Robot

Abstract

The utility model provides a robot. The robot comprises a trunk, a head, a multispectral camera module, an RGB camera module and legs, the head is rotationally installed on the trunk and provided with a visual installation area, the multispectral camera module is installed in the visual installation area, the RGB camera module is installed in the visual installation area, and the RGB camera module and the multispectral camera module are arranged at intervals in the horizontal direction; the multi-spectral camera shooting module and the RGB camera shooting module are arranged on the trunk, so that the multi-spectral camera shooting module and the RGB camera shooting module jointly form a binocular system of the robot, the legs are connected with the trunk and used for walking on the ground, the multi-spectral camera shooting module can capture information of different spectral bands, and the RGB camera shooting module provides standard color images. Information of the two modules can complement each other, and more comprehensive and more accurate visual data can be provided for the robot. Through the combination, the robot can obtain more accurate and more comprehensive image information in various environments, so that the recognition capability and the recognition accuracy are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and particularly to a robot. Background Art

[0002] With the rapid development of artificial intelligence technology, robots are increasingly used in people's production and life. During the working process of a robot, it usually needs to accurately identify different objects in the field of view. In related technologies, the two eyes of a robot usually identify through RGB cameras. In this way, although high-definition images can be obtained, the recognition ability of the robot is poor. Summary of the Utility Model

[0003] An embodiment of the utility model provides a robot, which can improve the recognition ability of the robot.

[0004] In a first aspect, an embodiment of the utility model provides a robot.

[0005] In one embodiment, a torso;

[0006] A head, rotatably mounted on the torso, and the head has a visual mounting area;

[0007] A multispectral imaging module, mounted in the visual mounting area;

[0008] An RGB imaging module, mounted in the visual mounting area, and spaced from the multispectral imaging module in the horizontal direction, so that the multispectral imaging module and the RGB imaging module jointly form a binocular system of the robot;

[0009] Legs, connected to the torso, and the legs are used for walking on the ground.

[0010] In one embodiment, the multispectral imaging module and / or the RGB imaging module is detachably mounted in the visual mounting area.

[0011] In one embodiment, the leg has a relatively arranged connecting end and a walking end, the connecting end is connected to the torso, and the walking end is used for walking on the ground, wherein the distance between the connecting end and the walking end is adjustable.

[0012] In one embodiment, at least two legs are provided, and the at least two legs are spaced apart from each other. Each leg includes:

[0013] A first connecting section, one end of the first connecting section forms the connecting end, and the connecting end is hinged to the torso;

[0014] A second connecting section, one end of the second connecting section is hinged to the other end of the first connecting section, and the other end of the second connecting section forms the walking end;

[0015] A first driving part is drivingly connected to the torso and the first connecting section, and is used to drive the first connecting section to rotate relative to the torso.

[0016] A second driving part is drivingly connected to the first connecting section and the second connecting section, and is used to drive the second connecting section to rotate relative to the first connecting section.

[0017] In one embodiment, the first connecting section is telescopically arranged along its length direction; and / or

[0018] the second connecting section is telescopically arranged along its length direction.

[0019] In one embodiment, the torso includes a first mounting part and a second mounting part arranged in sequence along the up-down direction. The first mounting part is rotatably connected to the head, the second mounting part is rotatably connected to the first mounting part, and the rotation axis of the head is collinear with the rotation axis of the second mounting part;

[0020] The legs are connected to the second mounting part.

[0021] In one embodiment, the first mounting part includes:

[0022] A mounting main body is respectively rotatably connected to the head and the second mounting part, and a mounting groove is arranged on the side of the mounting main body;

[0023] A box body is formed with a storage groove for storing items. The box body is movably mounted on the mounting main body between a first position and a second position and can move between the first position and the second position;

[0024] Wherein, when the box body is in the first position, at least part of the storage groove is located outside the mounting groove, and when the box body is in the second position, the box body is received in the mounting groove and covers the mounting groove.

[0025] In one embodiment, it further includes a lighting component, and the lighting component is mounted in the visual mounting area and is spaced from both the multispectral camera module and the RGB camera module.

[0026] In one embodiment, the head further forms an auditory mounting area;

[0027] The robot further includes a sound collection component, and the sound collection component is mounted in the auditory mounting area for collecting sound information.

[0028] In one embodiment, two auditory mounting areas are provided, and the two auditory mounting areas are respectively located on both sides of the visual mounting area;

[0029] Two sound collection components are provided, and the two sound collection components are respectively installed in the two auditory installation areas.

