Head mechanism and robot

Abstract

The invention discloses a head mechanism and a robot, and the head mechanism comprises: a housing, the interior of which forms an accommodating cavity; the first support is arranged in the containing cavity, the first support comprises a first installation face and a second installation face, the first installation face is located below the second installation face in the first direction, an included angle is formed between the first installation face and the second installation face, and the second installation face faces the second direction; the second bracket is arranged in the accommodating cavity, the second bracket comprises a third mounting surface, and the third mounting surface is parallel to the second mounting surface; the first acquisition assembly is arranged on the first mounting surface; the second acquisition assembly is arranged on the second mounting surface; the third acquisition assembly is arranged on the third mounting surface; the first direction is perpendicular to the second direction.

Description

Technical Field

[0001] The present application belongs to the field of robotics technology, and in particular relates to a head mechanism and a robot. Background Art

[0002] At present, humanoid robot technology has made significant progress. Humanoid robots have gradually moved from laboratories to broader practical application fields. Their intelligence level and movement capabilities are constantly improving, and they play an important role in many fields such as home services, medical care, and industrial production.

[0003] The head mechanism is usually equipped with a camera assembly to collect the surrounding environment of the robot. In related technologies, the camera assembly is usually set on the shell of the head mechanism. The shell is usually an irregular arc shape, which makes the camera assembly difficult to install and has low installation accuracy, affecting the collection accuracy of the camera assembly. Summary of the Invention

[0004] One purpose of embodiments of the present application is to provide a head mechanism and a robot.

[0005] According to a first aspect of an embodiment of the present application, a head mechanism is provided, comprising:

[0006] a housing, wherein an interior of the housing forms a receiving cavity;

[0007] a first bracket, the first bracket being disposed in the accommodating cavity, the first bracket comprising a first mounting surface and a second mounting surface, the first mounting surface being located below the second mounting surface in a first direction, the first mounting surface and the second mounting surface forming an angle, and the second mounting surface facing a second direction;

[0008] a second bracket, the second bracket being disposed in the accommodating cavity, the second bracket comprising a third mounting surface, the third mounting surface being parallel to the second mounting surface;

[0009] a first collecting component, the first collecting component being arranged on the first mounting surface;

[0010] a second collecting component, the second collecting component being disposed on the second mounting surface;

[0011] a third collecting component, the third collecting component being arranged on the third mounting surface;

[0012] The first direction is perpendicular to the second direction.

[0013] Optionally, the first bracket includes a first mounting portion, a second mounting portion and a third mounting portion, the first mounting portion is located below the second mounting portion in the first direction, the first mounting portion and the second mounting portion are connected through the third mounting portion, the first mounting surface is located at the first mounting portion, and the second mounting surface is located at the second mounting portion.

[0014] Optionally, the first mounting portion further includes a fourth mounting surface, which is arranged at an angle to the first mounting surface, one side of the first acquisition component is connected to the first mounting surface, and the other side of the first acquisition component abuts against the fourth mounting surface.

[0015] Optionally, the first bracket further includes a fifth mounting surface, and the fifth mounting surface is located between the first mounting surface and the second mounting surface in the first direction;

[0016] The head mechanism further includes a screen module, and the screen module is arranged on the fifth mounting surface.

[0017] Optionally, the head mechanism also includes a third bracket, which is connected to the first bracket and the first acquisition component. The third bracket is provided with a first avoidance portion and a second avoidance portion. The third acquisition component is partially located in the first avoidance portion, and the screen module is located in the second avoidance portion.

[0018] Optionally, the included angle formed between the extended surface of the first mounting surface and the extended surface of the second mounting surface is an obtuse angle.

[0019] Optionally, the first acquisition component includes a first depth camera component.

[0020] Optionally, an axis of the first depth camera assembly is perpendicular to the first mounting surface.

[0021] Optionally, the second acquisition component includes a first camera component and a second camera component, and the first camera component and the second camera component are spaced apart;

[0022] The axis of the first camera assembly is parallel to the axis of the second camera assembly.

[0023] Optionally, the third acquisition component includes a third camera component, and the axis of the third camera component is parallel to the axis of the first camera component; or

[0024] The third acquisition component includes a second depth camera component, and the axis of the second depth camera component is parallel to the axis of the first camera component.

