fifth motor 211, base 26, camera device 300, mounting seat 31, camera 32, upper surface 320, mating hole 321, hole wall 3210, protrusion 3211, motion device 400, joint motor 41, mechanical leg 42, first axis L1, second axis L2, third axis L3, fourth axis L4, camera assembly 500. DETAILED DESCRIPTION

[0020] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0021] The disclosure below provides many different embodiments or examples to realize the different structures of the present application. In order to simplify the disclosure of the present application, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present application. In addition, the present application can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplification and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the various specific processes and material examples provided by the present application, but those of ordinary skill in the art can appreciate the application of other processes and / or the use of other materials.

[0022] See also Figure 1 , Figure 2 and Figure 3 The embodiment of the present application provides a robot 1000, which includes a main body 100, a position adjustment device 200, and a camera device 300. The position adjustment device 200 is installed on the main body 100, and the camera device 300 is selectively arranged on the main body 100 or on the position adjustment device 200. When the camera device 300 is arranged 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.

[0023] In the robot 1000 in the embodiment of the present application, the camera device 300 can be selectively set on the main body 100 or the position adjustment device 200. When the camera device 300 set on the main body 100 cannot obtain sufficient field of view information to meet the needs of the robot 1000 to perform tasks, the camera device 300 can be set on the position adjustment device 200, and then the camera device 300 is driven by the position adjustment device 200 to move in at least two different directions to adjust the camera device 300 to a suitable position to shoot and obtain field of view information. In this way, the robot 1000 can obtain a larger field of view, thereby adapting to more application scenarios, making the robot 1000 more functional and flexible.

[0024] With the advancement of modern science and technology, the role of "robots" in modern society is becoming more and more important. The concept of "robot" specifically refers to an electromechanical system composed of mechanical structures and electronic components, such as automated robotic arms commonly used in industry and drivable wheeled platforms, etc. The above electromechanical systems are also called "industrial robots"; for example, "humanoid robots" with human form or "multi-legged robots" with quadrupedal form that move like these creatures, the above two types of robots are collectively referred to as "legged robots". The advantage of this type of robot is its adaptability to a variety of terrains, so research on legged robots will help promote the development of robotics technology. In this application Figure 1 The robot 1000 shown is a quadruped robot.

[0025] It is understandable that cameras are often installed on robots for detection and identification, thereby assisting the robot in completing the set tasks. However, in existing robots, camera devices are often fixedly installed at a certain position of the robot, or the position of the camera cannot be changed. Therefore, the camera's field of view is limited. For example, when facing special scenes such as high obstacles and detecting ground gaps, it is difficult for the camera device to collect enough field of view information. In order to obtain a larger field of view, it is possible to install camera devices at multiple positions on the robot. However, this will significantly increase the manufacturing cost of the robot.

[0026] In order to solve the above-mentioned problem, the embodiment of the present application has made adjustments and improvements to the overall structure of the robot 1000, so that the position of the camera device 300 can be adjusted. Under the premise of only providing one camera device 300 to save the manufacturing cost of the robot 1000, the position adjustment device 200 can be used to adjust the position of the camera device 300 relative to the main body 100 of the robot 1000, so that the camera device 300 can adapt to special scenes and take pictures to obtain field of view information.

[0027] Specifically, the main body 100 can serve as the torso of the robot 1000. The main body 100 can be a regular shape such as a cuboid, a cube, a cylinder, or an irregular shape. The shape of the main body 100 can be determined according to the specific appearance effect that the robot 1000 wants to present.

[0028] A position adjustment device 200 may be installed on the main body 100 , and the position adjustment device 200 may include a base 26 , which may be fixedly installed on the main body 100 by fasteners such as screws, and other components of the position adjustment device 200 may be connected to the base 26 and thus installed on the main body 100 together.

[0029] In one embodiment, the position adjustment device 200 can be a mechanical arm with a high degree of freedom, so that the position adjustment device 200 can be more flexible. Under the control of relevant instructions, the position adjustment device 200 itself can perform multi-directional rotation activities, so that when the position adjustment device 200 is connected to other devices, it can drive other devices to move with its own movement.

[0030] The camera device 300 may include a camera 32 and a mounting base 31 connected to the camera 32. The camera 32 may be used to collect image information for detection and analysis. The camera 32 may be set on the main body 100 through the mounting base 31. The camera device 300 may be set on the main body 100. The present application does not limit the specific position of the camera device 300 on the main body 100. For example, the camera device 300 may be installed at any position such as the upper end, lower end, left end or right end of the main body 100. When the robot 1000 is a quadruped robot, in order to obtain a wider field of view, the camera device 300 may often be set on the upper end surface 11 of the trunk of the quadruped robot, that is, on the upper end surface 11 of the main body 100.