[0030] Advantageous effects of the embodiments of the present utility model:

[0031] In the embodiments of the present application, the rotatable mounting design of the head enables the robot to flexibly adjust its viewing angle, thereby better observing and perceiving the surrounding environment. Since the head can rotate, the visual field range of the robot has been significantly expanded. This means that the robot can capture information from more angles, improving its comprehensive environmental perception ability. By rotating the head, the robot can more easily track and locate moving targets. By combining the multispectral camera module with the RGB camera module, the multispectral camera module can capture information in different spectral bands, while the RGB camera module provides standard color images. The information of these two modules can complement each other, providing more comprehensive and accurate visual data for the robot. For example, under certain specific lighting conditions, the RGB image may provide limited information, while the multispectral image may reveal more details about the object's material, state, or environment. The use of the multispectral camera module enables the robot to obtain effective visual information even under different lighting conditions, even in low-light or no-light environments. Comprehensive image capture under different lighting and spectral conditions can be achieved. This combination enables the robot to obtain more accurate and comprehensive image information in various environments, thereby improving the recognition ability and the accuracy of recognition. The multispectral camera module and the RGB camera module are installed in the visual installation area of the head, enabling these camera modules to move as the head rotates, thereby more precisely collecting information on specific areas. This design helps to improve the efficiency and accuracy of information collection and the recognition ability of the robot. By horizontally spacing the two camera modules, the robot can utilize the binocular stereo vision principle to obtain depth information of the scene. This configuration mimics the human binocular vision system, enabling the robot to more accurately perceive and understand the distance and positional relationship of objects in three-dimensional space. The design of the legs enables the robot to have the ability to walk autonomously on the ground. This means that the robot is no longer restricted to a fixed position and can actively move to the places where tasks need to be performed, greatly enhancing its autonomy and flexibility. Description of the Drawings

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present utility model. For those skilled in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0033] Figure 1It is a schematic structural diagram of a robot provided by an embodiment of the present utility model;

[0034] Figure 2 is Figure 1 a schematic cross-sectional view of the leg shown in the figure;

[0035] Figure 3 It is a schematic structural diagram of the leg of the robot provided by an embodiment of the present utility model in an extended state;

[0036] Figure 4 is Figure 3 a schematic cross-sectional view of the leg shown in the figure;

[0037] Figure 5 It is a schematic structural diagram of the box body in the second position provided by an embodiment of the present utility model;

[0038] Figure 6 It is a schematic structural diagram of the box body in the first position provided by an embodiment of the present utility model.

[0039] Explanation of the reference numerals in the drawings:

[0040] 10. Robot;

[0041] 11. Trunk, 111. First mounting part, 1111. Mounting main body, 11112. Mounting groove, 1112. Box body, 11121. Storage groove, 112. Second mounting part;

[0042] 12. Head, 121. Visual mounting area;

[0043] 13. Multispectral camera module;

[0044] 14. RGB camera module;

[0045] 15. Leg, 151. First connecting section, 1511. First sleeve, 1512. First connecting sleeve, 1513. Second connecting sleeve, 152. Second connecting section, 1521. Third connecting sleeve, 1522. Fourth connecting sleeve, second sleeve 1523;

[0046] 16. Lighting component;

[0047] 17. Sound collection component. Detailed implementation manners

[0048] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present invention. In addition, it should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention. In the present invention, unless otherwise stated, the orientation terms such as "upper" and "lower" usually refer to the upper and lower in the actual use or working state of the device, specifically the drawing direction in the accompanying drawings; while "inner" and "outer" refer to the outline of the device.

[0049] With the rapid development of artificial intelligence technology, robots are increasingly used in people's production and life. During the working process of a robot, it usually needs to accurately identify different objects in its field of vision. In related technologies, the two eyes of a robot usually use RGB cameras for identification. In this way, although high-definition images can be obtained, the recognition ability of the robot is poor.

[0050] In view of the above, the present invention provides a robot 10. Referring to Figure 1 and Figure 3 , Figure 1 are the schematic structural diagrams of the robot provided by the embodiments of the present invention, Figure 3 is the schematic structural diagram of the robot provided by the embodiments of the present invention when its legs are in the extended state. The robot 10 includes a torso 11, a head 12, a multispectral imaging module 13, an RGB imaging module 14, and legs 15. The head 12 is rotatably mounted on the torso 11. The head 12 has a vision mounting area 121. The multispectral imaging module 13 and the RGB imaging module 14 are mounted on the vision mounting area 121. The multispectral imaging module 13 and the RGB imaging module 14 are horizontally spaced apart so that the multispectral imaging module 13 and the RGB imaging module 14 together form the binocular system of the robot 10. The legs 15 are connected to the torso 11, and the legs 15 are used for walking on the ground.

[0051] In an embodiment of the present application, the rotational mounting design of the head 12 enables the robot 10 to flexibly adjust its viewing angle, thereby better observing and perceiving the surrounding environment. Since the head 12 can rotate, the field of view of the robot 10 has been significantly expanded. This means that the robot 10 can capture information from more angles, improving its overall environmental perception ability. By rotating the head 12, the robot 10 can more easily track and locate moving targets. By combining the multispectral imaging module 13 with the RGB imaging module 14, the multispectral imaging module 13 can capture information in different spectral bands, while the RGB imaging module 14 provides standard color images. The information from these two modules can complement each other, providing more comprehensive and accurate visual data for the robot 10. For example, under certain specific lighting conditions, the RGB image may provide limited information, while the multispectral image may reveal more details about the object's material, state, or environment. The use of the multispectral imaging module 13 enables the robot 10 to obtain effective visual information even under different lighting conditions, even in low-light or no-light environments. Comprehensive image capture under different lighting and spectral conditions can be achieved. This combination enables the robot 10 to obtain more accurate and comprehensive image information in various environments, thereby improving the recognition ability and recognition accuracy. The multispectral imaging module 13 and the RGB imaging module 14 are installed in the visual mounting area of the head 12, enabling these imaging modules to move as the head 12 rotates, thus more precisely collecting information from specific areas. This design helps to improve the efficiency and accuracy of information collection and enhances the recognition ability of the robot 10. By horizontally spacing the two imaging modules, the robot 10 can utilize the binocular stereo vision principle to obtain depth information of the scene. This configuration mimics the human binocular vision system, enabling the robot 10 to more accurately perceive and understand the distance and positional relationship of objects in three-dimensional space. The design of the legs 15 enables the robot 10 to have the ability to walk autonomously on the ground. This means that the robot 10 is no longer restricted to a fixed position and can actively move to where it is needed to perform tasks, greatly enhancing its autonomy and flexibility.