[0025] According to a second aspect of an embodiment of the present application, a robot is provided, comprising:

[0026] The head mechanism described above;

[0027] A torso mechanism, wherein the head mechanism is provided on the torso mechanism, the torso mechanism includes a first end and a second end arranged along the second direction, the first acquisition component is located above the first end in the first direction, and the axis of the first acquisition component does not intersect with the first end, and the third acquisition component is located above the second end in the first direction, and the axis of the third acquisition component does not intersect with the second end.

[0028] One technical effect of an embodiment of the present application is that the first bracket provides installation support for the first acquisition component and the second acquisition component, and the second bracket provides installation support for the third acquisition component, so as to ensure the installation angle and installation position of the first acquisition component, the second acquisition component and the third acquisition component, thereby improving the installation accuracy of the first acquisition component, the second acquisition component and the third acquisition component, and reducing the installation difficulty of the first acquisition component, the second acquisition component and the third acquisition component.

[0029] Other features and advantages of the present application will become apparent from the following detailed description of exemplary embodiments of the present application with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the application and, together with the description, serve to explain the principles of the application.

[0031] Figure 1 Schematic diagram of the structure of the head mechanism in the embodiment of the present application;

[0032] Figure 2 for Figure 1 Cross-sectional view at AA in FIG;

[0033] Figure 3 This is a schematic structural diagram of the first bracket, the second bracket, the third bracket, the first collection component, the second collection component, and the third collection component in an embodiment of the present application;

[0034] Figure 4 This is a schematic structural diagram of the first bracket, the second bracket, the third bracket, the first collection component, the second collection component, and the third collection component in an embodiment of the present application;

[0035] Figure 5 This is a schematic structural diagram of the first bracket, the second bracket, the third bracket, the first collection component, the second collection component, and the third collection component in an embodiment of the present application;

[0036] Figure 6This is a structural diagram of the first bracket, the first collection component, and the second collection component in an embodiment of the present application;

[0037] Figure 7 This is a structural diagram of the first bracket, the first collection component, and the second collection component in an embodiment of the present application;

[0038] Figure 8 Schematic diagram of the structure of the third bracket in the embodiment of the present application;

[0039] Figure 9 Schematic diagram of the structure of the robot in the embodiment of the present application;

[0040] Figure 10 Schematic diagram of the structure of the robot in the embodiment of the present application;

[0041] Figure 11 for Figure 10 Cross-sectional view at BB in.

[0042] Explanation of the accompanying drawings: shell 1; accommodating cavity 11; first bracket 2; first mounting portion 21; second mounting portion 22; third mounting portion 23; first mounting surface 24; second mounting surface 25; fourth mounting surface 26; fifth mounting surface 27; second bracket 3; third mounting surface 31; third bracket 4; first avoidance portion 41; second avoidance portion 42; first acquisition component 5; first connecting surface 51; second connecting surface 52; second acquisition component 6; first camera component 61; second camera component 62; third acquisition component 7; screen module 8; robot 1000; head mechanism 100; torso mechanism 200; first end 201; second end 202; first axis a; second axis b; third axis c; fourth axis d; angle e. DETAILED DESCRIPTION

[0043] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangements of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present application.

[0044] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0045] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0046] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0047] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0048] In the specification and claims of the present invention, references to features using the terms "first" or "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, "plurality" means two or more. Furthermore, in the specification and claims, "and / or" refers to at least one of the connected entities, and the character " / " generally indicates an "or" relationship between the connected entities.

[0049] In the description of the present invention, it should be understood that the terms "axial", "radial", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. This is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0050] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, these terms may refer to fixed, removable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; or internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in the present invention based on the specific circumstances.

[0051] First, it is explained that in the embodiment of the present application, the first direction is the up-down direction, the second direction is the front-back direction, and the third direction is the left-right direction; wherein, the first direction, the second direction, and the third direction are directions defined when the second collecting component of the head mechanism is facing forward. For the first direction, the second direction, and the third direction, please refer to the attached Figure 1 、 Figure 2 、 Figure 3 、 Figure 9 by Figure 10 The direction marked.

