Camera assembly and mobile robot

Abstract

The utility model provides a camera assembly and a mobile robot, and relates to the technical field of robots. The utility model provides a camera assembly which comprises a first camera, a first mounting seat, a second camera, a second mounting seat and a third mounting seat, the first camera is rotatably mounted on the first mounting seat around a Z axis, the first mounting seat is fixedly connected with the second mounting seat, the third mounting seat is rotatably mounted on the second mounting seat around a Y axis, and the second mounting seat is fixedly connected with the third mounting seat. The second camera is rotatably mounted on the third mounting base around the X axis, the X axis is the axial direction of the second camera in the horizontal position, and the X axis, the Y axis and the Z axis form a three-dimensional coordinate system. According to the camera assembly and the mobile robot provided by the utility model, the first camera and the second camera cooperate with each other, so that blind area inspection can be carried out while information acquisition of a main view is ensured, and the view range and flexibility of the mobile robot are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a camera assembly and a mobile robot. Background Art

[0002] Existing mobile robots use a single camera or multiple cameras as the robot's visual unit. If a mobile robot wants to see images outside the visual range, it must rotate the body or the camera. In doing so, the previously visible areas will become new visual blind spots, which to some extent limits the robot's field of vision and flexibility. For large robots over 1.2 meters, frequent rotation of the body in order to see the scenes in the visual blind spots poses a huge safety hazard. Utility Model Content

[0003] The utility model provides a camera assembly and a mobile robot, which are used to solve the defects of the mobile robot in the prior art, such as limited visual range and poor flexibility.

[0004] The utility model provides a camera assembly, comprising: a first camera, a first mounting seat, a second camera,

[0005] A second mounting mount and a third mounting mount, the first camera is rotatably mounted on the first mounting mount around the Z axis, the first mounting mount and the second mounting mount are fixedly connected, the third mounting mount is rotatably mounted on the second mounting mount around the Y axis, and the second camera is rotatably mounted on the third mounting mount around the X axis, wherein the X axis is the axial direction when the second camera is in a horizontal position, and the X axis, Y axis and Z axis constitute a three-dimensional coordinate system.

[0006] According to a camera assembly provided by the utility model, the first camera and the first mounting seat, as well as the second camera and the third mounting seat are respectively connected via a conductive slip ring.

[0007] According to a camera assembly provided by the utility model, the first camera can rotate 0° to 360° around the Z axis relative to the first mounting seat, the third mounting seat can rotate 0° to 180° around the Y axis relative to the second mounting seat, and the second camera can rotate 0° to 90° around the X axis relative to the third mounting seat.

[0008] According to a camera assembly provided by the utility model, a first driving member is installed on the first mounting seat, and a driving end of the first driving member is transmission-connected to the first camera.

[0009] According to a camera assembly provided by the utility model, the first mounting seat is fixedly mounted with a second driving member, and the driving end of the second driving member is transmission-connected to the third mounting seat.

[0010] According to a camera assembly provided by the utility model, the second mounting seat has a U-shaped frame, and the opposite sides of the third mounting seat are rotatably matched with the opposite sides of the U-shaped frame respectively.

[0011] According to a camera assembly provided by the utility model, the third mounting seat is fixedly mounted with a third driving member, and the third driving member is transmission-connected to the second camera.

[0012] According to a camera assembly provided by the utility model, the first camera is a binocular camera.

[0013] According to a camera assembly provided by the utility model, the second camera is a monocular telephoto camera.

[0014] The utility model also provides a mobile robot, comprising a robot body and the camera assembly as described above, wherein the second mounting seat can be detachably mounted on the robot body.

[0015] The camera assembly and the mobile robot provided by the utility model, wherein the first camera and the second camera cooperate with each other, can ensure the information collection of the main field of view while also performing blind spot inspections, thereby improving the field of view and flexibility of the mobile robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 It is a structural schematic diagram of the camera assembly provided by the utility model;

[0018] Reference numerals:

[0019] 10. First camera; 11. Second camera; 20. First mounting seat; 21. Second mounting seat; 30. Second driving member. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be clearly and completely described below in conjunction with the drawings in the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0021] The term "first" or "second" in the specification and claims of the utility model may explicitly or implicitly include one or more of the features. In the description of the utility model, unless otherwise specified, "multiple" means two or more. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / " generally means that the related objects are in an "or" relationship.

[0022] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element 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 invention.

[0023] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] Combine the following Figure 1 The camera assembly of the present invention is described.

[0025] The present invention provides a camera assembly, such as Figure 1 As shown, the camera assembly includes a first camera 10, a first mounting seat 20, a second camera 11, a second mounting seat 21 and a third mounting seat (not shown in the figure). The first camera 10 is rotatably mounted on the first mounting seat 20 around the Z axis, the third mounting seat is rotatably mounted on the second mounting seat 21 around the Y axis, the first mounting seat 20 and the second mounting seat 21 are fixedly connected, and the second camera 11 is rotatably mounted on the third mounting seat around the X axis. Among them, the X axis is the axial direction when the second camera 11 is in a horizontal position, and the X axis, Y axis and Z axis constitute a three-dimensional coordinate system.