[0052] It should be noted that the RGB camera module 14 projects light onto the image sensor through a lens. Each pixel in the sensor has three channels (red, green, blue) and measures according to the intensity of the projected light. These measurement values are converted into digital signals and processed to form a color image. Among them, the RGB image is rich in color and can truly reflect the colors seen by the human eye. It is suitable for occasions that require high resolution and true color reproduction, such as photography, video recording, etc. The multispectral camera is equipped with multiple spectral sensors, which can respectively collect signals of different colors of light (such as red, green, blue, etc.). Through spectral splitting technology, each sensor receives light of a specific wavelength and converts it into a digital signal for processing. By combining the information of multiple spectra, a multispectral image can be formed to reflect the characteristics of the object under different spectra. Among them, the multispectral image can provide more spectral information about the object, which helps to analyze and identify the substance composition. And the multispectral camera module 13 is used to obtain one of low-resolution multispectral data, or hyperspectral data, or ultraspectral data. Specifically, the present application does not limit this.

[0053] In addition, the robot in the embodiments of the present application can be a humanoid robot or a multi-legged robot. Specifically, the multi-legged robot takes a robot dog as an example.

[0054] In one embodiment, the multispectral camera module 13 and / or the RGB camera module 14 are detachably mounted on the vision installation area 121. Thus, the detachable design means that the multispectral camera module 13 and / or the RGB camera module 14 can be replaced or upgraded as an independent unit, which makes the robot 10 system more modular. With the continuous progress of technology, it is easy to replace the existing module with a more advanced and powerful camera module, thereby improving the performance of the robot 10. If the multispectral camera module 13 and / or the RGB camera module 14 fails or needs maintenance, the detachable design makes the repair process simple and fast. Technicians do not need to disassemble the entire robot 10, and only need to remove the multispectral camera module 13 and / or the RGB camera module 14 for repair or replacement, which greatly reduces the repair cost and time.

[0055] It should be noted that there are various ways to detachably mount the multispectral camera module 13 and / or the RGB camera module 14 to the vision mounting area 121. For example, in one embodiment, the multispectral camera module 13 and / or the RGB camera module 14 can be detachably connected to the vision mounting area 121 through a snap structure. In another embodiment, the multispectral camera module 13 and / or the RGB camera module 14 can be detachably connected through a magnetic attraction structure. In other embodiments, the multispectral camera module 13 and / or the RGB camera module 14 can also be detachably connected to the vision mounting area 121 through a threaded structure. Specifically, the detachable connection between the multispectral camera module 13 and / or the RGB camera module 14 and the vision mounting area 121 can be selected as needed, and the present application does not limit this.

[0056] Referring to Figure 2 and Figure 4 , Figure 2 is Figure 1 a schematic cross-sectional view of the leg shown in Figure 4 is Figure 3 a schematic cross-sectional view of the leg shown in. In one embodiment, the leg 15 has a connecting end and a walking end that are oppositely arranged. The connecting end is connected to the torso 11, and the walking end is used for walking on the ground. Among them, the distance between the connecting end and the walking end is adjustable. In this way, the adjustability of the distance between the connecting end and the walking end enables the robot 10 to adapt to working environments of different heights. Whether in a low space or on a higher platform, the robot 10 can maintain a stable walking and working state by adjusting the length of the leg 15. When facing an obstacle, the robot 10 can increase the distance between the connecting end and the walking end to raise the lifting height of the leg 15, so as to better cross the obstacle. This design enhances the obstacle-crossing ability of the robot 10, enabling it to move more freely in a complex environment. When walking on uneven ground, the robot 10 can adjust the length of each leg to maintain the balance of the body. The design of adjustable distance also provides more space for the robot 10 to expand its functions. For example, by increasing the length of the leg 15, the robot 10 can reach higher objects or perform high-altitude operations; while by shortening the leg 15, it can conveniently detect and operate in a low space. In addition, as the distance between the connecting end and the walking end increases, the overall height of the robot 10 will also increase accordingly. This increase enables the multispectral camera module 13 and the RGB camera module 14 installed on the head 12 of the robot 10 to capture the surrounding environment from a higher perspective, thereby expanding the visual range of the robot 10. Especially when it is necessary to observe or monitor a higher position, this design enables the robot 10 to obtain more information without moving its position. The enlarged visual range helps the robot 10 to more comprehensively perceive the surrounding environment, including distant objects, obstacles or potential risks. This is crucial for the navigation, obstacle avoidance and safe operation of the robot 10.