[0052] like Figures 1-8As shown, according to the first aspect of an embodiment of the present application, a head mechanism 100 is provided, comprising a shell 1, a first bracket 2, a second bracket 3, a first acquisition component 5, a second acquisition component 6 and a third acquisition component 7; a accommodating chamber 11 is formed inside the shell 1; the first bracket 2 is arranged in the accommodating chamber 11, the first bracket 2 includes a first mounting surface 24 and a second mounting surface 25, the first mounting surface 24 is located below the second mounting surface 25 in a first direction, an angle e is formed between the first mounting surface 24 and the second mounting surface 25, and the second mounting surface 25 faces the second direction; the second bracket 3 is arranged in the accommodating chamber 11, the second bracket 3 includes a third mounting surface 31, and the third mounting surface 31 is parallel to the second mounting surface 25; the first acquisition component 5 is arranged on the first mounting surface 24; the second acquisition component 6 is arranged on the second mounting surface 25; the third acquisition component 7 is arranged on the third mounting surface 31; the first direction is perpendicular to the second direction.

[0053] like Figure 1 and Figure 2 As described above, the head mechanism 100 includes a shell 1 , a first bracket 2 , a second bracket 3 , a first collecting component 5 , a second collecting component 6 and a third collecting component 7 .

[0054] Among them, the shell 1 is the outer shell of the head mechanism 100, and a accommodating cavity 11 is formed inside the shell 1. The first bracket 2, the second bracket 3, the first collecting component 5, the second collecting component 6 and the third collecting component 7 are all located in the accommodating cavity 11; the first collecting component 5 and the second collecting component 6 are arranged on the first bracket 2, and the third collecting component 7 is arranged on the second bracket 3.

[0055] Specifically, if Figure 3 As shown, the first bracket 2 includes a first mounting surface 24 and a second mounting surface 25. The first mounting surface 24 is located below the second mounting surface 25 in the first direction, and the first mounting surface 24 and the second mounting surface 25 are arranged at an angle. It can be understood that the first mounting surface 24 and the second mounting surface 25 are not parallel; the second mounting surface 25 faces the second direction, and the second direction intersects the first direction. Preferably, the first direction is perpendicular to the second direction; the first collection component 5 is arranged on the first mounting surface 24, and the second collection component 6 is arranged on the second mounting surface 25. That is, the first bracket 2 provides mounting support for the first collection component 5 and the second collection component 6, and there is no need to directly set the first collection component 5 and the second collection component 6 directly on the shell 1. The first mounting surface 24 and the second mounting surface 25 on the first bracket 2 are used to ensure the mounting angle and mounting position of the first collection component 5 and the second collection component 6, thereby improving the mounting accuracy of the first collection component 5 and the second collection component 6 and reducing the difficulty of mounting the first collection component 5 and the second collection component 6.

[0056] Further explanation, such as Figure 5 As shown, the second bracket 3 includes a third mounting surface 31, which is parallel to the second mounting surface 25. The third mounting surface 31 faces the side away from the second mounting surface 25. The third collection component 7 is arranged on the third mounting surface 31. The second bracket 3 provides installation support for the third collection component 7. The third collection component 7 is directly set on the shell 1 without the need for a bracket, and the third collection component 7 is ensured to have an installation angle and an installation position through the third mounting surface 31 of the second bracket 3, thereby improving the installation accuracy of the third collection component 7 and reducing the installation difficulty of the third collection component 7.

[0057] The second collection component 6 and the third collection component 7 are respectively located on both sides of the housing 1 along the second direction. It can be understood that the second collection component 6 faces forward and the third collection component 7 faces backward. Therefore, the second collection component 6 is used to collect environmental information in front of the robot 1000, and the third collection component 7 is used to collect environmental information behind the robot 1000. The first collection component 5 and the second collection component 6 are arranged on the same side of the housing 1. The first collection component 5 is located below the second collection component 6 in the first direction. Because the first mounting surface 24 and the second mounting surface 25 are arranged at an angle e, the first collection component 5 is arranged on the first mounting surface 24. The viewing direction of the first collection component 5 is toward the front and bottom of the robot 1000, and the first collection component 5 is used to collect environmental information from the front and bottom of the robot 1000. When the head mechanism 100 can shake its head left and right or look up and down, the first collection component 5, the second collection component 6, and the third collection component 7 cooperate with each other to collect 360° or even 720° environmental information of the robot 1000. In this way, the robot 1000 can obtain more information about the environment and provide a better interactive experience.