[0026] Optionally, the first camera 10 is a binocular camera, through which the depth of the target object can be measured. Of course, the first camera 10 can also be a monocular camera. The first camera 10 rotates around the first mounting bracket 20 to expand the shooting range of the first camera 10 to avoid the existence of a shooting blind spot. Optionally, the second camera 11 is a wide-angle camera, which can move up and down with the third mounting bracket relative to the second mounting bracket 21 to adjust the shooting field of view. Among them, the rotation of the first camera 10 and the second camera 11 are independent of each other, and the first camera 10 and the second camera 11 can cooperate with each other to achieve visual acquisition backup.

[0027] The first mounting seat 20 and the second mounting seat 21 may be separate structures, fixed by bolts. Alternatively, the first mounting seat and the second mounting seat 21 are an integrated structure.

[0028] The second camera 11 is rotatably mounted on the third mounting base around the X-axis. The rotation of the second camera 11 relative to the third mounting base can drive the second camera 11 to adjust the shooting range and realize the switching of the image shooting angle. During the rotation of the first camera 10, the second camera 11 is not affected. Similarly, during the rotation of the second camera 11 relative to the third mounting base or during the rotation of the third mounting base relative to the second mounting base 21, the first camera 10 is not affected. That is, the shooting angle adjustment of the first camera 10 and the second camera 11 is relatively independent and will not interfere with each other.

[0029] When in use, the second camera 11 is used to collect information from the main field of view, and the first camera 10 rotates around the first mounting base 20 to collect information from multiple angles, completing the blind spot inspection of the second camera 11 to avoid danger to the machine body due to the visual blind spot. Moreover, during the blind spot inspection of the first camera 10, the second camera 11 can still collect information from the main field of view, and will not lose or omit the information from the main field of view.

[0030] The camera assembly provided by the utility model, the first camera 10 and the second camera 11 cooperate with each other, which can not only fully guarantee the information collection of the main field of view, but also perform blind spot inspection, thereby improving the field of view and flexibility of the mobile robot.

[0031] To ensure power supply to the first camera 10 and the second camera 11, electrical connection is achieved between the first camera 10 and the first mounting seat 20, and between the second camera 11 and the third mounting seat, respectively, through a conductive slip ring to ensure that the first camera 10 and the second camera 11 are always powered during their rotation.

[0032] Optionally, the first camera 10 can rotate 0° to 360° around the Z axis relative to the first mounting bracket 20, the third mounting bracket can rotate 0° to 180° around the Y axis relative to the second mounting bracket 21, and the second camera 11 can rotate 0° to 90° around the X axis relative to the third mounting bracket.

[0033] In the initial state, the first camera 10 and the second camera 11 are both facing forward, and the axis of the lens of both is in the horizontal direction. The first camera 10 can rotate one circle relative to the first mounting seat 20 to achieve a 360° rotation, complete the information collection of each perspective, and eliminate the blind spot of the field of vision. The third mounting seat can be tilted up 90° and down 90° relative to the second mounting seat 21 to achieve a 180° field of vision adjustment, so that the second camera 11 can realize information collection of a large field of vision as the main camera, and avoid the blind spot of the second camera 11 in the vertical direction due to the height problem of the mobile robot. The rotation angle of the second camera 11 relative to the third mounting seat is 90°. For example, the second camera 11 rotates 90° relative to the third mounting seat from the initial state, so that the image captured by the second camera 11 switches horizontally and vertically. It can be understood that the first camera 10 and the second camera 11 can rotate both forward and reverse. After rotating to the extreme position, reverse rotation is achieved to reset.

[0034] It should be noted that, according to shooting needs, the first camera 10 and the second camera 11 can stay at any position within the rotation range. For example, the second camera 11 is tilted up 30°, 40°, etc. along with the third mounting base; or the second camera 11 is rotated 10°, 45°, etc. around the third mounting base.

[0035] A first driving member (not shown in the figure) is installed on the first mounting seat 20 , and a driving end of the first driving member is transmission-connected to the first camera 10 .

[0036] Optionally, the first driving member is a servo motor, whose seat is fixedly connected to the first mounting seat 20, and the motor shaft is transmission-connected to the first camera 10. Driven by the first driving member, the first camera 10 can rotate relative to the first mounting seat 20. Optionally, the first driving member includes a motor and a transmission gear, the motor shaft is fixedly connected to the gear shaft of the transmission gear, and the transmission gear is connected to the first camera 10. Driven by the motor, the transmission gear drives the first camera 10 to rotate. It can be understood that the first driving member can also be other rotation driving mechanisms, as long as it can drive the first camera 10 to rotate.

[0037] The first driving member can drive in both forward and reverse directions, and can drive the first camera 10 to rotate 0° to 360°.

