Lens assembly, robot head assembly and robot

Abstract

The utility model relates to the technical field of robots, and provides a lens assembly, a robot head assembly and a robot, the lens assembly comprises a depth camera, a color camera and a glass cover plate, the depth camera comprises a light emitting lens, a light receiving lens and a first color camera; the color camera comprises a second color camera; the glass cover plate covers the first color camera and the second color camera, the glass cover plate is located on the light emitting side of the light receiving lens, the glass cover plate is provided with a filtering film, and the filtering film is suitable for hiding the light emitting lens and the light receiving lens while the distance measuring light beams penetrate through the filtering film. A glass cover plate is arranged to protect the first color camera and the second color camera, and a filtering film is arranged on the glass cover plate to allow the distance measuring light beams to penetrate, so that the light emitting lens and the light receiving lens can work normally; the filtering film can hide the light emitting lens and the light receiving lens, so that the light emitting lens and the light receiving lens are difficult to perceive in a visible light range, and the attractiveness of the lens assembly is effectively improved.

Description

Technical Field

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

[0002] In order to achieve functions such as obstacle avoidance, object recognition and grasping, and human posture recognition, robots are usually equipped with depth cameras and color cameras to obtain depth information and color image information of objects and the surrounding environment. In the prior art, the depth camera and color camera of the robot are usually completely exposed to the user, which is not aesthetically pleasing. Utility Model Content

[0003] The utility model aims to solve at least one of the technical problems existing in the related art. To this end, the utility model proposes a lens assembly, which can protect the first color camera and the second color camera while hiding the light emitting lens and the light receiving lens.

[0004] The utility model also provides a robot head component.

[0005] The utility model also provides a robot.

[0006] The lens assembly according to the first embodiment of the utility model includes:

[0007] A depth camera, the depth camera comprising a light emitting lens, a light receiving lens and a first color camera;

[0008] A color camera, wherein the color camera includes a second color camera head;

[0009] A glass cover plate, wherein the glass cover plate covers the first color camera and the second color camera, and the glass cover plate is located on the light emitting side of the light receiving lens, and the glass cover plate is provided with a filter film, which is suitable for transmitting the ranging light beam while hiding the light emitting lens and the light receiving lens.

[0010] In the lens assembly of the embodiment of the utility model, the ranging light beam emitted by the light emitting lens passes through the glass cover plate and the filter film on the glass cover plate to irradiate the object, the ranging light beam is reflected by the surface of the object and then passes through the glass cover plate and the filter film on the glass cover plate, and is received by the light receiving lens and converted into an electrical signal, the electrical signal is read by the depth camera and the time difference is calculated, and the distance between the surface of the object and the lens assembly is calculated based on the time difference between the emitted infrared light and the reflected ranging light beam, and the depth information of the object in the scene is obtained, and the first color camera captures the first color image information of the environment in which the depth information is currently measured. The second color camera can directly shoot and generate the second color image information. When the lens assembly of the present application is used for intelligent devices, such as robots or intelligent vehicles, the depth information, the first color image information and the second color image information are used to better perceive and understand the surrounding objects and scenes, and to achieve tasks such as obstacle avoidance, object recognition and grasping, and human posture recognition.

[0011] According to the lens assembly of the embodiment of the utility model, a glass cover is provided to protect the first color camera and the second color camera, and a filter film is provided on the glass cover to transmit the ranging light beam, so that the light emitting lens and the light receiving lens can work normally; the filter film is plated on the glass cover, and the filter films or other films plated on different glass cover plates result in different light transmittances. By replacing different glass cover plates, it can adapt to meet the light transmittance of various lenses (referring to the light emitting lens, the light receiving lens, the first color camera or the second color camera) and has good compatibility; the filter film can also hide the light emitting lens and the light receiving lens, making them difficult to detect in the visible light range, and the user can only see the first color camera and the second color camera through the glass cover, effectively improving the aesthetics of the lens assembly.

[0012] According to an embodiment of the utility model, the filter film is arranged corresponding to the light emitting lens and the light receiving lens;

[0013] The glass cover is provided with a high-transmittance film, and the high-transmittance film is provided corresponding to the light emitting lens, the light receiving lens, the first color camera and the second color camera;

[0014] The first color camera and the second color camera are located on the same horizontal line.