[0057] It should be noted that there are various ways to implement the walking end for walking on the ground. For example, in one embodiment, wheels are installed at the walking end as a walking mechanism, and movement is achieved through the rolling of the wheels. This way of movement is stable, has low energy consumption, and is easy to control the movement speed and direction. The wheeled walking mechanism is widely used in various vehicles and robots 10. In another embodiment, a crawler-type walking mechanism is installed at the walking end. The crawler-type walking mechanism consists of a crawler and a driving wheel, etc. In this way, the robot 10 is suitable for complex terrains such as muddy, sandy, snowy, etc. In addition, the crawler increases the contact area with the ground, providing better stability and traction.

[0058] Continuing to refer to Figure 1 and Figure 3 , in one embodiment, at least two legs 15 are provided. The at least two legs 15 are spaced apart. Each leg 15 includes a first connecting section 151, a second connecting section 152, a first driving part, and a second driving part. One end of the first connecting section 151 forms a connecting end, and the connecting end is hinged to the torso 11. One end of the second connecting section 152 is hinged to the other end of the first connecting section 151. The other end of the second connecting section 152 forms a walking end. The first driving part drives and connects the torso 11 and the first connecting section 151. The first driving part is used to drive the first connecting section 151 to rotate relative to the torso 11. The second driving part drives and connects the first connecting section 151 and the second connecting section 152. The second driving part is used to drive the second connecting section 152 to rotate relative to the first connecting section 151. By providing at least two spaced legs 15, the robot 10 obtains a more stable support base. The multi-leg design not only increases the contact points of the robot 10 with the ground but also disperses the weight of the robot 10, thereby improving the overall stability. Each leg 15 is composed of a first connecting section 151 and a second connecting section 152 and is connected by a hinged manner. This design makes the leg 15 have a high degree of freedom. The first driving part and the second driving part can respectively control the rotation of the first connecting section 151 and the second connecting section 152, so that the robot 10 is more flexible and changeable in actions such as walking, turning, and climbing. This segmented leg 15 design also enables the robot 10 to adapt to more terrain changes, such as complex actions like climbing stairs and crossing obstacles. Through the independent control of the first driving part and the second driving part, fine adjustment of the movement of each leg 15 can be achieved. This design not only improves the accuracy of the movement of the robot 10 but also helps to achieve more complex movement patterns and trajectory planning. The segmented leg 15 and independent drive design allow the robot 10 to adjust the movement of each segment of the leg 15 according to actual needs during walking, thereby optimizing energy consumption.

[0059] It should be noted that the number of legs can be two, three, or more. Specifically, the present application does not limit this.

[0060] Continuing to refer to Figure 2 and Figure 4 In one embodiment, the first connecting section 151 is telescopically arranged along its length direction. In this way, the telescopically arranged first connecting section 151 enables the robot 10 to adjust the length of the leg 15 according to different terrains, so as to better adapt to complex terrains. When the robot 10 encounters an obstacle, the telescopically arranged first connecting section 151 can help the robot 10 increase the lifting height of the leg 15, making it easier to cross the obstacle. The telescopically arranged first connecting section 151 provides the robot 10 with more degrees of freedom of operation. The robot 10 can flexibly adjust the length of the leg 15 according to the task requirements, realizing a wider working range and more precise operation control. This design makes the robot 10 more flexible and variable when performing various tasks.

[0061] Referring again to Figure 2 and Figure 4 In one embodiment, the first connecting section 151 includes a plurality of first sleeves 1511 sleeved in sequence. The plurality of first sleeves 1511 include a first connecting sleeve 1512 and a second connecting sleeve 1513 arranged at intervals. The free end of the first connecting sleeve 1512 is hinged to the torso 11, and the free end of the second connecting sleeve 1513 is hinged to the second connecting section 152. The robot 10 further includes a first linear driving part. The first linear driving part is installed in the first connecting section 151 and is connected to the first connecting sleeve 1512. The first linear driving part has a first linear driving shaft, and the driving end of the first linear driving shaft is connected to the second connecting sleeve 1513. In this way, when the first linear driving part works, the first linear driving shaft drives the second connecting sleeve 1513 to move, so that the distance between the first connecting sleeve 1512 and the second connecting sleeve 1513 is adjustable, that is, the first connecting section 151 is telescopable along its length direction. In this way, the first linear driving shaft can precisely control the length of the first connecting section 151, so that the robot 10 can achieve higher precision when performing tasks. Due to the telescopic property of the first connecting section 151, the robot 10 can better adapt to various complex environments. Whether a longer or shorter connecting section is needed, it can be adjusted to meet the requirements. When the long first connecting section 151 is not needed, it can be shortened, thus saving storage space and quickly adjusting to the required length when needed. The design that the first connecting section 151 includes a plurality of sleeves sleeved in sequence makes the maintenance of the first connecting section 151 more convenient. If a certain part needs to be replaced or repaired, it can be operated more easily.