[0058] The head mechanism 100 of the present application provides installation support for the first collection component 5 and the second collection component 6 through the first bracket 2, and provides installation support for the third collection component 7 through the second bracket 3, so as to ensure the installation angle and installation position of the first collection component 5, the second collection component 6 and the third collection component 7, thereby improving the installation accuracy of the first collection component 5, the second collection component 6 and the third collection component 7, and reducing the installation difficulty of the first collection component 5, the second collection component 6 and the third collection component 7.

[0059] like Figure 6 and Figure 7As shown, in an optional embodiment, the first bracket 2 includes a first mounting portion 21, a second mounting portion 22 and a third mounting portion 23, the first mounting portion 21 is located below the second mounting portion 22 in the first direction, the first mounting portion 21 and the second mounting portion 22 are connected through the third mounting portion 23, the first mounting surface 24 is located at the first mounting portion 21, and the second mounting surface 25 is located at the second mounting portion 22; specifically, the first mounting portion 21 is located below the second mounting portion 22 in the first direction, the end of the first mounting portion 21 close to the second mounting portion 22 in the first direction is located in front of the second mounting portion 22 in the second direction, and the first mounting portion 21 and the second mounting portion 22 are connected through the third mounting portion 23, wherein the first mounting surface 24 is located at the first mounting portion 21, and the second mounting surface 25 is located at the second mounting portion 22; in this embodiment, the structure of the first bracket 2 is simple, and the space occupied in the accommodating cavity 11 is small, so that the structure of the head mechanism 100 is more compact.

[0060] The first bracket 2 may be an integrated structure to ensure the structural stability of the first bracket 2 ; or it may be a split connection.

[0061] like Figure 3 As shown, in an optional embodiment, the first mounting portion 21 further includes a fourth mounting surface 26, which is arranged at an angle to the first mounting surface 24, one side of the first collection component 5 is connected to the first mounting surface 24, and the other side of the first collection component 5 is abutted against the fourth mounting surface 26; specifically, the fourth mounting surface 26 is located below the second mounting surface 25 in the first direction, and the fourth mounting surface 26 is connected to the first mounting surface 24 at an angle; the first collection component 5 includes a first connecting surface 51 and a second connecting surface 52, which are connected at an angle, the first connecting surface 51 is connected to the first mounting surface 24, and the second connecting surface 52 is connected to the fourth mounting surface 26; in this embodiment, the installation position of the first collection component 5 is limited by the first mounting surface 24 and the fourth mounting surface 26 to ensure the installation accuracy of the first collection component 5 and reduce the installation difficulty.

[0062] like Figure 6 and Figure 7As shown, in an optional embodiment, the first bracket 2 also includes a fifth mounting surface 27, and the fifth mounting surface 27 is located between the first mounting surface 24 and the second mounting surface 25 in the first direction; specifically, the fifth mounting surface 27 is located between the first mounting surface 24 and the second mounting surface 25 in the first direction, and the fifth mounting surface 27 is located in front of the first mounting surface 24 in the second direction; the head mechanism 100 also includes a screen module 8, and the screen module 8 is arranged on the fifth mounting surface 27; in this embodiment, by arranging the screen module 8 on the first bracket 2, the structure of the head mechanism 100 is more compact and its integration is higher.

