Light supplementing module and robot

Abstract

The utility model provides a light supplementing module and a robot. The light supplementing module comprises an installation support and a light supplementing lamp. A mounting groove is formed in the mounting bracket, a first reflecting part is arranged on the inner side wall of the lower side of the mounting groove, and a shading part is arranged on the inner side wall of the upper side of the mounting groove; and the light supplementing lamp is mounted at the bottom of the mounting groove. When the robot executes an operation task in a scene with insufficient ambient light, the light supplementing lamp is turned on and emits light, the first light reflecting part on the inner side wall of the lower side of the mounting groove can reflect the light irradiated on the first light reflecting part, and the light is reflected to the distance, so that the light in the distance is enhanced, and the working efficiency of the robot is improved. The shading part on the inner side wall of the upper side of the mounting groove can prevent the light irradiated on the shading part from being reflected to the near position, so that the near light is weakened, the light distribution of the target recognition area is more uniform, the problems of far underexposure and near overexposure of an image acquired by the visual recognition module are avoided, and the image quality is improved. Therefore, the visual recognition accuracy of the robot in a scene lack of external light is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, in particular to a light supplementing module and robot. BACKGROUND

[0002] The robot usually carries out visual identification to the object in the work environment through the camera and other visual identification modules, when the robot carries out the work task in the night or the scene of dim light, at this moment, the work route needs to be illuminated or lighted. The light uniformity of the light supplementing module in the prior art is poor, which affects the identification accuracy of the camera. SUMMARY

[0003] Therefore, it is necessary to provide a light supplementing module and robot aiming at the problem of poor light uniformity of the light supplementing module of the robot in the prior art, which affects the identification accuracy of the camera.

[0004] The technical scheme is as follows:

[0005] On the one hand, a light supplementing module is provided, comprising:

[0006] A mounting bracket is provided with a mounting groove, the inner side wall of the lower side of the mounting groove is provided with a first light reflecting part, and the inner side wall of the upper side of the mounting groove is provided with a light shielding part; and

[0007] A light supplementing lamp is installed at the bottom of the mounting groove.

[0008] The technical scheme is further described as follows:

[0009] In one embodiment, the bottom wall of the mounting groove is provided with a second light reflecting part.

[0010] In one embodiment, the first light reflecting part and / or the second light reflecting part are configured as light reflecting surfaces.

[0011] In one embodiment, the light supplementing module further comprises a light homogenizing plate, which is located in the mounting groove and is spaced apart from the light supplementing lamp.

[0012] In one embodiment, the outer contour shape of the light homogenizing plate is matched with the inner contour shape of the mounting groove, the upper and lower side walls of the mounting bracket are provided with through holes corresponding to the light homogenizing plate, and the light supplementing lamp further comprises a locking member, which locks and fixes the light homogenizing plate in the mounting groove through the through holes.

[0013] In one embodiment, the light supplementing module further comprises a light-transmitting lampshade, which covers the slot opening of the mounting groove.

[0014] In one of the embodiments, the light-transmitting lampshade comprises a light-transmitting portion, which is arranged in a spaced manner with the light homogenizing plate.

[0015] In one of the embodiments, the light-transmitting lampshade further comprises mounting wings, which are arranged on both sides of the light-transmitting portion and extend outwardly; the mounting bracket further comprises connecting portions, which are arranged in correspondence with the mounting wings, and are configured to be fixedly connected with the mounting wings when the light-transmitting lampshade cover is arranged in the mounting groove.

[0016] In another aspect, a robot is provided, which comprises a robot body, a visual recognition module and the light supplementing module as described above, the visual recognition module and the light supplementing module are both mounted on the robot body, and the light supplementing module is used for illuminating and supplementing light to a target recognition area of the visual recognition module when the light is insufficient.

[0017] In one of the embodiments, the light supplementing module is arranged towards a surface to be cleaned, the visual recognition module is also arranged towards the surface to be cleaned, and an irradiation angle of the light supplementing module at least partially coincides with a field of view angle of the visual recognition module.

