Robot with camera holder and camera holder closing detection method

Abstract

The application discloses a robot with a camera holder and a camera holder closing detection method. The robot with the camera holder comprises a main body and a camera holder arranged on the main body. The camera holder is movable relative to the main body. A camera, a first IMU module and a first TOF ranging module are arranged on the camera holder. A control module is arranged in the main body. The first IMU module and the first TOF ranging module are electrically connected to the control module. When the camera holder is in a closed state, part of the main body is located on a measurement path of the first TOF ranging module. The camera holder closing detection is realized through the cooperation between the first IMU module and the first TOF ranging module. The first IMU module and the first TOF ranging module are used more fully. No additional detection sensor is arranged for detecting whether the camera holder is closed, and the manufacturing cost of the robot is effectively saved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a robot with a camera gimbal and a method for detecting when the camera gimbal is closed. Background Technology

[0002] Personal / home service robots can be categorized by their intended use into household robots, educational robots, entertainment robots, elderly and disabled assistance robots, home security robots, personal transportation robots, and other service robots.

[0003] To enable robots to perform functions such as visual navigation and video monitoring, a camera pan-tilt unit is typically mounted on the robot's main body, housing a camera. For privacy and other considerations, in some robots, the camera pan-tilt unit is movable relative to the robot's main body. When the camera is not needed, the pan-tilt unit is turned off, and the camera is retracted into the main body or faces the main body, preventing the camera from capturing the robot's surroundings. The movable nature of the camera pan-tilt unit relative to the robot's main body can be achieved through methods including, but not limited to, extension and rotation.

[0004] In order to detect whether the camera pan-tilt unit is turned off, existing technologies often require the addition of a dedicated detection sensor, which leads to high robot manufacturing costs. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a low-cost robot with a camera gimbal, and a method for detecting the camera gimbal being turned off in the robot.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: a robot with a camera gimbal, comprising a main body and a camera gimbal mounted on the main body, the camera gimbal being movable relative to the main body, the camera gimbal being provided with a camera, a first IMU module and a first TOF ranging module, the main body being provided with a control module, the first IMU module and the first TOF ranging module being electrically connected to the control module respectively; when the camera gimbal is in the off state, a portion of the main body is located on the measurement path of the first TOF ranging module.

[0007] Furthermore, the camera pan-tilt unit is height-adjustable relative to the main body, and / or the camera pan-tilt unit is rotatable relative to the main body.

[0008] Furthermore, the main body is provided with a second TOF ranging module that is electrically connected to the control module.

[0009] Furthermore, the main body is provided with a receiving slot for accommodating at least a portion of the camera pan-tilt unit.

[0010] Furthermore, it also includes an elastic element and a locking component, wherein the elastic element contacts the main body and the camera pan-tilt unit respectively, and the locking component is used to lock the main body and the camera pan-tilt unit.

[0011] Furthermore, the locking component includes a beetle suction cup and a locking block that cooperate with each other. The beetle suction cup is disposed on the main body, and the locking block is disposed on the camera pan-tilt head. Alternatively, the beetle suction cup is disposed on the camera pan-tilt head, and the locking block is disposed on the main body.

[0012] Furthermore, the elastic element is a torsion spring, a sheet spring, or a rubber block.

[0013] Furthermore, the main body is provided with a second IMU module that is electrically connected to the control module.

[0014] To solve the above-mentioned technical problems, the second technical solution adopted by the present invention is: a camera gimbal closure detection method, based on the above-mentioned robot with a camera gimbal, including the following steps.

[0015] Obtain the first IMU data detected by the first IMU module;

[0016] Determine whether the first IMU data has undergone a sudden change;

[0017] Obtain the distance data detected by the first TOF ranging module;

[0018] Determine whether the distance data is within a preset distance value range;

[0019] If the first IMU data undergoes a sudden change, and the distance data is within the preset distance value range of 0, then the output camera pan-tilt-zoom (PPZ) detection result is "camera pan-tilt-zoom is off".

