Imaging device and mobile robot

Abstract

The utility model relates to the technical field of robots, and provides a camera device and a mobile robot. The camera device comprises a first mounting seat, a look-around assembly and a second camera, and the first mounting seat is connected with a second mounting seat; the look-around assembly comprises a shell and at least three first cameras, the shell is connected with the first mounting seat, and the at least three first cameras are arranged on the shell around the Z axis in a surrounding mode and used for obtaining look-around images; the second mounting seat is rotatably connected to the first mounting seat around a Z axis, and the second camera is rotatably connected to the second mounting seat around a Y axis; wherein the axial direction of the second camera in the horizontal position is the X axis, and the X axis, the Y axis and the Z axis form a three-dimensional coordinate system. The camera device can guarantee information collection of the view field of the main system, the view field range of the mobile robot is enlarged, view field blind areas are avoided, rotation of the robot body is reduced or avoided, and the flexibility of the mobile robot is improved.

Description

Technical Field

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

[0002] Existing mobile robots typically use a single or multiple cameras as their visual unit. To see beyond their visual range, the robot must rotate its body or the camera. This creates blind spots in previously visible areas, limiting the robot's field of view and flexibility. To track objects in real time, the robot must frequently rotate its body to see scenes in these blind spots. This not only significantly reduces the efficiency of human-machine interaction but also poses safety risks. Utility Model Content

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

[0004] The utility model provides a camera device, comprising:

[0005] a first mounting base, wherein the first mounting base is connected to a second mounting base;

[0006] A surround view assembly comprising a housing and at least three first cameras, wherein the housing is connected to the first mounting base, and the at least three first cameras are arranged around the housing around a Z axis for acquiring surround view images;

[0007] The second camera, the second mounting base is connected to the first mounting base by rotating around the Z axis, and the second camera is connected to the second mounting base by rotating around the Y axis; wherein the axial direction of the second camera when in a horizontal position is the X axis, and the X axis, Y axis and Z axis constitute a three-dimensional coordinate system.

[0008] According to a camera device provided by the present invention, the second mounting seat is rotatably connected to the first mounting seat around the Z axis.

[0009] According to a camera device provided by the present invention, the surround view image is a 360° surround view image, the second mounting base can rotate 0° to 360° around the Z axis relative to the first mounting base, and the second camera can rotate 0° to 180° around the Y axis relative to the second mounting base.

[0010] According to the present invention, a camera device further includes:

[0011] A first driving member is fixed to the first mounting seat, and a driving end of the first driving member is connected to the second mounting seat, and is used to drive the second mounting seat to rotate relative to the first mounting seat around the Z axis.

[0012] According to the present invention, a camera device further includes:

[0013] The third mounting base is connected to the second mounting base by rotating around the Y axis, and the second camera is mounted on the third mounting base by rotating around its own axis.

[0014] According to a camera device provided by the present invention, the second camera can rotate 0-90° around its own axis relative to the third mounting base.

[0015] According to the present invention, a camera device further includes:

[0016] The second driving member is fixed to the second mounting seat, and the driving end of the second driving member is connected to the third mounting seat, and is used to drive the third mounting seat to rotate around the Y axis relative to the second mounting seat.

[0017] According to the camera device provided by the present invention, the shell can be detachably mounted on the first mounting seat.

[0018] According to a camera device provided by the utility model, the surround view component also includes: a microphone and / or a third camera, the microphone and the third camera are arranged on the top wall of the shell, and the first camera is arranged on the side wall of the shell; the top wall is located on the side of the shell away from the first mounting seat and is connected to the side wall.

[0019] The utility model also provides a mobile robot, comprising: a robot body and any one of the above-mentioned camera devices, wherein the first mounting seat is mounted on the robot body.

[0020] The camera device and mobile robot provided by the utility model are equipped with a surround-view component and a second camera, and use at least three first cameras of the surround-view component to obtain surround-view images, and use the second camera to obtain local images. Through the mutual cooperation of the surround-view component and the second camera, it is possible to ensure the information collection of the main system's field of view, increase the field of view of the mobile robot, avoid blind spots in the field of view, reduce or avoid rotating the fuselage, and improve the flexibility of the mobile robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 It is a structural schematic diagram of the camera device provided by the utility model.