[0018] In the light supplementing module and the robot in the above embodiments, the light supplementing module is arranged on the robot body, the mounting bracket of the light supplementing module is provided with a mounting groove, the inner side wall of the lower side of the mounting groove is provided with a first light reflecting portion, the inner side wall of the upper side of the mounting groove is provided with a light shielding portion, and the light supplementing lamp is mounted on the bottom wall of the mounting groove. When the robot performs a task in a scene with insufficient ambient light, the light supplementing lamp is lit and emits light, the first light reflecting portion on the inner side wall of the lower side of the mounting groove reflects the light irradiated thereon to a far place, so that the light in the far place is enhanced, the light shielding portion on the inner side wall of the upper side of the mounting groove avoids reflecting the light irradiated thereon to a near place, so that the light in the near place is weakened, the light distribution of the target recognition area is more uniform, and thus the image collected by the visual recognition module is prevented from being underexposed in the far place and overexposed in the near place, thereby improving the visual recognition accuracy of the robot in the scene with insufficient external light. BRIEF DESCRIPTION OF DRAWINGS

[0019] The accompanying drawings, which form a part of the present application, are intended to provide further understanding of the present application, and the illustrative embodiments of the present application, together with their description, are intended to explain the present application, and are not intended to limit the present application.

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the accompanying drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the accompanying drawings in the following description are only some embodiments of the present application, and other accompanying drawings can also be obtained by those skilled in the art without any creative effort.

[0021] Figure 1 A partial structure schematic diagram of a robot of an embodiment.

[0022] Figure 2 A partial structure schematic diagram of a robot of an embodiment. Figure 1 A structure schematic diagram of a light supplement module, a visual recognition module and a front shell assembly in

[0023] Figure 3 A partial structure schematic diagram of a robot of an embodiment. Figure 2 A sectional view of a light supplement module, a visual recognition module and a front shell assembly in

[0024] Figure 4 A partial structure schematic diagram of a robot of an embodiment.

[0025] Figure 5 A partial structure schematic diagram of a robot of an embodiment. Figure 4 A partial enlarged view of part A in

[0026] Explanation of reference signs:

[0027] 10, light supplement module; 100, mounting bracket; 110, mounting groove; 111, bottom wall; 120, first light reflection part; 130, light shielding part; 140, second light reflection part; 150, through hole; 160, connecting part; 200, light supplement lamp; 300, light homogenizing plate; 400, light transmission lampshade; 410, light transmission part; 420, mounting wing; 20, visual recognition module; 30, robot body; 31, front shell assembly. DETAILED DESCRIPTION

[0028] In order to make the above objectives, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application are described in detail below in combination with the drawings. In the following description, a large number of specific details are set forth in order to fully understand the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the spirit of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0029] For a robot that needs to supplement light for a camera module, the inventor found through testing that the light supplement module (light supplement lamp band + light diffusion powder lampshade) of the robot in the prior art has the problem that when illuminating and supplementing light for the visual recognition module, the light is too bright near the visual recognition module and the light is too dark far away from the visual recognition module, which leads to the problem that the image collected by the visual recognition module is overexposed near the visual recognition module and underexposed far away from the visual recognition module, and further affects the recognition accuracy of visual recognition.

[0030] Based on the above problem, the inventor designed the light supplement module 10 and the robot of the following embodiments of the present application to solve the above technical problem.

[0031] Please refer to Figure 1In one embodiment, a robot is provided, comprising a robot body 30, a visual recognition module 20 and a light supplement module 10. The visual recognition module 20 and the light supplement module 10 are both mounted on the robot body 30. The light supplement module 10 is used to illuminate and / or supplement light for a target recognition area of the visual recognition module 20. In this way, when the robot performs a task in the night or in a dimly lit scene, the target recognition area of the visual recognition module 20 is illuminated and / or supplemented by the light supplement module 10, so as to ensure that the visual recognition module 20 can accurately recognize the objects in the area.

[0032] The visual recognition module 20 can be an image information acquisition sensor such as an RGB camera or an RGB-D camera. The visual recognition module 20 and the light supplement module 10 can be mounted on the robot body 30 by at least one of screwing, clamping, plugging and other fixed connection methods. In the specific embodiment of the drawings, the visual recognition module 20 and the light supplement module 10 are mounted on the front of the robot body 30, but it can be understood that in other embodiments, as long as the visual recognition module 20 can play a role in visual recognition and the light supplement module 10 can serve the role of illuminating or supplementing light for the visual recognition module 20, the visual recognition module 20 and the light supplement module 10 can be mounted on any outer surface of the robot body 30. For example, the visual recognition module 20 is arranged on the top of the robot body 30 and the light supplement module 10 is arranged on the front of the robot body 30; or the visual recognition module 20 is arranged on the rear of the robot body 30 and the light supplement module 10 is also arranged on the rear of the robot body 30.