[0031] The camera device 300 can also be optionally arranged on the position adjustment device 200, or in other words, the camera device 300 can be connected to the position adjustment device 200, so that the position adjustment device 200 can drive the camera device 300 to move, and at this time the camera device 300 can be completely separated from the main body 100, that is, there is no actual contact with the main body 100. In particular, the camera device 300 is internally provided with an independent power module and a communication module (not shown), so that when the camera device 300 is separated from the main body 100, the camera device 300 can also be used normally.

[0032] like Figure 1 and Figure 3As shown, the camera device 300 can be selectively set on the main body 100 or on the position adjustment device 200. The selective setting can be that the user controls the position adjustment device 200 to adjust the position of the camera device 300 or keep the camera device 300 set on the main body 100 according to the actual situation faced by the robot 1000. For example, in the case where the position adjustment device 200 is a mechanical arm, when the robot 1000 encounters a high wall obstacle and the camera 32 is required to collect the visual field information behind the wall, the user first determines that the robot 1000 encounters a high wall obstacle on the moving path according to the image information of the high wall collected and fed back by the camera device 300 installed on the main body 100, and then controls the position adjustment device 200 to clamp the camera device 300 to lift the camera device 300 to shoot to obtain the visual field information behind the wall, and after the shooting is completed, it is fed back to the user for the next step of processing.

[0033] In particular, the position adjustment device 200 can drive the camera device 300 to move in at least two different directions, or in other words, driven by the position adjustment device 200, the camera device 300 can move and / or rotate in two different directions. For example, the position adjustment device 200 can drive the camera device 300 to rotate around at least one of the X-axis, the Y-axis and the Z-axis, and can also drive the camera device 300 to move along at least one of the X-axis, the Y-axis and the Z-axis, wherein the X-axis, the Y-axis and the Z-axis are perpendicular to each other, the X-axis and the Y-axis are horizontal directions, and the Z-axis is vertical. The positive directions of the X-axis, the Y-axis and the Z-axis conform to the right-hand rule, that is, when the Z-axis is held with the right hand, when the four fingers of the right hand turn from the positive X-axis to the positive Y-axis at an angle of π / 2, the thumb points to the positive direction of the Z-axis.

[0034] In one example, when the position adjustment device 200 is a robotic arm, a plurality of motors for driving the position adjustment device 200 to move are installed on the position adjustment device 200, so that the position adjustment device 200 can be driven to complete movement in the pitch direction, front-back direction, and left-right direction, thereby driving the camera device 300 disposed on the position adjustment device 200 to move so as to find a suitable working position for the camera device 300.

[0035] In the description of the present application, it should be understood that the terms "upper", "lower", "vertical", "horizontal", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0036] See also Figure 2In some embodiments, the main body 100 may be provided with a mounting portion 12 spaced apart from the position adjustment device 200. When the camera device 300 is provided on the main body 100, the camera device 300 may be installed on the mounting portion 12, and the position of the camera device 300 relative to the main body 100 may remain unchanged.

[0037] In this way, by providing the mounting portion 12 on the main body 100 , the camera device 300 can be stably mounted on the main body 100 , so that the position of the camera device 300 relative to the main body 100 remains unchanged, and thus the camera device 300 can provide a good field of view for the robot 1000 .

[0038] Specifically, the camera device 300 can be arranged on the upper end surface 11 of the main body 100, and then the mounting portion 12 is formed on the upper end surface 11 of the main body 100, and is spaced apart from the position adjustment device 200, so that the position adjustment device 200 can more conveniently clamp the camera device 300. Among them, the mounting portion 12 can cooperate with the mounting seat 31 of the camera device 300 to mount the camera device 300 on the mounting portion 12, that is, fix it on the main body 100. When the camera device 300 is mounted on the mounting portion 12, the mounting portion 12 is combined with the mounting seat 31 stably enough, so that the position of the camera device 300 relative to the main body 100 can remain unchanged, so that when the robot 1000 is moving, the camera device 300 can also stably perform the work of collecting images.

[0039] See also Figure 2 In some embodiments, the mounting portion 12 may be formed with a mounting groove 120, and the camera device 300 may be mounted in the mounting groove 120. Thus, the camera device 300 is mounted in the mounting groove 120, so that the camera device 300 can be more stably disposed on the main body 100.

