Robot head structure and robot

Abstract

The utility model provides a robot head structure and a robot, and relates to the field of robot products, and the robot head structure comprises a carrier, a radar and a plurality of cameras. The carrier is provided with a hollow area, and the radar is installed on the carrier and located in the hollow area. The plurality of cameras are all mounted on the carrier and are all located outside the hollow area; the shooting directions of at least two cameras in the plurality of cameras are different; and at least two cameras with different shooting directions are arranged in the circumferential direction of the robot head structure. According to the design of the head structure, image information in multiple directions can be collected at the same time on the premise that the direction of the robot body structure or the direction of the head is not adjusted, so that the visual field of the robot is expanded, and the running flexibility and reliability of the robot are improved; and the camera is matched with the radar, so that image information can be obtained in different recognition modes, and the reliability is high.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot product field, specifically, relate to a robot head structure and robot. BACKGROUND

[0002] In prior art, the vision system of robot is mainly arranged in the head of robot, and the vision system generally includes two forms, one is single direction arrangement multi objective camera, and the other is laser radar sensor and single direction arrangement multi objective camera cooperation. The design of the two kinds of vision systems can collect the image range of being relatively limited at the same time, that is, the image size is narrow. If the image in other direction of robot needs to be collected, the body direction of robot or the head direction of robot needs to be adjusted to realize, and multiple direction image information cannot be collected at the same time, and the application scene of the robot needing to make decision through collecting multi direction image information has certain limitation. SUMMARY

[0003] The utility model aims at, for example, provides a robot head structure and robot, it can collect multiple direction image information at the same time under the premise of not adjusting the body direction or head direction of robot, thereby expanding the field of vision of robot, improve the flexibility and reliability of robot operation, and simultaneously, camera and radar cooperation can obtain image information in different identification mode, and the reliability is high.

[0004] The embodiment of the utility model can be realized as follows:

[0005] Firstly, the utility model provides a robot head structure, including carrier, radar and multiple cameras, wherein:

[0006] The carrier is provided with a hollow area, the radar is installed in the carrier and located in the hollow area;

[0007] The multiple cameras are all installed in the carrier and all located outside the hollow area; At least two cameras of the multiple cameras are different in shooting direction, and the at least two cameras different in shooting direction are arranged in the circumferential direction of the robot head structure.

[0008] Optionally, the shooting pictures of the at least two cameras different in shooting direction are spliced or partially overlapped at the edge.

[0009] Optionally, the robot head structure further includes at least one pitch joint corresponding to at least one camera of the multiple cameras;

[0010] The pitch joint is installed in the carrier and connected with the corresponding camera to drive the corresponding camera to pitch relative to the carrier.

[0011] Optionally, the robot head structure further comprises at least one mounting bracket corresponding to the at least one pitch joint;

[0012] The mounting bracket is connected with the pitch joint output part of the corresponding pitch joint, and the corresponding camera is mounted on the mounting bracket; the pitch joint drives the corresponding mounting bracket and the corresponding camera to synchronously pitch.

[0013] Optionally, the robot head structure further comprises at least one protective shell and at least one end cover corresponding to the at least one pitch joint;

[0014] The end cover is mounted at the end of the corresponding protective shell, the pitch joint is arranged in the corresponding protective shell, and the pitch joint output part of the pitch joint is located at the side of the protective shell away from the end cover.

[0015] Optionally, the mounting bracket comprises a fixed plate, a first cantilever and a second cantilever;

[0016] The corresponding camera is mounted on the fixed plate; the first cantilever and the second cantilever are connected with the fixed plate; the first cantilever is connected with the pitch joint output part of the pitch joint, and the second cantilever is rotatably matched with the end cover.

[0017] Optionally, the robot head structure further comprises at least one fixed bracket corresponding to at least one camera in the plurality of cameras;

[0018] The fixed bracket is mounted on the carrier and connected with the corresponding camera to lock the shooting angle of the corresponding camera.

[0019] Optionally, the number of cameras with different shooting directions is three, including a front camera, a left camera and a right camera; the front camera is connected with one pitch joint; the left camera and the right camera are distributed on the two sides of the front camera and are connected with two fixed brackets in one-to-one correspondence respectively;

[0020] The pitch angles of the left camera and the right camera are both set to be downward inclined by 30°, or / and, the included angle between the left camera and the right camera and the axis perpendicular to the front surface of the robot head structure is 5°, and the distance between the left camera and the right camera gradually increases in the direction from the front surface to the back surface of the robot head structure.