[0038] Specifically, Figure 1As shown, the second mounting seat 21 is fixedly mounted with a second driving member 30, and a driving end of the second driving member 30 is drivingly connected to the third mounting seat.

[0039] For example, the second driving member 30 is a rotary motor, the base of the rotary motor is fixed to the second mounting seat 21, and the shaft of the rotary motor is connected to the third mounting seat in a transmission connection. Driven by the rotary motor, the third mounting seat rotates relative to the second mounting seat 21, driving the second camera 11 to adjust the shooting angle up and down. When the second camera 11 is in a horizontal state with the third mounting seat, the driving range of the rotary motor is ±90°, that is, under the drive of the rotary motor, the third mounting seat can drive the second camera 11 to rotate 90° upward or 90° downward, and the range of motion is 180°. Therefore, by adjusting the relative position of the third mounting seat and the second mounting seat 21, the second camera 11 is driven to pitch up and down, thereby realizing a wide range of main field of view framing.

[0040] like Figure 1 As shown, the second mounting seat 21 has a U-shaped frame, and the opposite sides of the third mounting seat are rotatably matched with the opposite sides of the U-shaped frame respectively.

[0041] For example, the first mounting seat 20 is in an inverted T-shape, the first camera 10 can be rotatably mounted on the vertical rod of the first mounting seat 20, and the horizontal rod of the first mounting seat 20 is fixedly connected to the top of the horizontal U-shaped frame. The second camera 11 is located between two opposite branches of the U-shaped frame and can rotate relative to the two branches along with the third mounting seat. For example, the third mounting seat and the two branches of the U-shaped frame are respectively provided with a shaft body and a shaft hole, and the shaft body can be rotatably inserted into the shaft hole.

[0042] A third driving component is fixedly mounted on the third mounting seat, and the third driving component is transmission-connected to the second camera 11 .

[0043] In order to realize the rotatable connection between the second camera 11 and the third mounting seat, a branch of the U-shaped frame is fixedly mounted with a third driving member. Optionally, the third driving member is a motor or a driving motor equipped with a gear assembly. The second camera 11 is driven by the third driving member to rotate around the X-axis relative to the third mounting seat, so that the second camera 11 can be rotated 90°, and the horizontal shooting is converted into the vertical shooting.

[0044] Optionally, the second camera 11 is a monocular telephoto camera.

[0045] The embodiment of the utility model further provides a mobile robot, comprising a robot body and the camera assembly as described above, wherein the second mounting seat 21 can be detachably mounted on the robot body.

[0046] The mobile robot uses the camera assembly as described above, and uses the circumferential rotation of the first camera 10 to compensate for the shooting blind spot of the second camera 11, and can also ensure that the second camera 11 as the main camera can still effectively shoot images within the main field of view while the first camera 10 rotates. As a result, when the robot walks, it does not need to turn around frequently to avoid the blind spot of the field of view, thereby improving the safety of the mobile robot when walking.

[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the utility model.

Claims

1. A camera assembly, It is characterized in that include: A first camera, a first mounting base, a second camera, a second mounting base and a third mounting base, wherein the first camera is rotatably mounted on the first mounting base around a Z axis, the first mounting base and the second mounting base are fixedly connected, the third mounting base is rotatably mounted on the second mounting base around a Y axis, and the second camera is rotatably mounted on the third mounting base around an X axis, wherein the X axis is the axial direction of the second camera when it is in a horizontal position, and the X axis, Y axis and Z axis constitute a three-dimensional coordinate system.

2. The camera assembly according to claim 1, It is characterized in that The first camera and the first mounting seat are connected via a conductive slip ring, as are the second camera and the third mounting seat.

3. The camera assembly according to claim 1, It is characterized in that The first camera can rotate 0° to 360° relative to the first mounting seat around the Z axis, the third mounting seat can rotate 0° to 180° relative to the second mounting seat around the Y axis, and the second camera can rotate 0° to 90° relative to the third mounting seat around the X axis.

4. The camera assembly according to claim 3, It is characterized in that A first driving member is installed on the first mounting seat, and a driving end of the first driving member is transmission-connected to the first camera.

5. The camera assembly according to claim 3, It is characterized in that The second mounting seat is fixedly mounted with a second driving member, and a driving end of the second driving member is transmission-connected to the third mounting seat.

6. The camera assembly according to any one of claims 1 to 5, It is characterized in that The second mounting seat has a U-shaped frame, and the opposite sides of the third mounting seat are respectively rotatably matched with the opposite sides of the U-shaped frame.

7. The camera assembly according to claim 6, It is characterized in that The third mounting seat is fixedly mounted with a third driving member, and the third driving member is transmission-connected to the second camera.

8. The camera assembly according to claim 1, It is characterized in that The first camera is a binocular camera.

9. The camera assembly according to claim 1, It is characterized in that The second camera is a monocular telephoto camera.

10. A mobile robot, It is characterized in that It comprises a robot body and a camera assembly as described in any one of claims 1 to 9, wherein the second mounting seat can be detachably mounted on the robot body.

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