[0033] The target recognition area is located in front of the robot when the robot performs a task, and the robot identifies the objects in this area through the visual recognition module 20, so as to avoid or perform a specific task according to the built-in program of the robot.

[0034] Please refer to Figure 2 In this embodiment, the robot body 30 comprises a front shell assembly 31. The light supplement module 10 and the visual recognition module 20 are both mounted on the front shell assembly 31. The light supplement module 10 is arranged in a horizontal direction on the front shell assembly 31 and is located below the visual recognition module 20.

[0035] Further, please refer to Figure 3 The light supplement module 10 is arranged towards the surface to be cleaned, the visual recognition module 20 is also arranged towards the surface to be cleaned, and the illumination angle P of the light supplement module 10 and the field of view angle FOV of the visual recognition module 20 at least partially overlap. In this way, the light supplement module 10 illuminates and / or supplements light for the visual recognition module 20.

[0036] As shown in Figure 4 and Figure 5 ,Figure 4 A cross-sectional view of the front shell assembly 31 after the light compensation module 10 and the visual recognition module 20 are assembled, Figure 5 A cross-sectional view of the front shell assembly 31 after the light compensation module 10 and the visual recognition module 20 are assembled, Figure 4 A partial enlarged view of part A. In one embodiment, a light compensation module 10 is provided, which includes a mounting bracket 100 and a light compensation lamp 200. The mounting bracket 100 is arranged in a groove-shaped structure formed by two side plates and a bottom plate, and the cross section is generally The mounting bracket 100 is provided with a mounting groove 110, and the inner side wall of the lower side of the mounting groove 110 is provided with a first light reflection part 120. The light compensation lamp 200 is mounted on the bottom wall of the mounting groove 110.

[0037] The light compensation module 10 in the above embodiment is arranged on the robot body 30, the mounting bracket 100 of the light compensation module 10 is provided with a mounting groove 110, the inner side wall of the lower side of the mounting groove 110 is provided with a first light reflection part 120, and the light compensation lamp 200 is mounted on the bottom wall of the mounting groove 110. When the robot performs a task in a scene with insufficient ambient light, the light compensation lamp 200 is turned on and emits light, and the first light reflection part 120 on the inner side wall of the lower side of the mounting groove 110 reflects the light shining on it to a farther place, so as to enhance the light in the far place and ensure that the image collected by the visual recognition module 20 does not appear underexposed in the far place, thereby improving the accuracy of visual recognition of the robot in a scene with insufficient external light.

[0038] In this embodiment, the light compensation lamp 200 can be a basic light emitting device such as a lamp strip or a lamp tube. The light compensation lamp 200 can be mounted on the bottom wall 111 of the mounting groove 110 by screwing, clamping, bonding or other fixed connection methods. The first light reflection part 120 is arranged as a light reflection surface, which can be configured as a light reflection sheet or a light reflection coating, and the first light reflection part 120 can be mounted on the inner side wall of one side of the mounting groove 110 by screwing, clamping, bonding, electroplating or other fixed connection methods.

[0039] As shown in Figure 5 Optionally, the inner side wall of the upper side of the mounting groove 110 is provided with a light shielding part 130. In this way, when the robot performs a task in a scene with insufficient ambient light, the light compensation lamp 200 is turned on and emits light, and the light shielding part 130 can prevent the light shining on the upper side of the mounting groove 110 from being reflected to the near place, so as to ensure that the light near the side of the target recognition area close to the light compensation module 10 is not too bright, and the image collected by the visual recognition module 20 does not appear overexposed in the near place, thereby improving the reliability of visual recognition of the robot in a scene with insufficient external light.

[0040] Specific to the embodiment, the light shielding part 130 is provided as a light shielding strip. The light shielding strip can be installed on the inner side wall of the lower side of the installation groove 110 through screwing, clamping, bonding or other fixed connection methods. In other embodiments, the light shielding part 130 is also provided as a light shielding paper or a light shielding sheet.