[0015] According to an embodiment of the present utility model, the lens assembly further comprises a bracket, the bracket is provided with a first mounting cavity and a second mounting cavity, the depth camera is mounted in the first mounting cavity, and the color camera is mounted in the second mounting cavity.

[0016] According to an embodiment of the present utility model, a first positioning portion is provided in the first installation cavity, and the depth camera is provided with a second positioning portion corresponding to the first positioning portion and matching the first positioning portion;

[0017] A third positioning portion is provided in the second installation cavity, and a fourth positioning portion is provided on the color camera corresponding to the third positioning portion.

[0018] According to an embodiment of the present utility model, the lens assembly further includes a mainboard, the mainboard includes a substrate and a heating element, the heating element and the depth camera are respectively located on two sides of the substrate;

[0019] The lens assembly also includes a heat sink and a thermally conductive silicone sheet. The thermally conductive silicone sheet is arranged corresponding to the heating element and is pressed between the heating element and the heat sink.

[0020] According to one embodiment of the utility model, the mainboard is provided with an interface, the interface is suitable for electrically connecting the flexible cable of the depth camera, the interface cover is provided with a flexible pressure pad, the heat sink presses against the flexible pressure pad, and is suitable for pressing the flexible cable onto the interface.

[0021] According to one embodiment of the utility model, the lens assembly also includes an annular shielding member, which is provided with a first through hole suitable for light to pass through, the light receiving lens includes a receiving port, and the light emitting lens includes an emitting port, and at least one of the receiving port and the emitting port is correspondingly installed with the annular shielding member, and one end of the shielding member along the axial direction of the first through hole abuts against the depth camera, and the other end abuts against the glass cover plate.

[0022] According to one embodiment of the utility model, the lens assembly also includes an annular dustproof member, which is provided with a second through hole suitable for light to pass through, and the annular dustproof member is correspondingly installed on the second color camera, and one end of the annular dustproof member along the axial direction of the second through hole abuts against the color camera, and the other end abuts against the glass cover plate.

[0023] The robot head assembly according to the embodiment of the second aspect of the utility model includes the lens assembly as described above.

[0024] According to the robot head assembly of the embodiment of the utility model, its technical effect corresponds to the technical effect of the lens assembly of the embodiment of the first aspect, and will not be repeated here.

[0025] The robot according to the embodiment of the third aspect of the utility model includes the robot head assembly as described above.

[0026] The technical effect of the robot according to the embodiment of the utility model corresponds to the technical effect of the lens assembly of the embodiment of the first aspect, and will not be repeated here.

[0027] The above one or more technical solutions in the embodiments of the utility model have at least one of the following technical effects:

[0028] In the lens assembly of the embodiment of the utility model, the ranging light beam emitted by the light emitting lens passes through the glass cover plate and the filter film on the glass cover plate to irradiate the object, the ranging light beam is reflected by the surface of the object and then passes through the glass cover plate and the filter film on the glass cover plate, and is received by the light receiving lens and converted into an electrical signal, the electrical signal is read by the depth camera and the time difference is calculated, and the distance between the surface of the object and the lens assembly is calculated based on the time difference between the emitted infrared light and the reflected ranging light beam, and the depth information of the object in the scene is obtained, and the first color camera captures the first color image information of the environment in which the depth information is currently measured. The second color camera can directly shoot and generate the second color image information. When the lens assembly of the present application is used for intelligent devices, such as robots or intelligent vehicles, the depth information, the first color image information and the second color image information are used to better perceive and understand the surrounding objects and scenes, and to achieve tasks such as obstacle avoidance, object recognition and grasping, and human posture recognition.

[0029] According to the lens assembly of the embodiment of the utility model, a glass cover is provided to protect the first color camera and the second color camera, and a filter film is provided on the glass cover to transmit the ranging light beam, so that the light emitting lens and the light receiving lens can work normally; the filter film is plated on the glass cover, and the filter films or other films plated on different glass cover plates result in different light transmittances. By replacing different glass cover plates, it can adapt to meet the light transmittance of various lenses (referring to the light emitting lens, the light receiving lens, the first color camera or the second color camera) and has good compatibility; the filter film can also hide the light emitting lens and the light receiving lens, making them difficult to detect in the visible light range, and the user can only see the first color camera and the second color camera through the glass cover, effectively improving the aesthetics of the lens assembly.