[0023] Reference numerals:

[0024] 11. First mounting base; 12. Second mounting base; 2. Surround view assembly; 21. Housing; 22. First camera; 23. Microphone; 24. Third camera; 3. Second camera; 4. Second driving member. DETAILED DESCRIPTION

[0025] To make the purpose, technical solutions, and advantages of the present invention more clear, the following will be combined with the accompanying drawings to clearly and completely describe the technical solutions of the present invention. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0026] In the description of the embodiments of the present invention, it should be noted that, unless otherwise expressly specified and limited, the terms "first", "second" and "third" are numbered for the purpose of clearly describing the product components and do not represent any substantial difference. The terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be a connection between the two components. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to the specific circumstances. In addition, the meaning of "multiple" is two or more. In the specification and claims, "and / or" means at least one of the connected objects, and the character " / " generally indicates that the related objects before and after are in an "or" relationship.

[0027] like Figure 1As shown, the camera device provided by the embodiment of the present invention includes a first mounting seat 11, a second mounting seat 12, a surround view component 2 and a second camera 3. The first mounting seat 11 is connected to the second mounting seat 12. The surround view component 2 includes a shell 21 and at least three first cameras 22. The shell 21 is connected to the first mounting seat 11, and the at least three first cameras 22 are arranged around the Z axis on the shell 21 for obtaining surround view images. The second camera 3 is connected to the second mounting seat 12 by rotating around the Y axis, and the axis of the second camera 3 is perpendicular to the Y axis. Among them, the axial direction of the second camera 3 when it is in a horizontal position is the X axis, and the X axis, Y axis and Z axis constitute a three-dimensional coordinate system.

[0028] In practical applications, the Z axis is the vertical axis, and the X and Y axes are the horizontal axes. When the second camera 3 is rotated about the Y axis relative to the second mounting base 12 to a horizontal state, the X axis is the native axis of the second camera 3. The native axis of the camera refers to the direction of the optical axis of the camera.

[0029] Surround view images refer to images with a field of view of at least 180° captured using a surround view lens. The surround view component 2 in this embodiment is used to capture the main system's field of view. At least three first cameras 22 are arranged around the Z axis within the housing 21. The mobile robot can stitch together the images captured by these at least three first cameras 22 to produce a surround view image with a larger field of view. This surround view image has a field of view that is at least larger than that of two monocular cameras combined, thereby significantly reducing or avoiding visual blind spots.

[0030] Optionally, the visual range of the surround view image of the surround view component 2 is any angle range between 270° and 360°. For example, if there are three first cameras 22 and the three first cameras 22 are arranged at 120° angles relative to each other on the XY plane, a 360° surround view image can be obtained.

[0031] The second camera 3 in this embodiment is used for inspection and captures a partial image within the main system's field of view. The second camera 3 is connected to the second mounting bracket 12 and rotates about the Y axis, allowing the second camera 3 to move up and down relative to the second mounting bracket 12 to perform inspections in the vertical direction.

[0032] Optionally, the first camera 22 is a monocular camera. Optionally, the second camera 3 is a wide-angle camera or a monocular telephoto camera.

[0033] The surround view assembly 2 and the second camera 3 work together to provide dual backup visual acquisition. The camera device can be mounted on the mobile robot body via the first mounting bracket 11 or the second mounting bracket 12. Due to the presence of the surround view assembly 2, even when the target is outside the field of view of the second camera 3, the surround view assembly 2 can track the target. If the target image requirement is not high, the mobile robot can interact with the target directly based on the surround view image without rotating the body.

[0034] If a target is outside the field of view of the second camera 3 but needs to be zoomed in on, the camera body can be rotated to face the target. When depth information of the target is required, such as for 3D mapping or liveness detection, the second camera 3 can be used in conjunction with the first camera 22 on the surround view assembly 2, which faces the same direction as the second camera 3, to achieve binocular depth information acquisition. By providing at least three first cameras 22, multi-directional depth information acquisition is possible. The number of directions in which depth information can be acquired depends on the number of first cameras 22.

[0035] The surround view assembly 2 is fixed relative to the first mounting bracket 11. The first mounting bracket 11 and the second mounting bracket 12 can be integrally formed. Alternatively, the first mounting bracket 11 and the second mounting bracket 12 can be separate components that can be rotatably connected or secured by bolts. When the first mounting bracket 11 and the second mounting bracket 12 are rotatably connected, the second camera 3 can rotate relative to the surround view assembly 2 about the Z axis along with the second mounting bracket 12, enabling inspection in the up, down, left, and right directions.