[0021] In a second aspect, the utility model further provides a robot, which comprises a robot body structure and the robot head structure, and the carrier is mounted on the top of the robot body structure.

[0022] Optionally, the robot body structure comprises a body mount and a yaw joint.

[0023] The carrier is rotatably connected with the body mount, and the yaw joint is mounted on the body mount and connected with the carrier to drive the carrier to rotate horizontally relative to the body mount.

[0024] The beneficial effects of the embodiments of the present application include, for example:

[0025] To sum up, the robot head structure provided by the embodiment can simultaneously collect images in multiple directions around the robot head structure without horizontal rotation of the robot head structure or horizontal rotation of the robot body structure, thereby expanding the field of view of the robot. Moreover, the carrier is provided with a radar, and the camera and the radar independently work without affecting each other, and the two are combined together to obtain external environment information in different ways, which can improve the reliability of the robot in identifying the external environment to a certain extent. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0027] Figure 1 Fig. 1 is a perspective view of the robot head structure of the embodiment of the present application;

[0028] Figure 2 Fig. 2 is a top view of the robot head structure of the embodiment of the present application;

[0029] Figure 3 Fig. 3 is a schematic view of the carrier of the embodiment of the present application;

[0030] Figure 4 Fig. 4 is an exploded schematic view of the front camera and the pitch joint of the embodiment of the present application;

[0031] Figure 5 Fig. 5 is an exploded schematic view of the carrier and the left camera of the embodiment of the present application;

[0032] Figure 6 Fig. 6 is an exploded schematic view of the carrier and the right camera of the embodiment of the present application;

[0033] Figure 7 Fig. 7 is a schematic view of the carrier and the radar of the embodiment of the present application;

[0034] Figure 8 A schematic view of a robot head structure and a robot body structure according to an embodiment of the present application;

[0035] Figure 9 An exploded schematic view of a robot body structure according to an embodiment of the present application.

[0036] Icon:

[0037] 001 - robot head structure; 011 - first axis; 100 - carrier; 101 - hollowed area; 110 - top plate; 111 - first positioning part; 120 - first skeleton; 121 - first gap; 130 - second skeleton; 131 - second gap; 140 - base; 141 - center hole; 142 - second positioning part; 200 - radar; 300 - camera; 310 - front camera; 320 - left camera; 330 - right camera; 400 - pitch joint; 410 - pitch joint output part; 500 - mounting bracket; 510 - fixed plate; 520 - first cantilever; 530 - second cantilever; 531 - assembly through hole; 540 - bearing; 600 - protective shell; 610 - first assembly plate; 611 - first fixed hole; 700 - end cover; 710 - second assembly plate; 711 - second fixed hole; 800 - left fixed bracket; 810 - first connecting plate; 820 - first positioning plate; 900 - right fixed bracket; 910 - second connecting plate; 920 - second positioning plate; 002 - robot body structure; 021 - body mounting; 022 - yaw joint; 0221 - yaw joint output part; 023 - second axis. DETAILED DESCRIPTION

[0038] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. The components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0039] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0040] It should be noted that like reference numerals and letters refer to like items in the several views, and that no further definitions and explanations of defined items in a drawing are required in subsequent drawings.

[0041] In the description of the utility model, it needs to be explained that if the terms "upper", "lower", "inner", "outer" and the like indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, or the orientation or position relationship commonly used when the product is used, it is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the utility model.

[0042] In addition, if the terms "first", "second" and the like are used only to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0043] It should be noted that the features in the embodiments of the utility model can be combined with each other without conflict.

[0044] In the prior art, robots generally rely on cameras provided on their heads to obtain surrounding environment information. A monocular or multiocular camera is generally provided in the front of the head of the robot, and the monocular or multiocular camera can change the pitch angle to expand the field of view. However, when the robot needs to obtain image information in more directions around the head, the head of the robot needs to be horizontally rotated or the body of the robot needs to be horizontally rotated to rotate the camera in the front of the head to the direction where the image is to be obtained. In this way, the existing robot has a cumbersome operation and low efficiency in obtaining image information in different directions around the head, and cannot simultaneously obtain image information in multiple different directions around the head, and the field of view is small.

[0045] In view of this, the designer provides a robot head structure 001 which can simultaneously obtain image information in different directions around the head of the robot without rotating the head of the robot or the body of the robot, has a large field of view, and can obtain image information in different identification modes, and has high reliability.