[0041] As shown in Figure 5 the bottom wall 111 of the installation groove 110 is provided with a second light reflecting part 140. Thus, when the light supplement lamp 200 is lit and emits light, the second light reflecting part 140 reflects the light shining on it, so that part of the light is reflected to the first light reflecting part 120 or the light shielding part 130, and more light is reflected to the far distance through the first light reflecting part 120 and to the near distance through the light shielding part 130, thereby ensuring that the light intensity of the target recognition area far away from the light supplement module 10 is more consistent with that of the target recognition area close to the light supplement module 10, avoiding the problem of underexposure in the far distance and overexposure in the near distance of the image of the target recognition area collected by the visual recognition module 20, and thereby improving the reliability of the robot in the scene of lack of external light.

[0042] The second light reflecting part 140 can be provided in a similar manner to the first light reflecting part 120.

[0043] Preferably, the installation bracket 100 can be configured as a metal piece of stainless steel or the like. The side wall inside the installation groove 110 of the installation bracket 100 is configured as a stainless steel sheet metal process mirror surface layer or a polished mirror surface layer; the light shielding part 130 of the inner side wall of the upper part of the installation groove 110 is configured as a light shielding paper. The installation bracket 100, as the installation bracket of the light supplement lamp 200, is configured as a metal piece, which can well conduct heat and dissipate heat; the first light reflecting part 120 and the second light reflecting part 140 inside the installation groove 110 are made by stainless steel sheet metal process or polishing, which is low in cost and stable and reliable; the light shielding part 130 is formed by pasting light shielding paper on the inner side wall of the upper part of the installation groove 110, which is simple in process and easy to maintain.

[0044] Please continue to refer to Figure 5 In one embodiment, the light supplement module 10 further comprises a light homogenizing plate 300, which is located inside the installation groove 110 and is spaced apart from the light supplement lamp 200. Thus, the light homogenizing plate 300 can uniformly spread the light emitted by the light supplement lamp 200, so that more light is incident on the first light reflecting part 120, and the first light reflecting part 120 reflects more light to the far distance, ensuring that the light on the side of the target recognition area far away from the light supplement module 10 is sufficient, so that the uniformity of the light at the target recognition area is increased, thereby further improving the recognition accuracy of the robot in a dark environment.

[0045] Specific to the embodiment, the light uniformity plate 300 is set as a light scattering powder light uniformity plate, and the light scattering powder light uniformity plate is milky white. In this way, the light uniformity plate 300 can avoid the light compensation lamp 200 from being directly exposed in the user's visual angle, and improve the texture of the robot. In other embodiments, the light uniformity plate 300 can also be set as a light transmission light uniformity plate with stripes.

[0046] As shown in Figure 5 the outer contour shape of the light uniformity plate 300 is matched with the inner contour shape of the mounting groove 110, the upper and lower side walls of the mounting bracket 100 are provided with through holes 150 corresponding to the light uniformity plate 300, and the light compensation lamp 200 further comprises a locking member, the locking member passes through the through holes 150 to lock and fix the light uniformity plate 300 in the mounting groove 110. In this way, the convenience of assembling the light compensation module 10 can be improved.

[0047] The number and position of the through holes 150 and the number and position of the locking member can be flexibly adjusted according to actual use needs. The locking member can be set as a locking bolt or a locking bolt.

[0048] As shown in Figure 5 in an embodiment, the light compensation module 10 further comprises a light transmission lampshade 400, and the light transmission lampshade 400 is arranged on the slot of the mounting groove 110. In this way, the light transmission lampshade 400 plays a protective role at the same time, and the light in the slot can also pass through the light transmission lampshade 400 and irradiate to the target recognition area.

[0049] Further, the light transmission lampshade 400 comprises a light transmission part 410, and the light transmission part 410 is arranged in a spaced manner with the light uniformity plate 300. Preferably, the light transmission part 410, the light uniformity plate 300 and the light compensation lamp 200 are arranged in parallel.

[0050] As shown in ​ optionally, the light transmission lampshade 400 further comprises a mounting wing 420, and the mounting wing 420 is arranged on both sides of the light transmission part 410 and extends outward; the mounting bracket 100 further comprises a connecting part 160, and the connecting part 160 is arranged corresponding to the mounting wing 420, and the connecting part 160 is configured to be fixedly connected with the mounting wing 420 when the light transmission lampshade 400 is arranged on the mounting groove 110.