[0030] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the utility model or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 This is one of the structural schematic diagrams of the lens assembly provided by the embodiment of the utility model;

[0033] Figure 2 This is the second structural schematic diagram of the lens assembly provided by the embodiment of the utility model;

[0034] Figure 3 This is the third structural schematic diagram of the lens assembly provided by the embodiment of the utility model;

[0035] Figure 4 This is the fourth structural schematic diagram of the lens assembly provided by the embodiment of the utility model.

[0036] Reference numerals:

[0037] 100, depth camera; 110, light emitting lens; 120, light receiving lens; 130, first color camera; 140, second positioning unit; 150, flexible cable;

[0038] 200, color camera; 210, second color camera; 220, fourth positioning unit;

[0039] 300, glass cover; 310, filter film; 320, high-transmittance film;

[0040] 400, bracket; 410, first installation cavity; 411, first positioning portion; 420, second installation cavity; 421, third positioning portion;

[0041] 500, main board; 510, base plate; 520, heating element; 530, interface;

[0042] 600, heat sink; 700, thermal conductive silicone sheet; 800, flexible pressure pad;

[0043] 910, annular shielding member; 911, first through hole; 920, annular dustproof member; 921, second through hole. DETAILED DESCRIPTION

[0044] The following is a further detailed description of the implementation of the present invention in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0045] In the description of the embodiments of the present utility model, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present utility model 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 cannot be understood as limiting the embodiments of the present utility model. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0046] In the description of the embodiments of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" 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 directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present utility model can be understood according to specific circumstances.

[0047] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0048] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model embodiment. In this specification, the schematic representations of the above terms do 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. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0049] Combination Figure 1 As shown, the lens assembly according to the embodiment of the first aspect of the utility model includes: a depth camera 100, a color camera 200 and a glass cover plate 300, the depth camera 100 includes a light emitting lens 110, a light receiving lens 120 and a first color camera 130; the color camera 200 includes a second color camera 210; the glass cover plate 300 is covered on the first color camera 130 and the second color camera 210, and the glass cover plate 300 is located on the light emitting side of the light receiving lens 120, and the glass cover plate 300 is provided with a filter film 310, which is suitable for hiding the light emitting lens 110 and the light receiving lens 120 while transmitting the ranging light beam.

[0050] In the lens assembly of the embodiment of the utility model, the ranging light beam emitted by the light emitting lens 110 passes through the glass cover plate 300 and the filter film 310 on the glass cover plate 300 to irradiate the object. The ranging light beam is reflected by the surface of the object and then passes through the glass cover plate 300 and the filter film 310 on the glass cover plate 300. It is received by the light receiving lens 120 and converted into an electrical signal. The electrical signal is read by the depth camera 100 and the time difference is calculated. The distance between the surface of the object and the lens assembly is calculated based on the time difference between the emitted infrared light and the reflected ranging light beam, and the depth information of the object in the scene is obtained. The first color camera 130 captures the first color image information of the environment in which the depth information is currently measured. The second color camera 210 can directly shoot and generate the second color image information. When the lens assembly of the present application is used for intelligent devices, such as robots or intelligent vehicles, the surrounding objects and scenes can be better perceived and understood through the depth information, the first color image information and the second color image information, so as to achieve obstacle avoidance, object recognition and grasping, human posture recognition and other tasks.

[0051] According to the lens assembly of the embodiment of the utility model, a glass cover plate 300 is provided to protect the first color camera 130 and the second color camera 210, and a filter film 310 is provided on the glass cover plate 300 to transmit the ranging light beam, so that the light emitting lens 110 and the light receiving lens 120 can work normally; the filter film 310 is plated on the glass cover plate 300, and different filter films 310 have different light transmittances. By replacing different glass cover plates 300, it can adapt to meet the light transmittance of various lenses (referring to the light emitting lens, the light receiving lens, the first color camera or the second color camera) and has good compatibility; the filter film 310 can also hide the light emitting lens 110 and the light receiving lens 120, making them difficult to detect in the visible light range, and the user can only see the first color camera 130 and the second color camera 210 through the glass cover plate 300, effectively improving the aesthetics of the lens assembly.