[0063] like Figure 4 and Figure 8 As shown, in an optional embodiment, the head mechanism 100 further includes a third bracket 4, which is connected to the first bracket 2 and the first collection component 5. The third bracket 4 is provided with a first avoidance portion 41 and a second avoidance portion 42. The second collection component 6 is partially located in the first avoidance portion 41, and the screen module 8 is located in the second avoidance portion 42. Specifically, the third bracket 4 is connected to the first bracket 2 and is located in front of the first bracket 2 in the second direction. Therefore, the second collection component 6 and the screen module 8 are located between the first bracket 2 and the third bracket 4. The third bracket 4 is connected to the first collection component 5. By providing the third bracket 4, the first collection component 5, the second collection component 6 and the screen module 8 are further limited to improve the installation stability of the second collection component 6 and the screen module 8. The third bracket 4 is provided with a first avoidance portion 41 and a second avoidance portion 42. The first avoidance portion 41 is used to avoid the second collection component 6, and the second avoidance portion 42 is used to avoid the screen module 8 to avoid blocking the second collection component 6 and the screen module 8.

[0064] like Figure 2 As shown, in an optional embodiment, the angle e formed between the extension surface of the first mounting surface 24 and the extension surface of the second mounting surface 25 is an obtuse angle, so the first mounting surface 24 faces the front and bottom of the robot 1000, and the first acquisition component 5 is arranged on the first mounting surface 24. The first acquisition component 5 can collect environmental information from the front and bottom of the robot 1000, and provide navigation and obstacle avoidance functions for the movement of the robot 1000.

[0065] In an optional embodiment, the first acquisition component 5 includes a first depth camera component; specifically, the first depth camera component can collect RGB information and depth information, wherein the RGB information refers to providing color details of the scene for visual recognition, classification and other tasks; the depth information refers to providing the depth of each pixel in the scene (the distance from the first depth camera component) for three-dimensional reconstruction, spatial perception, object detection and other tasks; in this embodiment, the first depth camera component is installed on the first mounting surface 24, and the first depth camera component can help the robot 1000 understand the three-dimensional structure of the environment and achieve navigation, obstacle avoidance and object grasping.

[0066] In an optional embodiment, the axis of the first depth camera assembly is perpendicular to the first mounting surface 24; specifically, the axis of the first depth camera assembly is the first axis a, and the first axis a refers to the central axis of the installation of the first depth camera assembly, which can also be understood as the angular bisector of the first detection field of view of the first depth camera assembly; the first axis a is perpendicular to the first mounting surface 24, so the first detection field of view of the first depth camera assembly can take into account the environment in front and below the robot 1000, so that the robot 1000 can effectively identify objects shorter than itself and the distance between the object and the robot 1000, thereby improving the obstacle avoidance function of the robot 1000, so that the movement of the robot 1000 is more flexible and the user experience is better.

[0067] It should be noted that the first detection field of view here refers to the detection area of ​​the first depth camera assembly, that is, the range covered by the field of view angle of the first depth camera assembly, and the first axis a bisects the field of view angle of the first detection field of view.

[0068] like Figure 2 、 Figure 3 、 Figure 4 、 Figure 6 and Figure 7As shown, in an optional embodiment, the second acquisition component 6 includes a first camera component 61 and a second camera component 62, and the first camera component 61 and the second camera component 62 are spaced apart; the axis of the first camera component 61 is parallel to the axis of the second camera component 62; specifically, the first camera component 61 and the second camera component 62 are spaced apart along the third direction; the axis of the first camera component 61 is the second axis b, and the second axis b refers to the central axis of the installation of the first camera component 61, which can also be understood as the angular bisector of the second detection field of view of the first camera component 61, and the second axis b is perpendicular to the second mounting surface 25; the axis of the second camera component 62 is the third axis c, and the third axis c refers to the central axis of the installation of the second camera component 62, which can also be understood as the angular bisector of the third detection field of view of the second camera component 62, the third axis c is perpendicular to the second mounting surface 25, and the second axis b is parallel to the third axis c, that is, the lines of sight of the first camera component 61 and the second camera component 62 are parallel.

[0069] In this embodiment, in the robot 1000 vision system, the parallel lines of sight of the first camera component 61 and the second camera component 62 have significant advantages over non-parallel designs.