[0036] The camera device provided by the present invention is provided with a surround-view component 2 and a second camera 3, and uses at least three first cameras 22 of the surround-view component 2 to obtain surround-view images, and uses the second camera 3 to obtain local images. Through the mutual cooperation of the surround-view component 2 and the second camera 3, it is possible to ensure the information collection of the main system's field of view, increase the field of view of the mobile robot, avoid blind spots in the field of view, reduce or avoid rotating the fuselage, and improve the flexibility of the mobile robot.

[0037] Optionally, the housing 21 can be removably mounted on the first mounting base 11 to facilitate replacement of the surround view assembly 2. For example, the housing 21 can be provided with a buckle, and the first mounting base 11 can be provided with a bayonet, and the buckle and bayonet can be engaged to achieve removable mounting of the housing 21 and the first mounting base 11. For another example, the housing 21 can be provided with a mounting portion, and the mounting portion and the first mounting base 11 can be fastened together by bolts.

[0038] In some embodiments of the present invention, the second mounting base 12 is rotatably connected to the first mounting base 11 around the Z axis. It is understandable that the second camera 3 and the second mounting base 12 are connected to form a pan-tilt camera, which can rotate relative to the first mounting base 11 on a horizontal plane.

[0039] The camera device of this embodiment can be mounted on the main body of the mobile robot via a first mounting bracket 11. A second mounting bracket 12 is connected to the first mounting bracket 11 by rotation about the Z-axis, and a second camera 3 is connected to the second mounting bracket 12 by rotation about the Y-axis. This allows the second camera 3 to not only move up and down relative to the first mounting bracket 11 but also to rotate horizontally relative to the first mounting bracket 11 along with the second mounting bracket 12 about the Z-axis, enabling the second camera 3 to inspect objects in the vertical, horizontal, and horizontal directions. This embodiment allows tracking, magnification, and acquisition of depth information of a target solely through the rotation of the second camera 3, without requiring the mobile robot to rotate.

[0040] The surround view component 2 and the second camera 3 can operate independently of each other, forming two independent visual systems. Once one visual system completes the identity authentication of the target, the other visual system can lock onto the target again and provide feedback to the mobile robot control system, controlling the mobile robot to interact with the target.

[0041] In scenarios where depth information is required, the first camera 22 corresponding to the target can be determined based on the surround view image, and then the second camera 3 can be controlled to rotate around the Z axis so that the second camera 3 is oriented in the same direction as the first camera 22. At this time, the two cameras are in the same vertical direction, and depth information acquisition based on the binocular camera can be achieved.

[0042] Optionally, the left-right inspection range of the second camera 3 is consistent with the field of view of the main system. In this way, when the mobile robot is stationary, the second camera 3 can track, zoom in on, and acquire depth information of specific objects in the field of view of the main system. This ensures that information in the field of view of the main system is not lost or omitted, while also preventing danger to the machine body due to blind spots.

[0043] Optionally, the surround view image captured by the surround view component 2 in this embodiment is a 360° surround view image. The second mounting base 12 can rotate 0° to 360° around the Z axis relative to the first mounting base 11. The second camera 3 can rotate 0° to 180° around the Y axis relative to the second mounting base 12.

[0044] During use, the multiple first cameras 22 of the surround view assembly 2 face horizontally, and the second camera 3 also faces horizontally in its initial state. The second camera 3 can rotate horizontally one full circle relative to the first mounting base 11, achieving a full 360° rotation. The second camera 3 can also be tilted 90° vertically relative to the second mounting base 12, achieving a 180° field of view. This allows for information collection over a wide field of view and avoids vertical blind spots in the second camera 3 due to the height of the mobile robot.

[0045] This embodiment can obtain a 360° panoramic image of the current scene through the surround view component 2, eliminating blind spots in the field of view, and at the same time perform panoramic target tracking through the second camera 3.

[0046] It is understandable that the second mounting base 12 and the second camera 3 can both rotate forward and reverse. After rotating to the extreme position, they can be reset by rotating in the reverse direction.