[0040] Specifically, the shape of the mounting groove 120 can be consistent with the shape of the camera device 300, and further, can be consistent with the shape of the mounting seat 31, so that the mounting groove 120 has good coverage of the mounting seat 31, which is sufficient to allow the camera device 300 to be stably accommodated in the mounting groove 120. It can be understood that if there is a large gap between the camera device 300 when it is accommodated in the mounting groove 120, the camera device 300 will be damaged due to collision in the mounting groove 120 due to the movement of the robot 1000, affecting the operation of precision components such as the camera 32. In particular, in order for the camera device 300 to complete functions such as shooting, the camera 32 of the camera device 300 needs to protrude from the mounting groove 120 to collect environmental images.

[0041] In addition, a positioning column 121 may be provided at the bottom of the mounting groove 120. Accordingly, a positioning groove corresponding to the positioning column 121 is formed at the bottom of the mounting seat 31 (not shown in the figure). The positioning column 121 can cooperate with the positioning groove to position the mounting seat 31 in the mounting groove 120. The setting of the positioning column 121 can ensure that the camera device 300 can be installed in the mounting groove 120 more stably, thereby ensuring that the position of the camera device 300 relative to the main body 100 remains unchanged.

[0042] See also Figure 3 and Figure 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. The clamping mechanism 21 may be disposed on the first arm 22, and the clamping mechanism 21 may be used to install the camera device 300. The first arm 22 may be rotatably connected to the second arm 23, and the first motor 220 may be used to drive the first arm 22 to rotate relative to the second arm 23 around the first axis L1, thereby driving the camera device 300 to rotate around the first axis L1 through the clamping mechanism 21.

[0043] In this way, by setting the first arm 22, the second arm 23, the clamping mechanism 21 and the first motor 220, the camera device 300 can be installed on the position adjustment device 200 through the clamping mechanism 21, and then the first motor 220 drives the first arm 22 to drive the camera device 300 to rotate, thereby adjusting the position of the camera device 300.

[0044] Specifically, the position adjustment device 200 may be a mechanical arm, and the clamping mechanism 21 may be a mechanical arm for grabbing a target object, for example, for grabbing the camera device 300 to drive the camera device 300 to move. The first arm 22 may be in a rectangular shape, and the first arm 22 may be a hollow structure or a solid structure. The clamping mechanism 21 may be arranged on the first arm 22. In order for the clamping mechanism 21 to perform the grabbing task, a first motor 220 is required to drive the first arm 22 to move, thereby driving the clamping mechanism 21 to move.

[0045] The position adjustment device 200 also includes a second arm 23, which is larger than the first arm 22. The second arm 23 can rotatably connect the first arm 22 thereto. The motor shaft of the first motor 220 can be connected to the first arm 22. The first motor 220 can output a rotational motion around the first axis L1, thereby driving the first arm 22 connected thereto, the clamping mechanism 21 arranged on the first arm 22, and the camera device 300 installed on the clamping mechanism 21 to move as a whole relative to the second arm 23 around the first axis L1, thereby adjusting the working position of the camera device 300. From a visual effect point of view, it can be reflected that the position adjustment device 200 drives the camera device 300 to do pitch motion.

[0046] It should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features.

[0047] See also Figure 4 In some embodiments, the position adjustment device 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. The second motor 230 may be used to drive the second arm 23 to rotate relative to the third arm 24 around a second axis L2, and the second axis L2 is parallel to the first axis L1.

[0048] In this way, by setting 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 relative to the third arm 24, thereby driving the first arm 22 connected to the second arm 23, the clamping mechanism 21 arranged on the first arm 22, and the camera device 300 installed on the clamping mechanism 21 to rotate as a whole relative to the third arm 24 around the second axis L2, thereby enabling the position of the camera device 300 to be adjusted more finely.

[0049] Specifically, in order to allow the position adjustment device 200 to have a higher degree of freedom, a second motor 230 and a third arm 24 may be additionally provided. One end of the second arm 23 is connected to the first arm 22, and the other end of the second arm 23, that is, the end away from the first arm 22, may be connected to the motor shaft of the second motor 230 and rotatably connected to the third arm 24. The second motor 230 may output a rotational motion around the second axis L2, thereby driving the second arm 23 connected thereto, 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 as a whole relative to the third arm 24 around the second axis L2. From a visual perspective, it can be reflected that the position adjustment device 200 drives the camera device 300 to perform a pitch motion at a higher altitude. In particular, the second axis L2 is parallel to the first axis L1.

[0050] See also Figure 4 In some embodiments, the position adjustment device 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. The third motor 240 may be used to drive the third arm 24 to rotate relative to the fourth arm 25 around a third axis L3, and the third axis L3 is parallel to the second axis L2.

[0051] In this way, by setting the fourth arm 25 and the third motor 240, the third arm 24 can be driven by the third motor 240 to rotate around the third axis L3 relative to the fourth arm 25, thereby driving the second arm 23 connected to the third arm 24, the first arm 22 rotationally connected to the second arm 23, the clamping mechanism 21 provided on the first arm 22, and the camera device 300 installed on the clamping mechanism 21 to rotate as a whole relative to the fourth arm 25 around the third axis L3, thereby enabling the position of the camera device 300 to be adjusted more finely.