[0070] Specifically, the fact that the line of sight of the first camera component 61 is not parallel to the line of sight of the second camera component 62 will make the parallax calculation complicated, requiring additional geometric transformation and correction, and will also cause systematic errors in the depth calculation due to the angle difference; in this embodiment, the line of sight of the first camera component 61 is parallel to the line of sight of the second camera component 62, and the parallax (i.e., the position difference of the same object in the two cameras) calculation is simpler and more stable, and the parallax is inversely proportional to the depth of the object. The line of sight of the first camera component 61 is parallel to the line of sight of the second camera component 62, which can avoid the depth calculation error caused by the angle difference between the first camera component 61 and the second camera component 62, so as to ensure that the depth resolution remains consistent at all positions within the field of view, thereby providing the robot 1000 with a more uniform depth perception capability.

[0071] Specifically, if the line of sight of the first camera component 61 is not parallel to the line of sight of the second camera component 62, additional calculations are required to correct the depth information, which may cause a delay in the obstacle avoidance decision; in this embodiment, the line of sight of the first camera component 61 is parallel to the line of sight of the second camera component 62. The parallel lines of sight can provide accurate depth information in real time, helping the robot 1000 to make obstacle avoidance decisions quickly. No matter which direction the robot 1000 moves, its obstacle avoidance capability remains consistent.

[0072] Specifically, if the line of sight of the first camera component 61 is not parallel to the line of sight of the second camera component 62, a more complex calibration process is required to ensure that the images of the first camera component 61 and the second camera component 62 can be correctly aligned, and due to the angle difference, the calibration accuracy of the non-parallel line of sight may be lower, requiring more frequent calibration; in this embodiment, the line of sight of the first camera component 61 is parallel to the line of sight of the second camera component 62, which makes it easier to calibrate and calibrate. The calibration process mainly determines the relative position and parameters between the first camera component 61 and the second camera component 62. Parallel lines of sight can simplify this process, and the calibration results of parallel lines of sight are more stable and less affected by environmental changes.

[0073] The axis of the third direction intersects with the axis of the first direction and the axis of the second direction respectively.

[0074] like Figure 5 As shown, in an optional embodiment, the third acquisition component 7 includes a third camera component, and the axis of the third camera component is parallel to the axis of the first camera component 61; specifically, the axis of the third camera component is the fourth axis d, and the fourth axis d refers to the central axis of the installation of the third camera component, which can also be understood as the angular bisector of the fourth detection field of view of the third camera component; the fourth axis d is perpendicular to the third mounting surface 31, and the fourth axis d is parallel to the second axis b and the third axis c; in this embodiment, the third camera component cooperates with the first depth camera component, the first camera component 61 and the second camera component Component 62 can provide the robot 1000 with all-round visual perception capabilities, enhancing its navigation, obstacle avoidance and interaction capabilities in complex environments; specifically, it can cover the rear field of view of the robot 1000, and form a complete 360-degree visual coverage with the first depth camera component, the first camera component 61 and the second camera component 62, which enables the robot 1000 to perceive all directions of the surrounding environment during movement and reduce blind spots; when the robot 1000 is moving forward, turning or backward, the third camera component can monitor the rear environment in real time, detect potential obstacles or dangers in time, and avoid collisions.

[0075] It should be noted that the fourth detection field of view here refers to the detection area of ​​the third camera assembly, that is, the range covered by the field of view angle of the third camera assembly, and the fourth axis d will bisect the field of view angle of the fourth detection field of view.

[0076] In another optional embodiment, the third acquisition component includes a second depth camera component, and the axis of the second depth camera component is parallel to the axis of the first camera component 61; specifically, the function of the second depth camera component is the same as that of the third camera component, except that the second depth camera component can capture the distance between the object and the second depth camera component to improve the obstacle avoidance function of the robot 1000.

[0077] like Figures 9-11 As shown, according to the second aspect of the embodiment of the present application, a robot 1000 is provided, including a head mechanism 100 and a torso mechanism 200; the head mechanism 100 is arranged on the torso mechanism 200, and the torso mechanism 200 includes a first end 201 and a second end 202 arranged along the second direction, and the first acquisition component 5 is located above the first end 201 in the first direction, and the axis of the first acquisition component 5 does not intersect with the first end 201; specifically, the first acquisition component 5 is located above the first end 201, and the first axis a of the first acquisition component 5 does not intersect with the first end 201, thereby avoiding the torso mechanism 200 blocking the line of sight of the first acquisition component 5.