[0052] In this embodiment, the ranging light beam emitted by the light emitting lens 110 is selected in the wavelength range between visible light and infrared light, usually between 800 nanometers and 1000 nanometers, which has lower scattering and absorption characteristics, and helps to improve the accuracy and reliability of depth information measurement.

[0053] Of course, the detection light beam emitted by the light emitting lens 110 can be switched within different wavelength ranges to adapt to different scenarios and applications, and the ranging light beam can include infrared light, or other wavelength light sources can be used for depth measurement, for example, using visible light or near-infrared light for measurement.

[0054] In one embodiment, when the lens assembly is applied to a robot head assembly, the glass cover 300 can be embedded in the outer shell of the head assembly, and the depth camera 100 and the color camera 200 are arranged in the head assembly, which will not affect the appearance structure of the head assembly, is conducive to the integrated design of the head assembly, and improves the dust and water proof effect of the robot.

[0055] According to one embodiment of the utility model, the filter film 310 is arranged corresponding to the light emitting lens 110 and the light receiving lens 120; the glass cover plate 300 is provided with a high-transmittance film 320, and the high-transmittance film 320 is arranged corresponding to the light emitting lens 110, the light receiving lens 120, the first color camera 130 and the second color camera 210.

[0056] Combination Figure 1 As shown, the dotted line in the figure is a filter film 310, which is arranged corresponding to the light emitting lens 110 and the light receiving lens 120, and the circular dotted line is a high-transmittance film 320, which is arranged corresponding to the light emitting lens 110, the light receiving lens 120, the first color camera 130 and the second color camera 210, thereby reducing the coverage area of ​​the filter film 310 and the high-transmittance film 320 and reducing the manufacturing cost of the lens assembly.

[0057] In this embodiment, the filter film 310 is arranged in the form of a coating on the side of the glass cover plate 300 facing away from the depth camera 100, and the high-transmittance film 320 is arranged in the form of a coating on the side of the glass cover plate 300 facing the depth camera 100, which effectively improves the light transmittance of the front windows of the four lenses, which is beneficial to measuring depth information and obtaining the first image information and the second image information.

[0058] Of course, the filter film 310 and the high-transmittance film 320 can also be laminated on the same side of the glass cover 300 at the same time. The high-transmittance film 320 can effectively improve the light transmittance of the filter film 310 to light of a specific wavelength. For example, the ranging beam uses infrared light with a wavelength of 940 nanometers, and the transmittance of the filter film 310 to this infrared light is about 80%. By setting the high-transmittance film 310, the transmittance of the filter film 310 to this infrared light can be increased to about 90%, thereby effectively improving the measurement accuracy of the depth camera 100.

[0059] In this embodiment, a filter film 310 and a high-transmittance film 320 are provided corresponding to the light emitting lens 110 and the light receiving lens 120 . The filter film 310 with the high-transmittance film 320 increases the light transmittance, reduces the light crosstalk between the lenses, and increases the concealment of the lenses.

[0060] When the lens assembly is set on the robot, the depth camera 100 and the color camera 200 are located in the robot head assembly, which is beneficial to protect the light emitting lens 110, the light receiving lens 120, the first color camera 130 and the second color camera 210 from being scratched.

[0061] In this embodiment, the shapes of the filter film 310 and the high-transmittance film 320 are not limited to rectangle or circle, and the area size and shape can be adjusted according to user needs.

[0062] In one embodiment, the first color camera 130 and the second color camera 210 are located on the same horizontal line. When set in the robot head assembly, the filter film 310 hides the light emitting lens 110 and the light receiving lens 120. The first color camera 130 and the second color camera 210 set at the same horizontal height can simulate human eyes, which is beneficial to the anthropomorphic design of the robot and improves the aesthetic effect of the robot.

[0063] According to an embodiment of the present invention, the lens assembly further includes a bracket 400 , which is provided with a first mounting cavity 410 and a second mounting cavity 420 . The depth camera 100 is mounted in the first mounting cavity 410 , and the color camera 200 is mounted in the second mounting cavity 420 .

[0064] Combination Figure 2 and Figure 3 As shown, the positions of the first installation cavity 410 and the second installation cavity 420 on the bracket 400 are relatively fixed. Therefore, when the depth camera 100 and the color camera 200 are installed, the relative positions of the two are also relatively fixed.