[0062] Specifically, there are various types of the first linear driving part. For example, the first linear driving part can include a linear motor, a hydraulic cylinder, a pneumatic cylinder, an electric push rod, etc. Specifically, the present application does not limit this.

[0063] Refer again to Figure 2 and Figure 4 , in one embodiment, the second connecting section 152 is telescopically arranged along its length direction. Thus, the telescopically arranged second connecting section 152 enables the robot 10 to adjust the length of the leg 15 according to different terrains, so as to better adapt to complex terrains. When the robot 10 encounters an obstacle, the telescopically arranged second connecting section 152 can help the robot 10 increase the lifting height of the leg 15, making it easier to cross the obstacle. The telescopically arranged second connecting section 152 provides the robot 10 with more degrees of freedom of operation. The robot 10 can flexibly adjust the length of the leg 15 according to the task requirements, realizing a wider working range and more precise operation control. This design makes the robot 10 more flexible and variable when performing various tasks.

[0064] Refer again to Figure 2 and Figure 4 , in one embodiment, the second connecting section 152 includes a plurality of second sleeves 1523 sleeved in sequence. The plurality of second sleeves 1523 include a third connecting sleeve 1521 and a fourth connecting sleeve 1522 arranged at intervals. The free end of the third connecting sleeve 1521 is hinged to the free end of the second connecting sleeve 1513. The free end of the fourth connecting sleeve 1522 is for walking on the ground. The robot 10 further includes a second linear driving part. The second linear driving part is installed in the second connecting section 152 and is connected to the third connecting sleeve 1521. The second linear driving part has a second linear driving shaft, and the driving end of the second linear driving shaft is connected to the fourth connecting sleeve 1522. Thus, when the second linear driving part works, the second linear driving shaft drives the fourth connecting sleeve 1522 to move, so that the distance between the third connecting sleeve 1521 and the fourth connecting sleeve 1522 is adjustable, that is, the second connecting section 152 can be telescopically arranged along its length direction. Thus, the second linear driving shaft can precisely control the length of the second connecting section 152, enabling the robot 10 to achieve higher precision when performing tasks. Due to the telescopic property of the second connecting section 152, the robot 10 can better adapt to various complex environments. Whether a longer or shorter connecting section is needed, it can be adjusted to meet the requirements. When the long second connecting section 152 is not needed, it can be shortened, thus saving storage space and quickly adjusting to the required length when needed. The design that the second connecting section 152 includes a plurality of sleeves sleeved in sequence makes the maintenance of the second connecting section 152 more convenient. If a certain part needs to be replaced or repaired, it can be operated more easily.

[0065] Specifically, there are various types of the second linear driving part. For example, the second linear driving part can include a linear motor, a hydraulic cylinder, a pneumatic cylinder, an electric push rod, etc. Specifically, the present application does not limit this.

[0066] Refer to Figure 1 andFigure 3 In one embodiment, the torso 11 includes a first mounting portion 111 and a second mounting portion 112 arranged in sequence along the up-down direction. The first mounting portion 111 is rotatably connected to the head 12, and the second mounting portion 112 is rotatably connected to the first mounting portion 111. The rotation axis of the head 12 is collinear with the rotation axis of the second mounting portion 112. The legs 15 are connected to the second mounting portion 112. In this way, the first mounting portion 111 is rotatably connected to the head 12, enabling the head 12 to rotate flexibly relative to the torso 11. This design expands the visual field range of the robot 10, enabling it to observe and perceive the surrounding environment more comprehensively. The rotational connection between the second mounting portion 112 and the first mounting portion 111 further increases the flexibility of the robot 10. This dual-rotation design enables the robot 10 to perform more complex movements and adjustments while maintaining stability. By rotatably connecting the first mounting portion 111 and the second mounting portion 112 and making the rotation axis of the head 12 collinear with the rotation axis of the second mounting portion 112, this design provides flexibility while ensuring the structural stability. The collinear rotation axes reduce unnecessary torque and stress, contributing to extending the service life of the robot 10. The legs 15 are connected to the second mounting portion 112, enabling the robot 10 to better coordinate the movement of the torso 11 and the legs 15 when walking or performing other actions. This design helps improve the movement efficiency and stability of the robot 10.

[0067] In one embodiment, the first mounting portion 111 is further provided with a mounting cavity. The first mounting portion 111 is provided with a through hole communicating with the mounting cavity. The through hole is arranged facing the second mounting portion 112. The robot 10 further includes a third driving portion. The third driving portion is installed in the mounting cavity. The third driving portion has a rotating shaft. The free end of the rotating shaft passes through the through hole and is connected to the second mounting portion 112. In this way, the rotation between the first mounting portion 111 and the second mounting portion 112 is driven by the third driving portion, realizing automation and simple operation. Additionally, by installing the third driving portion in the mounting cavity of the first mounting portion 111 and making the rotating shaft pass through the through hole and be connected to the second mounting portion 112, a compact overall design is achieved. This layout helps save space and makes the overall structure of the robot 10 more reasonable. The rotating shaft is directly connected to the second mounting portion 112. Such a design makes the power transmission more direct and efficient, reducing the energy loss during the transmission process. Connecting the rotating shaft and the second mounting portion 112 through the through hole can enhance the structural stability and reduce the vibration and deviation during operation.