[0020] Furthermore, the main body is provided with a second IMU module electrically connected to the control module;

[0021] Before determining whether a sudden change has occurred in the first IMU data, the process further includes the step of acquiring the second IMU data detected by the second IMU module, and then adjusting the first IMU based on the second IMU data.

[0022] The data is decoupled.

[0023] The beneficial effects of this invention are as follows:

[0024] This robot has a camera pan-tilt-zoom off detection function, which can effectively identify the working environment of the camera and enable more precise control of the camera.

[0025] This robot achieves camera gimbal closure detection through the cooperation of its original first IMU module and long-range TOF ranging module (i.e., the first TOF ranging module). This makes full use of the first IMU module and the first TOF ranging module, eliminating the need for additional detection sensors specifically designed to detect whether the camera gimbal is off, thus effectively saving on robot manufacturing costs. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of the robot with a camera gimbal according to Embodiment 1 of the present invention (when the camera gimbal is turned on);

[0027] Figure 2 This is a schematic diagram of the overall structure of the robot with a camera gimbal according to Embodiment 1 of the present invention (when the camera gimbal is turned off);

[0028] Figure 3 This is a schematic diagram of the camera gimbal in the robot with camera gimbal according to Embodiment 1 of the present invention;

[0029] Figure 4 This is a schematic diagram of a portion of the structure of a robot with a camera gimbal according to Embodiment 1 of the present invention.

[0030] Label Explanation:

[0031] 1. Main body; 11. Reception slot; 12. Second TOF ranging module;

[0032] 2. Camera pan-tilt unit; 21. Camera; 22. First TOF ranging module; 23. Locking block;

[0033] 3. Elastic components;

[0034] 4. Beetle sucking. Detailed Implementation

[0035] To explain in detail the technical content, objectives, and effects of the present invention, the following description is provided in conjunction with the embodiments and accompanying drawings.

[0036] Please refer to Figures 1 to 4 A robot with a camera pan-tilt unit 2 includes a main body 1 and a camera pan-tilt unit 2 mounted on the main body 1. The camera pan-tilt unit 2 is movable relative to the main body 1. The camera pan-tilt unit 2 is equipped with a camera 21, a first IMU module, and a first TOF ranging module 22. The main body 1 is equipped with a control module. The first IMU module and the first TOF ranging module 22 are electrically connected to the control module. When the camera pan-tilt unit 2 is in the off state, a part of the main body 1 is located on the measurement path of the first TOF ranging module 22.

[0037] As can be seen from the above description, the beneficial effects of the present invention are as follows: the robot has a camera gimbal shutdown detection function, which can effectively identify the working environment of the camera 21 and can control the camera 21 more accurately.

[0038] This robot achieves camera gimbal 2 shutdown detection through the cooperation of the original equipped first IMU module and long-range TOF ranging module (i.e., first TOF ranging module 22), making full use of the first IMU module and the first TOF ranging module 22, eliminating the need for additional detection sensors specifically for detecting whether the camera gimbal 2 is off, and effectively saving robot manufacturing costs.

[0039] Furthermore, the camera pan-tilt 2 is height-adjustable relative to the main body 1, and / or the camera pan-tilt 2 is rotatable relative to the main body 1.

[0040] As can be seen from the above description, there are several ways in which the camera gimbal 2 can move relative to the main body 1.

[0041] Furthermore, the main body 1 is provided with a second TOF ranging module 12 that is electrically connected to the control module.

[0042] As described above, the second TOF ranging module 12 is used for distance measurement of the robot at nearby locations.

[0043] Furthermore, the main body 1 is provided with a receiving slot 11 for accommodating at least a portion of the area of ​​the camera pan-tilt unit 2.

[0044] As can be seen from the above description, the housing 11 can protect the camera pan-tilt 2 when it is in the off state.