[0052] Specifically, in order to allow the position adjustment device 200 to have a higher degree of freedom, a third motor 240 and a fourth arm 25 may be additionally provided. One end of the third arm 24 is connected to the second arm 23, and one end of the third arm 24 away from the second arm 23 is connected to the motor shaft of the third motor 240 and is rotatably connected to the fourth arm 25. The third motor 240 can output a rotational motion around the third axis L3, thereby driving the third arm 24 connected thereto, the second arm 23 connected thereto, the first arm 22 connected thereto, the clamping mechanism 21 disposed on the first arm 22, and the camera device 300 mounted on the clamping mechanism 21 to move as a whole relative to the fourth arm 25 around the third axis L3. From a visual effect, it can be reflected that the position adjustment device 200 drives the camera device 300 to perform a pitch motion with a higher altitude. In particular, the third axis L3 is parallel to the second axis L2, that is, it is also parallel to the first axis L1.

[0053] See also Figure 4 In some embodiments, the position adjustment device 200 may include a fourth motor 250 connected to the fourth arm 25, and the fourth motor 250 may be used to drive the fourth arm 25 to rotate around a fourth axis L4 relative to the main body 100, and the fourth axis L4 is perpendicular to the third axis L3.

[0054] In this way, by setting up the fourth motor 250 connected to the fourth arm 25, the fourth motor 250 is set to output rotational motion around 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 around the fourth axis L4 relative to the main body 100, and then drive the third arm 24 connected to the fourth arm 25, the second arm 23 connected to the third arm 24, the first arm 22 rotationally connected to the second arm 23, the clamping mechanism 21 provided on the first arm 22, and the camera device 300 installed on the clamping mechanism 21 to rotate as a whole relative to the main body 100 around the fourth axis L4, so that the position of the camera device 300 can be adjusted from the front and back and left and right directions.

[0055] Specifically, the fourth arm 25 can be a hollow cylinder, the size of the fourth arm 25 is smaller than the third arm 24 and the second arm 23, the fourth motor 250 can be an external rotor motor, and the motor shaft of the fourth motor 250 is connected to the fourth arm 25. Further, the fourth motor 250 can form a whole with the fourth arm 25, that is, the fourth motor 250 can be arranged inside the fourth arm 25.

[0056] The fourth arm 25 can be rotatably connected to one 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 relative to the main body 100 around the fourth axis L4, 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 provided on the first arm 22, and the camera device 300 installed on the clamping mechanism 21 can be driven to move as a whole relative to the main body 100 around the fourth axis L4.

[0057] In particular, the fourth axis L4 is perpendicular to the third axis L3, that is, perpendicular to both the second axis L2 and the first axis L1. Then, from a visual effect, it appears that the camera device 300 can be driven by the position adjustment device 200 to perform a 360-degree rotation movement.

[0058] See also Figure 3 and Figure 4 In some embodiments, the position adjustment device 200 may include a fifth motor 211 installed on the first arm 22 , the clamping mechanism 21 may be connected to the fifth motor 211 , and the fifth motor 211 may be used to drive the clamping mechanism 21 to clamp the camera device 300 .

[0059] In this way, by setting a fifth motor 211 installed on the first arm 22 and connected to the clamping mechanism 21, the clamping mechanism 21 is driven to complete the clamping action on the camera device 300, so that the position adjustment device 200 can clamp the camera device 300 through the clamping mechanism 21 to drive the camera device 300 to move.

[0060] Specifically, the clamping mechanism 21 can be a manipulator, the motor shaft of the fifth motor 211 is connected to the clamping mechanism 21, the bottom of the fifth motor 211 is connected to the first arm 22, and the fifth motor 211 can drive the clamping mechanism 21 to clamp the camera device 300. It can be seen from the above that 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 process, that is, when it is necessary to adjust the position of the camera device 300 installed on the main body 100, 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 clamping mechanism 21 to perform the clamping task, so as to connect the camera device 300 with the position adjustment device 200.

[0061] After the position adjustment device 200 clamps the camera device 300, the first motor 220, the second motor 230, the third motor 240 and the fourth motor 250 of the position adjustment device 200 can be controlled to operate according to the actual required field of view, thereby driving the first arm 22, the second arm 23, the third arm 24 and the fourth arm 25 to move to move the camera device 300 to a suitable position.

[0062] See also Figure 4 In some embodiments, the clamping mechanism 21 may include two clamps 210 disposed opposite to each other, and the fifth motor 211 may drive the two clamps 210 to be relatively close to each other through a transmission assembly (not shown) to clamp the camera device 300.