[0068] Refer to Figure 1 、 Figure 5 and Figure 6 , Figure 5 is a schematic structural diagram of the box body in the second position provided by the embodiment of the present utility model. Figure 6It is a schematic structural diagram of the box body in the first position provided by the embodiment of the present utility model. In one embodiment, the first mounting portion 111 includes a mounting main body 1111 and a box body 1112. The mounting main body 1111 is rotatably connected to the head 12 and the second mounting portion 112 respectively. An installation groove 11112 is provided on the side of the mounting main body 1111. The box body 1112 is formed with a storage groove 11121 for storing items. The box body 1112 is movably mounted on the mounting main body 1111 between the first position and the second position and can move between the first position and the second position. When the box body 1112 is in the first position, at least part of the storage groove 11121 is located outside the installation groove 11112. When the box body 1112 is in the second position, the box body 1112 is received in the installation groove 11112 and covers the installation groove 11112. Thus, when the box body 1112 is in the second position, it can be received in the installation groove 11112, saving space and making the overall structure of the robot 10 more compact. The storage groove 11121 formed in the box body 1112 can be used to store items, which provides the robot 10 with the ability to carry and transport small objects, increasing its practicality and multitasking ability. When the box body 1112 is in the second position, it can cover the installation groove 11112, thus improving the aesthetics of the first mounting portion 111. At the same time, the mounting main body 1111 also closes the storage groove 11121 to prevent dust, moisture or other external factors from damaging the items in the storage groove 11121. The box body 1112 can quickly move between the first position and the second position, which means that the operation can be more convenient and efficient when items need to be accessed or maintained. The separated design of the box body 1112 and the mounting main body 1111 embodies the modular idea, facilitating separate replacement or repair and reducing the maintenance cost.

[0069] In one embodiment, the robot 10 further includes a locking assembly disposed between the mounting body 1111 and the box body 1112 for locking and fixing the box body 1112 and the mounting body 1111 when the box body 1112 is in the second position. In this way, by fixing the box body 1112 to the mounting body 1111 through the locking assembly, the overall structural stability of the robot 10 can be significantly improved, and it can prevent the box body 1112 from accidentally falling off or shifting during the operation of the robot 10. This not only protects the robot 10 itself, but also protects the surrounding environment and the safety of the staff. Fixing the box body 1112 to the mounting body 1111 through the locking assembly can reduce unnecessary friction and collision, and the locking assembly can help extend the service life of the robot 10. When the box body 1112 is firmly fixed to the mounting body 1111, the vibration and impact it receives will be greatly reduced, thereby reducing the risk of wear and damage. Since the box body 1112 is stably locked to the mounting body 1111, the robot 10 can perform tasks more quickly and accurately. Without the errors caused by the movement or shaking of the box body 1112, the robot 10 can complete tasks faster and improve the overall work efficiency.

[0070] In one embodiment, the locking assembly includes a magnetic attraction part and a first mating part magnetically mated with the magnetic attraction part. One of the magnetic attraction part and the first mating part is disposed on the mounting body 1111, and the other is disposed on the box body 1112. In this way, the magnetic connection between the magnetic attraction part and the first mating part allows for quick and easy connection and disconnection operations. This design greatly improves the assembly and disassembly efficiency and reduces the maintenance and operation time. The magnetic connection can provide a strong adsorption force to ensure a stable connection between the mounting body 1111 and the box body 1112. This connection method can effectively prevent accidental detachment or loosening, thereby improving the overall structural stability and reliability of the robot 10. Compared with the traditional mechanical connection method, the magnetic connection reduces physical contact and friction, so it can reduce mechanical wear and extend the service life of the locking assembly. The magnetic force between the magnetic attraction part and the first mating part will automatically align and adsorb, making the positioning between the mounting body 1111 and the box body 1112 more accurate and convenient. This automatic alignment function simplifies the assembly process and improves the positioning accuracy. Due to the stability of the magnetic connection, even in a vibrating or impact environment, the connection state can be maintained, thereby reducing the safety risk caused by connection failure.

[0071] It should be noted that the magnetic attraction part includes a magnet, and the first mating part includes a magnetic metal plate. Of course, in other embodiments, the magnetic attraction part and the first mating part can also include magnets with different magnetic properties.

[0072] In one embodiment, the cartridge body 1112 and the mounting body 1111 are rotatably connected through a rotating structure. The rotating structure allows the cartridge body 1112 to rotate at multiple angles relative to the mounting body 1111, thus greatly enhancing the flexibility and operability of the robot 10. The rotatable connection enables the cartridge body 1112 to be folded or adjusted to a position with the minimum occupied space when not in use, thereby improving the space utilization rate. This is particularly advantageous for occasions that require compact storage or transportation.