[0045] Furthermore, it also includes an elastic element 3 and a locking assembly. The elastic element 3 contacts the main body 1 and the camera pan-tilt 2 respectively, and the locking assembly is used to lock the main body 1 and the camera pan-tilt 2.

[0046] As described above, the camera gimbal 2 can automatically pop open for easy use.

[0047] Furthermore, the locking component includes a beetle suction 4 and a locking block 23 that cooperate with each other. The beetle suction 4 is disposed on the main body 1 and the locking block 23 is disposed on the camera pan-tilt head 2, or the beetle suction 4 is disposed on the camera pan-tilt head 2 and the locking block 23 is disposed on the main body 1.

[0048] As can be seen from the above description, the locking component has a simple structure and stable operation.

[0049] Furthermore, the elastic element 3 is a torsion spring, a spring sheet, or a rubber block.

[0050] As can be seen from the above description, there are many types of elastic elements 3 to choose from.

[0051] Furthermore, the main body 1 is provided with a second IMU module that is electrically connected to the control module.

[0052] As can be seen from the above description, the second IMU module is the inertial measurement unit of the main body 1.

[0053] The camera gimbal closure detection method, based on the robot with camera gimbal 2 mentioned above, includes the following steps:

[0054] Obtain the first IMU data detected by the first IMU module;

[0055] Determine whether the first IMU data has undergone a sudden change;

[0056] Obtain the distance data detected by the first TOF ranging module 22;

[0057] Determine whether the distance data is within a preset distance value range;

[0058] If the first IMU data undergoes a sudden change, and the distance data is within the preset distance value range, then the output camera gimbal shutdown detection result is that camera gimbal 2 has been shut down.

[0059] As can be seen from the above description, this camera pan-tilt-zoom (PTZ) closure detection method is simple and has a high detection accuracy.

[0060] Furthermore, the main body 1 is provided with a second IMU module that is electrically connected to the control module;

[0061] Before determining whether the first IMU data has undergone a sudden change, the process further includes the step of acquiring the second IMU data detected by the second IMU module and decoupling the first IMU data based on the second IMU data.

[0062] As described above, the first IMU data after decoupling is more accurate, which helps to improve the accuracy of camera pan-tilt-zoom (PTZ) detection.

[0063] Example 1

[0064] Please refer to Figures 1 to 4 Embodiment 1 of the present invention is: a robot with a camera gimbal 2, including but not limited to household robots, educational robots, entertainment robots, elderly and disabled assistance robots, home security monitoring robots, chef robots, and handling robots.

[0065] The robot with a camera gimbal 2 includes a main body 1 and a camera gimbal 2 mounted on the main body 1. The camera gimbal 2 is movable relative to the main body 1. The camera gimbal 2 is equipped with a camera 21, a first IMU module, and a first TOF ranging module 22. The main body 1 is equipped with a control module. The first IMU module and the first TOF ranging module 22 are electrically connected to the control module. When the camera gimbal 2 is in the off state, a part of the main body 1 is located on the measurement path of the first TOF ranging module 22.

[0066] The fact that the camera pan-tilt 2 is movable relative to the main body 1 means that the camera pan-tilt 2 can be raised and lowered relative to the main body 1, and / or that the camera pan-tilt 2 can rotate relative to the main body 1.

[0067] The main body 1 is equipped with a second TOF ranging module 12 electrically connected to the control module. In this embodiment, the camera gimbal 2 is located on the top of the main body 1. The first TOF ranging module 22 is a large-angle long-range TOF ranging module, which is used to detect positions far from the robot so that the robot can detect obstacles or steps earlier. The second TOF ranging module 12 is a small-angle short-range TOF ranging module, which is used to detect positions close to the robot so that the robot can identify obstacles or steps more accurately.

[0068] The main body 1 is provided with a receiving groove 11 for accommodating at least a portion of the camera pan-tilt 2. In this embodiment, the receiving groove 11 is located on the top of the main body 1. When the camera pan-tilt 2 is in the closed state, the entire area of ​​the camera pan-tilt 2 is located in the receiving groove 11, and a portion of the camera pan-tilt 2 closes the opening of the receiving groove 11.