[0063] Specifically, the chuck 210 can be a plastic part or a metal part. The plastic part is light and low in cost, while the metal part is more wear-resistant and has a high durability. The transmission assembly can be driven by a screw nut or a gear rack. The transmission assembly can convert the rotational motion of the fifth motor 211 into the opening and closing motion of the clamping mechanism 21, which can be specifically manifested as the two chucks 210 being relatively far apart to open or relatively close to each other to close.

[0064] It can be understood that when the position of the camera device 300 installed 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 clamps 210 of the clamping mechanism 21 to be relatively close to clamp the camera device 300 between the two clamps 210, thereby connecting the camera device 300 to the position adjustment device 200. In addition, the number of the clamps 210 may not be limited to two, and may be more than two, and the present application does not specifically limit the number of the clamps 210.

[0065] See also Figure 5 In some embodiments, the camera device 300 may include a mating hole 321, and the clamp 210 can be inserted into the mating hole 321 to clamp the camera device 300. In this way, by inserting the clamp 210 into the mating hole 321, the clamping mechanism 21 can clamp the camera device 300 more tightly, and the camera device 300 is not easy to fall off during the clamping process.

[0066] Specifically, the number of the mating holes 321 can be multiple. In this embodiment, the number of the clamps 210 is two, so the number of the corresponding mating holes 321 is also two. The two mating holes 321 are arranged at intervals to facilitate the two clamps 210 to be inserted into the corresponding mating holes 321 to clamp the camera device 300. The mating holes 321 can be arranged on the upper surface 320 of the camera device 300, and the mating holes 321 have a certain depth for the clamps 210 to be inserted. By providing the mating holes 321, it is possible to effectively prevent the camera device 300 from falling and being damaged due to insufficient force when the clamping mechanism 21 clamps the camera device 300.

[0067] See also Figure 5 In some embodiments, a plurality of protrusions 3211 may be formed on the hole wall 3210 of the mating hole 321. Thus, when the clamp 210 is inserted into the mating hole 321 to clamp the camera device 300, the clamp 210 may fully contact the plurality of protrusions 3211, thereby increasing the friction between the clamp 210 and the hole wall 3210, and ensuring that the clamp 210 reliably clamps the camera device 300 during the process of clamping the camera device 300.

[0068] Specifically, the shape of the protrusion 3211 can be a regular shape such as a square, a circle, a triangle or other irregular shapes, and the number of the protrusion 3211 can be multiple, and the multiple protrusions 3211 are regularly or irregularly arranged on the hole wall 3210. In one embodiment, the protrusion 3211 is a square shape, and the number of the mating holes 321 is two, and the two mating holes 321 are arranged side by side. Among them, a single mating hole 321 has four-sided holes 3210, and multiple protrusions 3211 can be arranged in an array on two relatively close holes 3210 of the two mating holes 321. Of course, the protrusion 3211 can also be formed on any one side of the hole wall 3210 of the two mating holes 321, or formed on the multi-faceted holes 3210 of the two mating holes 321. The embodiment of the present application does not impose inherent restrictions on the specific formation position of the protrusion 3211.

[0069] In this way, the plurality of protrusions 3211 formed on the hole wall 3210 can fully contact the chuck 210 to increase the friction between the chuck 210 and the hole wall 3210 , ensuring that the chuck 210 can reliably clamp the camera device 300 during the process of clamping the camera device 300 .

[0070] In some embodiments, the robot 1000 may further include a motion device 400, which may drive the robot 1000 to complete activities such as moving forward, running, and following. For example, when the robot 1000 is a quadruped robot, the motion device 400 may constitute the lower limbs of the robot 1000, that is, four leg components.

[0071] like Figure 1As shown, the main body 100 may be provided with a connecting piece 13, and the motion device 400 may include a plurality of mechanical legs 42 and a corresponding number of joint motors 41, one end of the joint motor 41 is connected to the mechanical leg 42, and the other end is connected to the connecting piece 13, so that the motion device 400 can be connected to the main body 100 through the connecting piece 13, and the movement of the mechanical leg 42 is driven by the joint motor 41. The motion device 400 can not only drive the robot 1000 to complete activities such as moving forward, running and following, but also can bend and stretch after receiving instructions from the operator through a terminal device such as a handle, a remote control, etc., to adjust the overall height of the robot 1000.