[0065] Since the depth camera 100 and the color camera 200 have different measurement principles, they need to match each other to obtain accurate depth information and color image information (including the first color image information and the second color image information). If the positions of the two cameras are not fixed, the matching error will increase, affecting the measurement accuracy. By fixing the relative positions of the depth camera 100 and the color camera 200, it is ensured that the depth information and the color image information are obtained in the same spatial coordinate system, thereby obtaining more accurate measurement results. And because the relative position has been determined, the registration and correction algorithms between the depth image and the color image can be simplified, reducing the complexity and amount of calculation of the system, and improving the real-time performance and efficiency of the system; it also makes the overall structure of the depth camera 100 and the color camera 200 more compact, easy to install and operate, and improves the availability and ease of use of the lens assembly.

[0066] In this embodiment, the bracket 400 can be made of aluminum alloy, which can effectively transfer the heat generated by the depth camera 100 and the color camera 200 during operation to the outside, thereby reducing the operating temperature of the depth camera 100 and the color camera 200 and extending the service life of the lens assembly.

[0067] According to one embodiment of the utility model, a first positioning portion 411 is provided in the first installation cavity 410, and the depth camera 100 is provided with a second positioning portion 140 corresponding to the first positioning portion 411 and matching the first positioning portion 411; a third positioning portion 421 is provided in the second installation cavity 420, and the color camera 200 is provided with a fourth positioning portion 220 corresponding to the third positioning portion 421.

[0068] Combination Figure 2 and Figure 3 As shown, the second positioning portion 140 cooperates with the first positioning portion 411 to pre-fix the depth camera 100 and the first mounting cavity 410, and then the depth camera 100 and the first mounting cavity 410 are fixedly connected by screws; the third positioning portion 421 cooperates with the fourth positioning portion 220 to pre-fix the color camera 200 and the second mounting cavity 420, and then the color camera 200 and the second mounting cavity 420 are fixedly connected by screws.

[0069] By providing the first positioning portion 411 and the second positioning portion 140 , the third positioning portion 421 and the fourth positioning portion 220 that cooperate with each other, the positioning process of the depth camera 100 and the color camera 200 is simplified, and the assembly efficiency of the lens assembly is improved.

[0070] In this embodiment, the first positioning portion 411 and the third positioning portion 421 may be positioning pins, and two positioning pins are respectively provided for the corresponding depth camera 100 and the color camera 200, and the second positioning portion 140 and the fourth positioning portion 220 may be pin holes that cooperate with the positioning pins; in other embodiments, the shape of the first mounting cavity 410 may be matched with the surface contour of the depth camera 100, and the shape of the second mounting cavity 420 may be matched with the surface contour of the color camera 200 to achieve a pre-fixing effect; the number of the first positioning portion 411 and the second positioning portion 140 may also be adjusted according to the actual needs of the user.

[0071] According to one embodiment of the utility model, the lens assembly also includes a main board 500, the main board 500 includes a substrate 510 and a heating element 520, the heating element 520 and the depth camera 100 are respectively located on both sides of the substrate 510; the lens assembly also includes a heat sink 600 and a thermally conductive silicone sheet 700, the thermally conductive silicone sheet 700 is arranged corresponding to the heating element 520, and the thermally conductive silicone sheet 700 is pressed between the heating element 520 and the heat sink 600.

[0072] Combination Figure 2 and Figure 4As shown, in this embodiment, during the process of the mainboard 500 performing calculations (such as obtaining electrical signals from the light emitting lens 110, the light receiving lens 120, and the first color camera 130 to calculate depth information), the heating element 520 will emit a large amount of heat. The thermally conductive silicone sheet 700 can effectively conduct the heat to the heat sink 600, and dissipate the heat to the surrounding environment through the heat sink 600, so as to reduce the operating temperature of the heating element 520 on the mainboard 500 and improve the working stability of the mainboard 500.

[0073] The thermally conductive silicone sheet 700 is pressed between the heating element 520 and the heat sink 600 to increase the contact area between the thermally conductive silicone sheet 700 and the heating element 520 and the heat sink 600, thereby improving the heat conduction effect of the thermally conductive silicone sheet 700.

[0074] The chip of the main board 500 as the main body for executing calculations is the main heating element 520 .

[0075] In this embodiment, three thermally conductive silicone sheets 700 are provided corresponding to the three heating elements 520 ; in other embodiments, the number of the thermally conductive silicone sheets 700 can be adjusted according to the number of the heating elements 520 .