[0078] The third acquisition component 7 is located above the second end 202 in the first direction, and the axis of the third acquisition component 7 does not intersect with the second end 202; specifically, the second acquisition component 6 is located above the first end 201, and the fourth axis d of the third acquisition component 7 does not intersect with the second end 202, thereby preventing the torso mechanism 200 from blocking the line of sight of the third acquisition component 7.

[0079] In a preferred embodiment, the first end 201 is located below the second end 202 in the first direction, so as to improve the structural strength of the torso mechanism 200 while ensuring that the first end 201 does not block the line of sight of the first acquisition component 5 and the second end 202 does not block the line of sight of the third acquisition component 7.

[0080] Although some specific embodiments of the present application have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present application. It should be understood by those skilled in the art that the above embodiments may be modified without departing from the scope and spirit of the present application. The scope of the present application is defined by the appended claims.

Claims

1. A head mechanism, characterized in that: include: a housing, wherein an interior of the housing forms a receiving cavity; a first bracket, the first bracket being disposed in the accommodating cavity, the first bracket comprising a first mounting surface and a second mounting surface, the first mounting surface being located below the second mounting surface in a first direction, the first mounting surface and the second mounting surface forming an angle, and the second mounting surface facing a second direction; a second bracket, the second bracket being disposed in the accommodating cavity, the second bracket comprising a third mounting surface, the third mounting surface being parallel to the second mounting surface; a first collecting component, the first collecting component being arranged on the first mounting surface; a second collecting component, the second collecting component being disposed on the second mounting surface; a third collecting component, the third collecting component being arranged on the third mounting surface; The first direction is perpendicular to the second direction.

2. The head mechanism according to claim 1, characterized in that: The first bracket includes a first mounting portion, a second mounting portion and a third mounting portion. The first mounting portion is located below the second mounting portion in the first direction. The first mounting portion and the second mounting portion are connected through the third mounting portion. The first mounting surface is located at the first mounting portion, and the second mounting surface is located at the second mounting portion.

3. The head mechanism according to claim 2, characterized in that: The first mounting portion further includes a fourth mounting surface, which is arranged at an angle to the first mounting surface. One side of the first acquisition component is connected to the first mounting surface, and the other side of the first acquisition component abuts against the fourth mounting surface.

4. The head mechanism according to claim 1, characterized in that: The first bracket further includes a fifth mounting surface, and the fifth mounting surface is located between the first mounting surface and the second mounting surface in the first direction; The head mechanism further includes a screen module, and the screen module is arranged on the fifth mounting surface.

5. The head mechanism according to claim 4, characterized in that: The head mechanism also includes a third bracket, which is connected to the first bracket and the first collection component. The third bracket is provided with a first avoidance portion and a second avoidance portion. The third collection component is partially located in the first avoidance portion, and the screen module is located in the second avoidance portion.

6. The head mechanism according to claim 1, characterized in that: The included angle formed between the extended surface of the first mounting surface and the extended surface of the second mounting surface is an obtuse angle.

7. The head mechanism according to claim 1, characterized in that: The first acquisition component includes a first depth camera component.

8. The head mechanism according to claim 7, characterized in that: An axis of the first depth camera assembly is perpendicular to the first mounting surface.

9. The head mechanism according to claim 1, characterized in that: The second acquisition component includes a first camera component and a second camera component, and the first camera component and the second camera component are spaced apart; The axis of the first camera assembly is parallel to the axis of the second camera assembly.

10. The head mechanism according to claim 9, characterized in that: The third acquisition component includes a third camera component, and the axis of the third camera component is parallel to the axis of the first camera component; or The third acquisition component includes a second depth camera component, and the axis of the second depth camera component is parallel to the axis of the first camera component.

11. A robot, characterized in that: include: The head mechanism according to any one of claims 1 to 10; A torso mechanism, wherein the head mechanism is provided on the torso mechanism, the torso mechanism includes a first end and a second end arranged along the second direction, the first acquisition component is located above the first end in the first direction, and the axis of the first acquisition component does not intersect with the first end, and the third acquisition component is located above the second end in the first direction, and the axis of the third acquisition component does not intersect with the second end.

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