[0051] Specifically, the mounting bracket 100 extends outward from the upper and lower side plates or the bottom plate of the mounting groove 110 at both ends along the extension direction of the mounting bracket 100 to form the connecting part 160. At least one connecting hole is formed in the connecting part 160 and the mounting wing 420, and a fastener such as a screw passes through the connecting holes of the connecting part 160 and the mounting wing 420 to fix the mounting bracket 100 and the light transmission lampshade 400 as a whole.

[0052] In the description of this application, it should be understood that if the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0053] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, if the term "plurality" appears, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0054] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connected," "fixed," etc., should be interpreted broadly. For example, these terms may refer to fixed connections, removable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; and internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0055] In this application, unless otherwise expressly specified or limited, if a first feature is described as being "above" or "below" a second feature, or similar descriptions, this may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is described as being "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is described as being "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0056] It is to be noted that when an element such as a layer, film, or panel is referred to as being "on" or "connected to" another element, it can be directly on or connected to the other element or intervening elements can also be present. In addition, two elements can be considered to be "connected" even though they are not in direct contact with each other if they, for example, are connected through an intervening element. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0057] It will be further understood that the terms "comprises" and / or "comprising", or "includes" and / or "including" when used in this specification, specify the presence of stated features, regions, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, regions, integers, steps, operations, elements, components, and / or groups thereof.

[0058] Various features of the above embodiments can be combined in any combination, and the description of the embodiments is not intended to limit the scope of the application. It is to be understood that the above description is intended to be illustrative and not restrictive. Many other embodiments will be apparent to those of skill in the art upon reviewing the above description. The scope of the application should, therefore, be determined not with reference to the above description, but instead with reference to the appended claims, along with their full scope of equivalents.

[0059] The above embodiments are only some of the embodiments of the present application, and the description is specific and detailed, but it should not be understood as limiting the scope of the patent application. It should be noted that for those skilled in the art, without departing from the concept of the present application, some modifications and improvements can be made, which are all within the scope of the present application. Therefore, the scope of the patent protection of the present application should be subject to the appended claims.

Claims

1. A fill light module, characterized in that: include: A mounting bracket, wherein the mounting bracket is provided with a mounting groove, a first light reflecting portion is provided on a lower inner sidewall of the mounting groove, and a light shielding portion is provided on an upper inner sidewall of the mounting groove; and A fill light is installed at the bottom of the installation slot.

2. The fill light module according to claim 1, wherein: The bottom wall of the installation groove is provided with a second light reflecting portion.

3. The fill light module according to claim 2, wherein: The first reflecting portion and / or the second reflecting portion are configured as a reflecting surface.

4. The fill light module according to claim 1, wherein: The fill light module further includes a light doubling plate, which is located in the mounting groove and spaced apart from the fill light.

5. The fill light module according to claim 4, characterized in that: The outer contour of the light diffuser is adapted to the inner contour of the mounting groove. The upper and lower side walls of the mounting bracket are provided with through holes corresponding to the light diffuser. The fill light also includes a locking piece, which passes through the through hole to lock the light diffuser in the mounting groove.

6. The fill light module according to claim 4, characterized in that: The fill light module further includes a translucent lampshade, and the translucent lampshade is covered on the notch of the installation slot.

7. The fill light module according to claim 6, characterized in that: The light-transmitting lampshade includes a light-transmitting portion, and the light-transmitting portion is spaced apart from the light-diffusing plate.

8. The fill light module according to claim 7, characterized in that: The translucent lampshade further includes mounting wings, which are arranged on both sides of the translucent portion and extend outward; the mounting bracket further includes a connecting portion, which is configured to be fixedly connected to the mounting wings when the translucent lampshade is covered in the mounting groove.

9. A robot, characterized in that: It comprises a robot body, a visual recognition module and a fill light module as described in any one of claims 1 to 8, wherein the visual recognition module and the fill light module are both installed on the robot body, and the fill light module is used to illuminate the target recognition area of ​​the visual recognition module when the light is insufficient.

10. The robot according to claim 9, characterized in that The fill light module is arranged toward the surface to be cleaned, the visual recognition module is also arranged toward the surface to be cleaned, and the illumination angle of the fill light module and the viewing angle of the visual recognition module at least partially overlap.

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