[0076] According to one embodiment of the utility model, the mainboard 500 is provided with an interface 530, and the interface 530 is suitable for electrically connecting the flexible cable 150 of the depth camera 100. A flexible pressure pad 800 is provided on the upper cover of the interface 530, and the heat dissipation plate 600 presses against the flexible pressure pad 800, which is suitable for pressing the flexible cable 150 onto the interface 530.

[0077] Combination Figure 4 As shown, the mainboard 500 and the depth camera 100 realize information transmission through the flexible cable 150. By setting the flexible pressure pad 800 on the interface 530, the connection between the flexible cable 150 and the interface 530 can be ensured to be stable. The flexible pressure pad 800 can provide additional pressure, and the flexible pressure pad 800 can adapt to the shape of the flexible cable 150 and the heat sink 600 to perform elastic deformation, ensuring that the flexible cable 150 is firmly pressed on the interface 530, and there is no partial non-pressing situation, preventing it from loosening or falling off. This helps to ensure the reliability and stability of signal transmission.

[0078] According to one embodiment of the utility model, the lens assembly also includes an annular shielding member 910, which is provided with a first through hole 911 suitable for light to pass through, the light receiving lens 120 includes a receiving port, and the light emitting lens 110 includes an emitting port. At least one of the receiving port and the emitting port is correspondingly installed with the annular shielding member 910, and one end of the shielding member along the axial direction of the first through hole 911 abuts against the depth camera 100, and the other end abuts against the glass cover plate 300.

[0079] Combination Figure 1 and 2 As shown, in one embodiment, an annular shielding member 910 is installed corresponding to the emission port, and part of the ranging light beam emitted from the emission port by the light emitting lens 110 passes through the glass cover plate 300 and irradiates the object. After being reflected by the surface of the object, the ranging light beam passes through the glass cover plate 300 and the filter film 310 on the glass cover plate 300 and is received by the light receiving lens 120; another part of the ranging light beam is directly reflected after hitting the glass cover plate 300, and the ranging light beam reflected by the glass cover plate 300 will affect the ranging light beam reflected by the object received by the light receiving lens 120, thereby affecting the measurement result of the depth camera 100.

[0080] By setting the annular shielding member 910, since one end of the shielding member along the axial direction of the first through hole 911 abuts against the depth camera 100, and the other end abuts against the glass cover plate 300, the portion of the ranging light beam emitted from the transmitting port that is reflected by the glass cover plate 300 is always limited to the first through hole 911 and will not be received by the light receiving lens 120, thereby effectively ensuring the measurement accuracy of the depth camera 100; and the first through hole 911 completely isolates the light emitting lens 110 from the space outside the first through hole 911 (i.e., the remaining space between the glass cover plate 300 and the bracket 400), thereby improving the dustproof and waterproof effect of the light emitting lens 110 and extending the service life.

[0081] In one embodiment, an annular shielding member 910 is installed corresponding to the receiving port. Part of the ranging light beam emitted from the transmitting port by the light emitting lens 110 passes through the glass cover plate 300 and irradiates the object. After being reflected by the surface of the object, the ranging light beam passes through the glass cover plate 300 and the filter film 310 on the glass cover plate 300 and is received by the light receiving lens 120 through the first through hole 911; another part of the ranging light beam is directly reflected after hitting the glass cover plate 300. The ranging light beam reflected by the glass cover plate 300 is blocked by the side wall of the annular shielding member 910 and cannot be received by the light receiving lens 120.

[0082] Of course, the light receiving lens 120 and the light emitting lens 110 may be provided with an annular shielding member 910 at the same time, which is beneficial to improving the measurement result of the depth camera 100 while ensuring the dustproof and waterproof effect of the depth camera 100.

[0083] According to one embodiment of the utility model, the lens assembly also includes an annular dustproof member 920, which is provided with a second through hole 921 suitable for light to pass through. The annular dustproof member 920 is correspondingly installed on the second color camera 210, and one end of the annular dustproof member 920 along the axial direction of the second through hole 921 abuts against the color camera 200, and the other end abuts against the glass cover plate 300.