[0072] See also Figure 6 In one embodiment, when the robot 1000 is working 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 cannot be collected, the position adjustment device 200 can be used to clamp the camera device 300, so that the position of the camera device 300 changes, and a wide field of view is obtained to achieve normal information collection. For example, the rotation angle of each motor of the position adjustment device 200 can be controlled to make the clamp 210 vertically inserted into the mating hole 321, and the fifth motor 211 can be controlled to drive the two clamps 210 to move relatively close through the transmission assembly, so as to clamp the camera device 300, and then the position adjustment device 200 can be controlled to drive the camera device 300 to move to a suitable position according to different situations.

[0073] Figure 6 The scene of collecting visual information when the robot 1000 encounters a high obstruction such as a high wall is shown. In this environment, when the camera device 300 is installed on the main body 100, the field of view of the camera 32 will be blocked by the high wall, and the situation and information behind the wall cannot be detected or recognized.

[0074] At this time, the position adjustment device 200 can be driven to move around the first axis L1, the second axis L2, the third axis L3 or the fourth axis L4 by controlling the rotation angle of each motor of the position adjustment device 200, and the camera device 300 can be clamped and lifted by the two clamps 210 of the clamping mechanism 21. At the same time, the motion device 400 of the robot 1000 is extended under the control of the operator or under autonomous control to increase the standing height of the robot 1000. Through the joint action of the position adjustment device 200 and the motion device 400, the camera device 300 can be lifted so that the height of its camera 32 exceeds the height of the high wall.

[0075] In this way, the camera device 300 can obtain a wide field of view to collect information for normal work. After completing the information collection, 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, the camera device 300 clamped by the clamping mechanism 21 is moved into the installation slot 120, and then the fifth motor 211 controls the clamping head 210 to move relatively away to reinstall the camera device 300 on the installation portion 12 of the main body 100, and the clamping mechanism 21 can be in an idle state to perform other work.

[0076] See also Figure 1 and Figure 7 In some embodiments, the main body 100 may include a first side 14 and a second side 15 opposite to each other, and the position adjustment device 200 may be installed on the first side 14, and the position adjustment device 200 may drive the camera device 300 to move to the second side 15 for shooting. In this way, the field of view of the camera device 300 may be expanded, so that when the robot 1000 faces an obstacle located on the second side 15, the position adjustment device 200 may drive the camera device 300 to move to the second side 15 for shooting and obtaining obstacle information.

[0077] Specifically, in one embodiment, the robot 1000 is a quadruped robot, the main body 100 is the trunk of the robot 1000, the first side 14 of the main body 100 may be a side located at the upper end surface 11 of the main body 100, and the second side 15 of the main body 100 may be the other side away from the upper end surface 11. In general, the camera device 300 is disposed on the first side 14 to provide the camera device 300 with a wide field of view, and the position adjustment device 200 is disposed on the same side as the camera device 300 to facilitate the clamping of the camera device 300 to drive its movement.

[0078] like Figure 1As shown, in a general environment, the camera device 300 has a wide field of view and will not be blocked. The camera device 300 can be installed on the mounting portion 12 of the main body 100 to work. In this state, the clamping mechanism 21 of the position adjustment device 200 is not occupied. When the robot 1000 is moving forward, running, following, crossing obstacles, avoiding obstacles, etc., the camera device 300 collects image information within the field of view, and feeds the information back to the processor of the robot 1000 for autonomous processing, thereby realizing the autonomous operation of the robot 1000. Of course, the information can also be fed back to the operator, and the operator controls the robot 1000 through a terminal device such as a handle, a remote control, etc. At the same time, the operator can operate the robot 1000 to run to a specified position according to the information fed back by the camera device 300, and then operate the position adjustment device 200 to move, thereby making the clamping mechanism 21 reach the specified position, and then control the clamping head 210 through the fifth motor 211 to achieve actions such as clamping, picking up and placing items.

[0079] When the robot 1000 is working 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 cannot be collected, the position adjustment device 200 can be used to clamp the camera device 300 to change the position of the camera device 300 and obtain a wide field of view to achieve normal information collection.

[0080] like Figure 7 As shown, Figure 7 The figure shows a scene in which the robot 1000 collects visual information from the bottom seam of a low cabinet when encountering an obstruction such as a low cabinet. In this scene, when the camera device 300 is fixed on the first side 14 of the main body 100, the field of view of the camera 32 of the camera device 300 will be blocked. Even if the robot 1000 lowers itself to the lowest position through the motion device 400, it still cannot detect and identify the second side 15 of the main body 100, that is, the situation and information in the bottom seam.

[0081] At this time, the rotation angle of each motor in the position adjustment device 200 can be controlled, and the clamping head 210 of the clamping mechanism 21 can be controlled to be inserted into the plug-in hole 321 of the camera device 300 to clamp and move the camera device 300 downward, while the motion device 400 of the robot 1000 is lowered under the control of the operator or autonomous control. In this way, the camera device 300 can be moved down to the second side 15 of the main body 100 through the joint action of the position adjustment device 200 and the motion device 400, so that its height is lower than the height of the bottom seam. In this way, the camera device 300 can obtain a wide field of view, so that it can work normally and collect information.