[0069] Optionally, the robot with camera gimbal 2 further includes an elastic element 3 and a locking assembly. The elastic element 3 contacts both the main body 1 and the camera gimbal 2. The locking assembly locks the main body 1 and the camera gimbal 2 together. The elastic element 3 can be a torsion spring, a spring sheet, a rubber block, or other elastic element. When the camera gimbal 2 is closed, the locking assembly locks the camera gimbal 2 to prevent it from accidentally opening under the action of the elastic element 3. When the locking assembly is released, the camera gimbal 2 automatically springs open under the action of the elastic element 3.

[0070] In this embodiment, the locking component includes a cooperating beetle suction device 4 and a locking block 23. The beetle suction device 4 is disposed on the main body 1, and the locking block 23 is disposed on the camera pan / tilt head 2. Alternatively, the beetle suction device 4 is disposed on the camera pan / tilt head 2, and the locking block 23 is disposed on the main body 1. In other embodiments, the locking component may also have other structural forms.

[0071] Furthermore, the main body 1 is provided with a second IMU module electrically connected to the control module. In this embodiment, the first IMU module is an inertial measurement unit for detecting the camera pan-tilt 2, which is used to detect the three-axis angular velocity and acceleration of the camera pan-tilt 2; the second IMU module is an inertial measurement unit for detecting the main body 1, which is used to detect the three-axis angular velocity and acceleration of the main body 1.

[0072] This embodiment also provides a camera gimbal closure detection method, based on the robot with camera gimbal 2 described above, including the following steps.

[0073] S1. Obtain the first IMU data detected by the first IMU module.

[0074] S2. Determine whether the first IMU data has undergone a sudden change. Specifically, determine whether the change in the first IMU data exceeds a preset IMU change rate within a unit time or a preset IMU data period to determine whether the first IMU data has undergone a sudden change; or, determine a change period starting from the time point when the first IMU data changes and ending at the time point when the first IMU data stops changing, then divide the change in the first IMU data by the change period to obtain the change rate of the first IMU data, and finally determine whether the first IMU data has undergone a sudden change based on whether the change rate of the first IMU data exceeds a preset change rate of the first IMU data. More specifically, in this embodiment, the camera pan-tilt 2 is rotatably connected to the main body 1. Therefore, when determining whether the first IMU data has undergone a sudden change, the main focus is on whether the angular velocity of the camera pan-tilt 2 has undergone a sudden change. In other embodiments, when the camera pan-tilt 2 is height-adjustable relative to the main body 1, the main focus is on whether the acceleration of the camera pan-tilt 2 has undergone a sudden change when determining whether the first IMU data has undergone a sudden change.

[0075] S3. Obtain the distance data detected by the first TOF ranging module 22.

[0076] S4. Determine whether the distance data is within the preset distance value range. When the camera pan-tilt 2 is in the off state, a portion of the main body 1 is located on the measurement path of the first TOF ranging module 22. Therefore, the distance between the first TOF ranging module 22 on the camera pan-tilt 2 in the off state and the main body 1 is very clear, so the preset distance value range is easy to determine.

[0077] If the first IMU data undergoes a sudden change, and the distance data is within the preset distance value range, then the output camera gimbal shutdown detection result is that camera gimbal 2 has been shut down.

[0078] When the camera pan-tilt 2 is determined to be off, the control module controls the camera 21 to turn off or adjust the posture of the camera 21, and / or, the control module controls the activation or deactivation of other robot functions or posture adjustment, etc.