[0084] Combination Figure 1 and Figure 2As shown, the second through hole 921 of the annular dustproof piece 920 is completely isolated from the space outside the second through hole 921 (i.e., the remaining space between the glass cover plate 300 and the bracket 400), thereby preventing dust and water vapor between the glass cover plate 300 and the bracket 400 from covering the second color camera 210, thereby improving the dustproof and waterproof effects of the second color camera 210.

[0085] The robot head assembly according to the embodiment of the second aspect of the utility model includes the lens assembly of the above embodiment.

[0086] According to the robot head assembly of the embodiment of the utility model, its technical effect corresponds to the technical effect of the lens assembly of the embodiment of the first aspect, and will not be repeated here.

[0087] The robot according to the embodiment of the third aspect of the utility model includes the robot head assembly of the above embodiment.

[0088] The technical effect of the robot according to the embodiment of the utility model corresponds to the technical effect of the lens assembly of the embodiment of the first aspect, and will not be repeated here.

[0089] Finally, it should be noted that the above implementation modes are only used to illustrate the present invention, rather than to limit the present invention. Although the present invention is described in detail with reference to the embodiments, a person skilled in the art should understand that various combinations, modifications or equivalent replacements of the technical solutions of the present invention do not depart from the spirit and scope of the technical solutions of the present invention, and should be included in the scope of the claims of the present invention.

Claims

1. A lens assembly, characterized in that: include: A depth camera, the depth camera comprising a light emitting lens, a light receiving lens and a first color camera; A color camera, wherein the color camera includes a second color camera head; A glass cover plate, wherein the glass cover plate covers the first color camera and the second color camera, and the glass cover plate is located on the light emitting side of the light receiving lens, and the glass cover plate is provided with a filter film, which is suitable for transmitting the ranging light beam while hiding the light emitting lens and the light receiving lens.

2. The lens assembly according to claim 1, characterized in that: The filter film is arranged corresponding to the light emitting lens and the light receiving lens; The glass cover is provided with a high-transmittance film, and the high-transmittance film is provided corresponding to the light emitting lens, the light receiving lens, the first color camera and the second color camera; The first color camera and the second color camera are located on the same horizontal line.

3. The lens assembly according to claim 1, characterized in that: The lens assembly also includes a bracket, and the bracket is provided with a first mounting cavity and a second mounting cavity. The depth camera is installed in the first mounting cavity, and the color camera is installed in the second mounting cavity.

4. The lens assembly according to claim 3, characterized in that: A first positioning portion is provided in the first installation cavity, and a second positioning portion matching the first positioning portion is provided on the depth camera corresponding to the first positioning portion; A third positioning portion is provided in the second installation cavity, and a fourth positioning portion is provided on the color camera corresponding to the third positioning portion.

5. The lens assembly according to claim 1, characterized in that: The lens assembly further includes a mainboard, the mainboard includes a substrate and a heating element, the heating element and the depth camera are respectively located on two sides of the substrate; The lens assembly also includes a heat sink and a thermally conductive silicone sheet. The thermally conductive silicone sheet is arranged corresponding to the heating element and is pressed between the heating element and the heat sink.

6. The lens assembly according to claim 5, characterized in that: The mainboard is provided with an interface, and the interface is suitable for electrically connecting the flexible cable of the depth camera. The interface cover is provided with a flexible pressure pad, and the heat sink presses against the flexible pressure pad, which is suitable for pressing the flexible cable onto the interface.

7. The lens assembly according to any one of claims 1 to 6, characterized in that: The lens assembly also includes an annular shielding member, which is provided with a first through hole suitable for light to pass through, the light receiving lens includes a receiving port, and the light emitting lens includes an emitting port, and at least one of the receiving port and the emitting port is correspondingly installed with the annular shielding member, and the shielding member abuts against the depth camera at one end along the axial direction of the first through hole, and abuts against the glass cover at the other end.

8. The lens assembly according to any one of claims 1 to 6, characterized in that: The lens assembly also includes an annular dustproof member, which is provided with a second through hole suitable for light to pass through. The annular dustproof member is installed corresponding to the second color camera. One end of the annular dustproof member along the axial direction of the second through hole abuts the color camera, and the other end abuts the glass cover plate.

9. A robot head assembly, characterized in that: Comprising the lens assembly as described in any one of claims 1 to 8.

10. A robot, characterized in that: Comprising the robot head assembly as described in claim 9.

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