[0082] After completing the information collection, 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, the clamping mechanism 21 clamps the camera device 300 and moves it into the installation slot 120, and then the fifth motor 211 controls the clamp 210 to move relatively away to reinstall the camera device 300 on the installation portion 12 of the main body 100, and the clamping mechanism 21 can be in an idle state to perform other work.

[0083] In particular, it should be noted that in the appendix of this application Figure 1 -Attached Figure 3 , Attachment Figure 6 -Attached Figure 7 In order to better illustrate the structure of the motion device 400 and the main body 100, among all the structures of the robot 1000 shown, the main body 100 and the motion device 400 are not directly connected in the drawings. It can be understood that, as described above, the motion device 400 is connected to the main body 100 through the connecting member 13, and part of the structure of the connecting member 13 is omitted in the drawings.

[0084] See also Figure 1-Figure 7 The embodiment of the present application further provides a camera assembly 500, which includes a camera device 300 and a position adjustment device 200. The position adjustment device 200 includes a clamping mechanism 21, which can clamp the camera device 300 or release the camera device 300. When the clamping mechanism 21 clamps the camera device 300, the position adjustment device 200 can drive the camera device 300 to move in at least two different directions.

[0085] The camera assembly 500 in the implementation mode of the present application can drive the camera device 300 to move in at least two different directions through the position adjustment device 200, so that the camera device 300 can be located in different positions to perform shooting operations to obtain field of view information. Then, the camera assembly 500 can be installed on any power machine, so that the camera assembly 500 can provide a stable and wide source of field of view information for the power machine, thereby greatly improving the applicability of the camera assembly 500.

[0086] See also Figure 1-Figure 7 A robot 1000 provided in an embodiment of the present application includes a main body 100 and a camera assembly 500 in the above embodiment, wherein a position adjustment device 200 is installed on the main body 100, and a camera device 300 is selectively set on the main body 100 or clamped on the position adjustment device 200. When the camera device 300 is set on the position adjustment device 200, the camera device 300 can be driven by the position adjustment device 200 to move in at least two different directions.

[0087] In this way, by installing the camera assembly 500 in the above-mentioned embodiment on a power machine such as the robot 1000, the camera device 300 can be selectively set on the main body 100 or on the clamped position adjustment device 200, so that the position of the camera device 300 can be adjusted according to the different conditions of the robot 1000; and, since the camera device 300 is set on the position adjustment device 200, the camera device 300 can be driven by the position adjustment device 200 to move in at least two different directions, so that the camera device 300 can be adjusted to a suitable position for shooting and obtaining field of view information. In this way, the robot 1000 can obtain a larger field of view, thereby adapting to more application scenarios, making the robot 1000 more functional and flexible.

[0088] In the description of this specification, the description with reference to the terms "one embodiment", "certain embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0089] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A robot, It is characterized in that include: main body; A position adjustment device, mounted on the main body; and A camera device, selectively arranged on the main body or the position adjustment device, when the camera device is arranged on the position adjustment device, the position adjustment device can drive the camera device to move in at least two different directions; In the first state, the camera device is arranged on the main body to collect image information within the field of view; in the second state, the camera device is arranged on the position adjustment device to collect image information within the field of view at another position; the robot drives the camera device to move in at least two different directions through the position adjustment device, so that the camera device can perform shooting operations at different positions to obtain image information within the field of view.

2. The robot according to claim 1, It is characterized in that The main body is provided with a mounting portion spaced apart from the position adjustment device. When the camera device is provided on the main body, the camera device is mounted on the mounting portion, and the position of the camera device relative to the main body remains unchanged.

3. The robot according to claim 2, It is characterized in that The mounting portion is formed with a mounting groove, and the camera device is mounted in the mounting groove.

4. The robot according to claim 1, It is characterized in that The position adjustment device includes a first arm, a second arm, a clamping mechanism and a first motor. The clamping mechanism is arranged on the first arm and is used to install the camera device. The first arm is rotatably connected to the second arm. The first motor is used to drive the first arm to rotate around a first axis relative to the second arm, thereby driving the camera device to rotate around the first axis through the clamping mechanism.

5. The robot according to claim 4, It is characterized in that The position adjustment device includes a third arm and a second motor. The third arm is rotatably connected to an end of the second arm away from the first arm. The second motor is used to drive the second arm to rotate around a second axis relative to the third arm. The second axis is parallel to the first axis.