[0073] In one embodiment, the rotating structure includes a rotating shaft and a rotating slot that rotatably mates with the rotating shaft. The rotating shaft is rotatably clamped in the rotating slot. In this way, the tight fit between the rotating shaft and the rotating slot ensures the stability and accuracy of rotation. This design can reduce the shaking and deviation during rotation, making the rotation of the cartridge body 1112 smoother and more reliable. The design of the rotating slot makes the installation and disassembly of the rotating shaft simple and convenient, facilitating future maintenance and replacement. If the rotating shaft or the rotating slot is worn, it can be relatively easily replaced. This rotating structure design is relatively simple, with a low manufacturing cost and a relatively low maintenance cost, which helps to reduce the overall product cost. The tight fit between the rotating shaft and the rotating slot can reduce wear, thereby extending the service life. In addition, this structure is also easier to lubricate and maintain, further improving the durability. The design of the rotating slot helps to ensure the smooth rotation of the rotating shaft, reducing the possibility of jamming and blocking, and making the entire rotation process smoother.

[0074] Referring to Figure 1 and Figure 3 , in one embodiment, the robot 10 further includes an illumination component 16. The illumination component 16 is installed in the vision installation area 121 and is spaced apart from both the multispectral camera module 13 and the RGB camera module 14. In this way, the illumination component 16 can provide sufficient light for the multispectral camera module 13 and the RGB camera module 14, ensuring that the camera can capture clear and accurate images under various environmental conditions. This is crucial for the machine vision system because the quality of the images directly affects the accuracy of subsequent image processing and analysis. By means of a dedicated illumination component 16, the influence of ambient light on the images captured by the camera can be reduced or eliminated. Changes in ambient light may lead to a decline in image quality, while stable illumination conditions help to maintain the consistency and reliability of the images. Appropriate illumination can highlight the features of the observed object, increase the contrast in the image, and enable the best separation of the target information and the background information in the image. This not only reduces the algorithmic difficulty of image processing but also improves the accuracy and reliability of the system. The spaced-apart arrangement of the illumination component 16 and the camera module helps to reduce the glare or reflection generated by light on the camera lens, thereby further enhancing the image quality. This design takes into account the characteristics of the optical system and ensures the overall performance of the vision system.

[0075] It should be noted that the lighting component 16 can be adjusted as needed to adapt to different working environments and task requirements. For example, the light intensity can be increased in scenarios that require high brightness, or the light angle and color temperature can be adjusted in scenarios that require capturing subtle differences, etc.

[0076] Specifically, the lighting component 16 has various shapes. For example, the lighting component 16 can include at least one of an annular light source, a strip light source, an AOI dedicated light source, a spherical integral light source, a linear light source, and a combined strip light source. The annular light source provides different irradiation angles and different color combinations, and can highlight the three-dimensional information of an object. This light source solves the problem of diagonal irradiation shadows and is very suitable for detecting the edges and surface details of an object. The strip light source is suitable for illuminating a larger square-structured object to be measured. Its color can be matched according to requirements and freely combined, and at the same time, the irradiation angle and installation position can be adjusted arbitrarily, which is very flexible. The AOI dedicated light source uses three-color light illumination at different angles and can highlight the three-dimensional information of fine parts such as solder. It is usually equipped with a diffuser plate to guide light and reduce reflection, and is very suitable for detecting precision components such as circuit boards. The spherical integral light source utilizes the uniform reflection of the inner wall of the hemispherical surface, and the light emitted from the bottom at 360 degrees can be evenly diffused, making the illuminance of the entire image very uniform, and is very suitable for detecting surface details. The linear light source uses a cylindrical lens to focus light and has ultra-high brightness, and is very suitable for various continuous detection occasions on production lines, such as line camera illumination and AOI dedicated illumination. The combined strip light source includes strip lights arranged on four sides, and the illumination of each side is independently controllable. This light source can adjust the required illumination angle according to the requirements of the object to be measured, and has a very wide applicability.

[0077] Referring to Figure 1 and Figure 3 In one embodiment, the head 12 further forms an auditory installation area, and the robot 10 further includes a sound collection component 17. The sound collection component 17 is installed in the auditory installation area for collecting sound information. In this way, through the dedicated sound collection component 17, the robot 10 can efficiently collect the sound information in the surrounding environment. This is crucial for the robot 10 to perform tasks such as speech recognition, environmental perception, and interaction with people. The addition of the sound collection component 17 enables the robot 10 to perceive more environmental details through hearing, and thus make more intelligent responses and decisions. This helps to improve the intelligent functions of the robot 10 such as autonomous navigation and speech recognition. Sound is an important way of daily communication for people. Through the sound collection component 17, the robot 10 can better understand and respond to human language, realizing more natural human-machine interaction. This not only improves the user experience but also expands the application scenarios of the robot 10 in fields such as service and companionship.

[0078] It should be noted that there are various types of sound collection components 17 for collecting sound information. For example, the sound collection component 17 may include a microphone or a sound sensor. The microphone can receive sound waves and convert them into electrical signals for further processing and analysis by the central processor of the robot. The sound sensor is a more professional sound collection device that can accurately capture sound fluctuations and convert them into electrical signals recognizable by the robot system. It should be noted that the type of the sound collection component 17 can be selected according to needs, and the present application does not limit this.