[0047] The camera device provided in some embodiments of the present invention further includes a first driving member (not shown in the figure). The first driving member is fixed to the first mounting base 11, and the driving end of the first driving member is connected to the second mounting base 12 for driving the second mounting base 12 to rotate around the Z axis.

[0048] Optionally, the first driving member is a servo motor, the base of which is fixedly connected to the first mounting base 11, and the motor shaft is in transmission connection with the second mounting base 12. Driven by the first driving member, the second mounting base 12 can rotate relative to the first mounting base 11, that is, the second camera 3 rotates around the Z axis relative to the surround view assembly 2.

[0049] Optionally, the first driving member includes a motor and a transmission gear, wherein the motor shaft is fixedly connected to the gear shaft of the transmission gear, and the transmission gear is connected to the second mounting base 12. Driven by the motor, the transmission gear drives the second mounting base 12 to rotate. It is understood that the first driving member can also be other rotational driving mechanisms, as long as they can drive the second mounting base 12 to rotate.

[0050] The first driving member can drive in both forward and reverse directions, and can drive the second mounting base to rotate 0° to 360°.

[0051] The camera device provided by the embodiment of the present invention also includes a third mounting base (not shown in the figure), which is connected to the second mounting base 12 by rotation around the Y axis, and the second camera 3 is mounted on the third mounting base by rotation around its own axis.

[0052] The second camera 3 is connected to the second mounting bracket 12 via a third mounting bracket, which is rotatable about the Y axis. The second camera 3 is mounted on the third mounting bracket, which allows for adjustment of the angle of the image captured by the second camera 3. An anti-shake mechanism can be provided between the third mounting bracket and the second camera 3 to prevent shaking during robot movement.

[0053] Optionally, the second camera 3 can rotate about its own axis by 0-90° relative to the third mounting base. That is, the second camera 3 can rotate up to 90° relative to the third mounting base. For example, rotating the second camera 3 90° relative to the third mounting base can cause the image captured by the second camera 3 to switch between horizontal and vertical orientations.

[0054] It should be noted that, depending on the shooting needs, the second mounting bracket 12 and the second camera 3 can be positioned at any position within the rotation range. For example, the second mounting bracket 12 can be rotated 90°, 180°, etc. around the Z axis relative to the first mounting bracket 11. The second camera 3 can be tilted 30°, 45°, or tilted 30°, 45°, etc. relative to the third mounting bracket. The second camera 3 can also be rotated 10°, 45°, etc. relative to the third mounting bracket.

[0055] The camera device provided in some embodiments of the present invention further includes a second driving member 4. The second driving member 4 is fixed to the second mounting base 12, and the driving end of the second driving member 4 is connected to the third mounting base for driving the third mounting base to rotate relative to the second mounting base 12 around the Y axis.

[0056] Optionally, the second driving member 4 is a rotary motor, the base of the rotary motor is fixed to the second mounting base 12, and the shaft of the rotary motor is in transmission connection with the third mounting base. Driven by the rotary motor, the third mounting base rotates relative to the second mounting base 12, driving the second camera 3 to adjust the shooting angle up and down. When the second camera 3 is in a horizontal state with the third mounting base, the driving range of the rotary motor is ±90°, that is, under the drive of the rotary motor, the third mounting base can drive the second camera 3 to rotate upward 90° or downward 90°, with a range of motion of 180°. Therefore, by adjusting the relative position of the third mounting base and the second mounting base 12, the second camera 3 is driven to pitch up and down, thereby achieving a wide range of main system field of view framing.

[0057] like Figure 1 As shown, the second mounting base 12 comprises a U-shaped frame, and the opposing sides of the third mounting base are rotatably engaged with the opposing branches of the U-shaped frame. The second camera 3 is positioned between the opposing branches of the U-shaped frame and can rotate relative to the two branches along with the third mounting base. For example, the third mounting base and the two branches of the U-shaped frame are each provided with an axle and an axle hole, and the axle is rotatably inserted into the axle hole.

[0058] Furthermore, the camera device provided by the present invention also includes a third driving member (not shown). The third driving member is fixed to the third mounting base, and the driving end of the third driving member is in transmission connection with the second camera 3. Optionally, the third driving member is a motor or a drive motor equipped with a gear assembly. The third driving member drives the second camera 3 to rotate about its own axis relative to the third mounting base, allowing the second camera 3 to rotate 90°, switching from landscape to portrait shooting.