6. The robot according to claim 5, It is characterized in that The position adjustment device includes a fourth arm and a third motor. The fourth arm is rotatably connected to an end of the third arm away from the second arm. The third motor is used to drive the third arm to rotate around a third axis relative to the fourth arm. The third axis is parallel to the second axis.

7. The robot according to claim 6, It is characterized in that The position adjustment device includes a fourth motor connected to the fourth arm, and the fourth motor is used to drive the fourth arm to rotate around a fourth axis relative to the main body, and the fourth axis is perpendicular to the third axis.

8. The robot according to claim 4, It is characterized in that The position adjustment device includes a fifth motor installed on the first arm, the clamping mechanism is connected to the fifth motor, and the fifth motor is used to drive the clamping mechanism to clamp the camera device.

9. The robot according to claim 8, It is characterized in that The clamping mechanism comprises two clamps arranged opposite to each other, and the fifth motor drives the two clamps to approach each other through a transmission assembly so as to clamp the camera device.

10. The robot according to claim 9, It is characterized in that The camera device comprises a mating hole, and the clamp can be inserted into the mating hole to clamp the camera device.

11. The robot according to claim 10, It is characterized in that A plurality of protrusions are formed on the hole wall of the mating hole.

12. The robot according to claim 1, It is characterized in that The main body comprises a first side and a second side opposite to each other. The position adjustment device is installed on the first side. The position adjustment device can drive the camera device to move to the second side for shooting.

13. A camera assembly, It is characterized in that include: Camera device; A position adjustment device independently arranged relative to the camera device, the position adjustment device comprising a clamping mechanism, the clamping mechanism being capable of clamping the camera device or releasing the camera device, and in the case where the clamping mechanism clamps the camera device, the position adjustment device is capable of driving the camera device to move in at least two different directions; Among them, the camera device is used to move to different positions to perform shooting operations under the drive of the position adjustment device, so as to obtain image information within the field of view at different positions; the position adjustment device is used to be installed on the main body of the robot, and the camera device is used to be selectively set on the main body or the position adjustment device, so as to collect image information within the field of view on the main body or on the position adjustment device.

14. The camera assembly according to claim 13, It is characterized in that The clamping mechanism comprises two clamps arranged opposite to each other, and the two clamps can be relatively close to each other to clamp the camera device.

15. The camera assembly according to claim 14, It is characterized in that The camera device comprises a mating hole, and the clamp can be inserted into the mating hole to clamp the camera device.

16. The camera assembly according to claim 15, It is characterized in that A plurality of protrusions are formed on the hole wall of the mating hole.

17. The camera assembly according to claim 13, It is characterized in that The position adjustment device includes a first arm, a second arm, a clamping mechanism and a first motor. The clamping mechanism is arranged on the first arm and is used to install the camera device. The first arm is rotatably connected to the second arm. The first motor is used to drive the first arm to rotate around a first axis relative to the second arm, thereby driving the camera device to rotate around the first axis through the clamping mechanism.

18. The camera assembly according to claim 17, It is characterized in that The position adjustment device includes a third arm and a second motor. The third arm is rotatably connected to an end of the second arm away from the first arm. The second motor is used to drive the second arm to rotate around a second axis relative to the third arm. The second axis is parallel to the first axis.

19. The camera assembly according to claim 18, It is characterized in that The position adjustment device includes a fourth arm and a third motor. The fourth arm is rotatably connected to an end of the third arm away from the second arm. The third motor is used to drive the third arm to rotate around a third axis relative to the fourth arm. The third axis is parallel to the second axis.

20. The camera assembly according to claim 19, It is characterized in that The position adjustment device includes a fourth motor connected to the fourth arm, and the fourth motor is used to drive the fourth arm to rotate around a fourth axis relative to the main body, and the fourth axis is perpendicular to the third axis.

21. The camera assembly according to claim 17, It is characterized in that The position adjustment device includes a fifth motor installed on the first arm, the clamping mechanism is connected to the fifth motor, and the fifth motor is used to drive the clamping mechanism to clamp the camera device.

22. A robot, It is characterized in that include: main body; as well as The camera assembly according to any one of claims 13 to 21, wherein the position adjustment device of the camera assembly is mounted on the main body, and the camera device of the camera assembly is selectively arranged on the main body or on the position adjustment device, and when the camera device is arranged on the position adjustment device, the camera device can be driven by the position adjustment device to move in at least two different directions; In the first state, the camera device is arranged on the main body and is used to collect image information within a field of view; In the second state, the camera device is arranged on the position adjustment device, and is used to collect image information within the field of view at another position; the robot drives the camera device to move in at least two different directions through the position adjustment device, so that the camera device can perform shooting operations at different positions to obtain image information within the field of view.

Images