[0079] Referring to Figure 1 and Figure 3 , in an embodiment, two auditory installation areas are provided. The two auditory installation areas are respectively located on both sides of the visual installation area 121, and two sound collection components 17 are provided. The two sound collection components 17 are respectively installed in the two auditory installation areas. In this way, by providing the sound collection components 17 on both sides of the head 12, the robot 10 can perform sound source localization using the binaural effect like a human. When sound comes from one direction, the two sound collection components 17 will receive signals with a slight time difference and intensity difference, enabling the robot 10 to accurately judge the direction and distance of the sound source. This stereo localization ability is crucial for tasks such as navigation, obstacle avoidance, and interaction with humans of the robot 10. The bilateral sound collection components 17 can capture sound information in the surrounding environment more comprehensively. Whether it is the conversation sound from the front or the ambient sound from the side or the rear, the robot 10 can monitor all directions through the two sound collection components 17, thereby more accurately perceiving and understanding the surrounding environment. In a noisy environment, unilateral sound collection may be interfered with, resulting in a decrease in the accuracy of speech recognition. The bilateral sound collection components 17 can improve the accuracy and robustness of speech recognition by comparing and comprehensively analyzing the sound signals from two directions. This bilateral auditory design mimics the human auditory system, making the robot 10 more natural and friendly when interacting with humans. People will feel more comfortable and accustomed when communicating with the robot 10 with a similar human sensory layout. If one of the sound collection components 17 fails, the other can still continue to work, providing a certain degree of sound perception ability for the robot 10. This redundant design enhances the reliability and stability of the robot 10.

[0080] The embodiments of the present utility model have been introduced in detail above. Specific examples are used in this article to elaborate on the principle and implementation manner of the present utility model. The description of the above embodiments is only used to help understand the method and its core idea of the present utility model; at the same time, for those skilled in the art, according to the idea of the present utility model, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present utility model.

Claims

1. A robot, characterized in that: include: trunk; A head, rotatably mounted on the torso, the head having a visual mounting area; A multi-spectral camera module is installed in the visual installation area; An RGB camera module is installed in the visual installation area and is arranged horizontally spaced from the multispectral camera module so that the multispectral camera module and the RGB camera module together form a binocular system of the robot; The legs are connected to the torso and are used for walking on the ground.

2. The robot according to claim 1, characterized in that: The multi-spectral camera module and / or the RGB camera module can be detachably installed in the visual installation area.

3. The robot according to claim 1, characterized in that: The leg has a connecting end and a walking end that are arranged opposite to each other, the connecting end is connected to the trunk, and the walking end is used for walking on the ground, wherein the distance between the connecting end and the walking end is adjustable.

4. The robot according to claim 3, characterized in that: At least two legs are provided, and at least two legs are spaced apart from each other, and each leg comprises: a first connecting section, one end of which forms the connecting end, and the connecting end is hinged to the trunk; a second connecting section, one end of the second connecting section being hinged to the other end of the first connecting section, the other end of the second connecting section forming the walking end; a first driving part drivingly connecting the trunk and the first connecting section, wherein the first driving part is used to drive the first connecting section to rotate relative to the trunk; The second driving part is used for driving and connecting the first connecting section and the second connecting section, and the second driving part is used for driving the second connecting section to rotate relative to the first connecting section.

5. The robot according to claim 4, characterized in that: The first connecting section is telescopically arranged along its length direction; and / or, The second connecting section is telescopically arranged along its length direction.

6. The robot according to any one of claims 1 to 5, characterized in that: The torso comprises a first mounting portion and a second mounting portion sequentially arranged in an up-down direction, the first mounting portion is rotatably connected to the head, the second mounting portion is rotatably connected to the first mounting portion, and the rotation axis of the head and the rotation axis of the second mounting portion are arranged in a colinear manner; The leg portion is connected to the second mounting portion.

7. The robot according to claim 6, characterized in that: The first mounting portion comprises: A mounting body, rotatably connected to the head and the second mounting part, respectively, and a mounting groove is provided on a side of the mounting body; A box body is formed with a storage slot, the storage slot is used to store items, the box body is movably mounted on the mounting body between a first position and a second position, and can move between the first position and the second position; Wherein, when the box body is in the first position, the storage slot is at least partially located outside the installation slot, and when the box body is in the second position, the box body is received in the installation slot, and the box body covers the installation slot.

8. The robot according to any one of claims 1 to 5, characterized in that: It also includes a lighting component, which is installed in the visual installation area and is spaced apart from the multi-spectral camera module and the RGB camera module.

9. The robot according to any one of claims 1 to 5, characterized in that: The head is also formed with an auditory mounting area; The robot also includes a sound collection component, which is installed in the auditory installation area to collect sound information.

10. The robot according to claim 9, characterized in that: Two auditory installation areas are provided, and the two auditory installation areas are respectively located on both sides of the visual installation area; Two sound collection components are provided, and the two sound collection components are respectively installed in the two hearing installation areas.

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