[0059] like Figure 1As shown, in some embodiments of the present invention, the surround view assembly 2 further includes a microphone 23 and / or a third camera 24. The microphone 23 and the third camera 24 are disposed on the top wall of the housing 21, and the first camera 22 is disposed on a side wall of the housing 21. The top wall is located on a side of the housing 21 away from the first mounting base 11 and is connected to the side wall.

[0060] The top wall of the housing 21 is horizontally arranged, and the third camera 24 is arranged on the top wall, which can make up for the blind spot of the surround view component 2 and the second camera 3 at the top, further expanding the field of view of the camera device. Optionally, the third camera 24 is a monocular camera.

[0061] Optionally, there are multiple microphones 23, and the multiple microphones 23 are arranged in a ring to form a ring microphone array. In the case of having multiple microphones 23 and the third camera 24, the third camera 24 is set at the center of the ring microphone array.

[0062] Optionally, the housing 21 is a circular disc-shaped structure, i.e., its top wall is a circular structure and its side walls are annular structures. At least three first cameras 22 are evenly arranged in a circular array on the side walls. Multiple microphones 23 are arranged in a circular array on the top wall.

[0063] An embodiment of the present invention further provides a mobile robot, which includes a robot body and the camera device described in any of the above embodiments, wherein the first mounting seat 11 is mounted on the robot body.

[0064] The mobile robot adopts the camera device as described above, uses at least three first cameras 22 of the surround-view component 2 to obtain surround-view images, uses the second camera 3 to obtain local images, and uses the surround-view component 2 to make up for the shooting blind spot of the second camera 3. The mutual cooperation between the surround-view component 2 and the second camera 3 can ensure the information collection of the main system's field of view, increase the field of view of the mobile robot, avoid blind spots, reduce or avoid rotating the fuselage, and improve the flexibility and safety of the mobile robot.

[0065] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A camera device, characterized in that: include: a first mounting base, wherein the first mounting base is connected to a second mounting base; A surround view assembly comprising a housing and at least three first cameras, wherein the housing is connected to the first mounting base, and the at least three first cameras are arranged around the housing around a Z axis for acquiring surround view images; The second camera, the second mounting base is connected to the first mounting base by rotating around the Z axis, and the second camera is connected to the second mounting base by rotating around the Y axis; wherein the axial direction of the second camera when in a horizontal position is the X axis, and the X axis, Y axis and Z axis constitute a three-dimensional coordinate system.

2. The imaging device according to claim 1, wherein The second mounting base is rotatably connected to the first mounting base around the Z axis.

3. The imaging device according to claim 2, wherein: The surround view image is a 360° surround view image, the second mounting base can rotate 0° to 360° around the Z axis relative to the first mounting base, and the second camera can rotate 0° to 180° around the Y axis relative to the second mounting base.

4. The imaging device according to claim 2, wherein: Also includes: A first driving member is fixed to the first mounting seat, and a driving end of the first driving member is connected to the second mounting seat, and is used to drive the second mounting seat to rotate relative to the first mounting seat around the Z axis.

5. The imaging device according to claim 1, wherein Also includes: The third mounting base is connected to the second mounting base by rotating around the Y axis, and the second camera is mounted on the third mounting base by rotating around its own axis.

6. The imaging device according to claim 5, wherein: The second camera can rotate 0-90 degrees around its own axis relative to the third mounting base.

7. The imaging device according to claim 5, wherein: Also includes: The second driving member is fixed to the second mounting seat, and the driving end of the second driving member is connected to the third mounting seat, and is used to drive the third mounting seat to rotate around the Y axis relative to the second mounting seat.

8. The imaging device according to claim 1, wherein The shell is detachably mounted on the first mounting seat.

9. The imaging device according to claim 1, wherein The surround view assembly also includes: a microphone and / or a third camera, the microphone and the third camera are arranged on the top wall of the shell, and the first camera is arranged on the side wall of the shell; the top wall is located on the side of the shell away from the first mounting seat and is connected to the side wall.

10. A mobile robot, characterized in that: include: A robot body and the imaging device according to any one of claims 1 to 9, wherein the first mounting seat is mounted on the robot body.

Images