[0079] To improve the accuracy of the detection results, step S11 is included before determining whether the first IMU data has undergone a sudden change: acquiring the second IMU data detected by the second IMU module, and decoupling the first IMU data based on the second IMU data. The decoupling process mainly eliminates the influence of the entire device's movement on the first IMU data. When the entire device moves, the main body 1 and the camera pan / tilt 2 move synchronously; therefore, the first IMU data and the second IMU data change simultaneously. By subtracting the change in the second IMU data from the first IMU data, the decoupled first IMU data can be obtained. Determining whether the decoupled first IMU data has undergone a sudden change allows for a more accurate detection result when the camera pan / tilt 2 is turned off.

[0080] In summary, the robot with a camera gimbal and the camera gimbal closure detection method provided by the present invention can achieve camera gimbal closure detection at a low cost, without the need for additional detection sensors, and with high accuracy of detection results.

[0081] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent modifications made based on the content of the present invention specification and drawings, or direct or indirect applications in related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A robot equipped with a camera gimbal, characterized in that: The system includes a main body and a camera pan-tilt unit mounted on the main body. The camera pan-tilt unit is movable relative to the main body. The camera pan-tilt unit is equipped with a camera, a first IMU module, and a first TOF ranging module. A control module is located within the main body. The first IMU module and the first TOF ranging module are electrically connected to the control module. During the transition of the camera pan-tilt unit from an on state to a off state, the first IMU data detected by the first IMU module undergoes a sudden change. When the camera pan-tilt unit is in the off state, a portion of the main body lies on the measurement path of the first TOF ranging module, and the distance data detected by the first TOF ranging module is within a preset distance range. The MU module is an inertial measurement unit used to detect the three-axis angular velocity and acceleration of the camera gimbal. The first TOF ranging module is a large tilt angle long-range TOF ranging module, which is used to detect positions far from the robot so that the robot can detect obstacles or steps earlier. The main body is equipped with a second IMU module electrically connected to the control module. The second IMU module is an inertial measurement unit used to detect the three-axis angular velocity and acceleration of the main body. Before determining whether the first IMU data has changed abruptly, the second IMU data detected by the second IMU module is acquired, and the first IMU data is decoupled based on the second IMU data.

2. The robot with a camera gimbal according to claim 1, characterized in that: The camera pan-tilt unit is height-adjustable relative to the main body, and / or the camera pan-tilt unit is rotatable relative to the main body.

3. The robot with a camera gimbal according to claim 1, characterized in that: The main body is equipped with a second TOF ranging module that is electrically connected to the control module.

4. The robot with a camera gimbal according to claim 1, characterized in that: The main body is provided with a receiving slot for accommodating at least a portion of the camera pan-tilt unit.

5. The robot with a camera gimbal according to claim 4, characterized in that: It also includes an elastic element and a locking component, wherein the elastic element contacts the main body and the camera pan-tilt unit respectively, and the locking component is used to lock the main body and the camera pan-tilt unit.

6. The robot with a camera gimbal according to claim 5, characterized in that: The locking assembly includes a beetle suction cup and a locking block that cooperate with each other. The beetle suction cup is disposed on the main body and the locking block is disposed on the camera pan-tilt head, or the beetle suction cup is disposed on the camera pan-tilt head and the locking block is disposed on the main body.

7. The robot with a camera gimbal according to claim 5, characterized in that: The elastic element is a torsion spring, a sheet spring, or a rubber block.

8. A method for detecting when a camera pan-tilt unit is off, characterized in that: The robot with a camera gimbal according to any one of claims 1-7 includes the following steps: Obtain the first IMU data detected by the first IMU module; Determine whether the first IMU data has undergone a sudden change; Obtain the distance data detected by the first TOF ranging module; Determine whether the distance data is within a preset distance value range; If the first IMU data undergoes a sudden change, and the distance data is within a preset distance value range, then the camera pan-tilt-zoom (PPZ) detection result will be output as "camera pan-tilt-zoom is off". Before determining whether the first IMU data has undergone a sudden change, the process further includes obtaining the second IMU data detected by the second IMU module and decoupling the first IMU data based on the second IMU data.

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