[0046] Please refer to Figures 1-7 The embodiment provides a robot head structure 001 which comprises a carrier 100, a radar 200 and a plurality of cameras 300. The carrier 100 is provided with a hollow area 101, the radar 200 is installed on the carrier 100 and located in the hollow area 101. The plurality of cameras 300 are all installed on the carrier 100 and all located outside the hollow area 101; at least two cameras 300 in the plurality of cameras 300 have different shooting directions; the at least two cameras 300 with different shooting directions are arranged in the circumferential direction of the robot head structure 001.

[0047] As described above, the working mode of the robot head structure 001 provided in the embodiment is as follows:

[0048] Through cooperation of the camera 300 and the radar 200, the external environment information can be collected in different recognition modes, which can improve the reliability of the robot in recognizing the external environment to a certain extent. Moreover, when multiple cameras 300 are used for image collection, since at least two cameras 300 of the multiple cameras 300 are arranged around the robot head structure 001, and the shooting directions of the at least two cameras 300 arranged around the robot head structure 001 are different, the images in multiple directions around the robot head structure 001 can be collected at the same time without horizontal rotation of the robot head structure 001 or horizontal rotation of the robot body structure 002, so as to expand the field of view of the robot.

[0049] The following embodiments illustrate the details of the robot head structure 001 of the application by way of example.

[0050] Please refer to Figures 1-2 In the embodiment, optionally, the robot head structure 001 comprises a carrier 100, a radar 200, a front camera 310, a left camera 320, a right camera 330, a pitch joint 400, a mounting bracket 500, a protective shell 600, an end cover 700, a left fixed bracket 800 and a right fixed bracket 900. The radar 200, the protective shell 600, the end cover 700, the left fixed bracket 800 and the right fixed bracket 900 are all mounted on the carrier 100. The pitch joint 400 is fixed in the protective shell 600, the front camera 310 is cooperated with the pitch joint 400 and the end cover 700 through the mounting bracket 500, and the pitch joint 400 can drive the front camera 310 to perform pitch rotation around the first axis 011. The left camera 320 is mounted on the left fixed bracket 800, and the shooting angle of the left camera 320 is locked through the left fixed bracket 800. The right camera 330 is mounted on the right fixed bracket 900, and the shooting angle of the right camera 330 is locked through the right fixed bracket 900.

[0051] The front camera 310, the left camera 320 and the right camera 330 are arranged in the circumferential direction of the robot head structure 001, the left camera 320 and the right camera 330 are distributed on the left and right sides of the front camera 310, and the front camera 310, the left camera 320 and the right camera 330 are located on the same side of the carrier 100. The radar 200, the front camera 310, the left camera 320 and the right camera 330 cooperate to obtain external image information in different recognition modes, and the front camera 310, the left camera 320 and the right camera 330 can respectively obtain image information in three different directions, so that the field of view in the circumferential direction of the robot head structure 001 is wide.

[0052] It should be understood that in other embodiments, the number of cameras 300 is not limited to three, but can also be two or four, etc., as long as at least two cameras 300 in the plurality of cameras 300 are arranged circumferentially on the robot head structure 001. In addition, the number of cameras 300 capable of performing the tilt rotation is not limited to one, and the number of tilt joints 400, mounting supports 500, protective shells 600, end covers 700, and cameras 300 capable of performing the tilt rotation are designed to be equal. Similarly, the number of cameras 300 with fixed shooting angles is not limited to two, but can also be one or three, etc., and the number of fixed supports and the number of cameras 300 with fixed shooting angles are designed to be equal.

[0053] Unless otherwise specified, the upright state of the robot is taken as the reference, and the first axis 011 extends horizontally, i.e., the tilt joint 400 can drive the front camera 310 to rotate around the first axis 011 to adjust the tilt angle of the front camera 310.

[0054] Please refer to Figure 3 In the embodiment, the carrier 100 is designed as a frame structure, the carrier 100 has a hollow area 101, the radar 200 is located in the hollow area 101, and the front camera 310, the left camera 320, and the right camera 330 are all located outside the hollow area 101 and do not interfere with each other, which facilitates assembly and use.

[0055] For example, in the embodiment, the carrier 100 includes a top plate 110, a first skeleton 120, a second skeleton 130, and a base 140. The top plate 110 and the base 140 are arranged opposite to each other, and the first skeleton 120 and the second skeleton 130 are both mounted between the top plate 110 and the base 140. The top plate 110, the first skeleton 120, the second skeleton 130, and the base 140 cooperate to enclose the hollow area 101. The top plate 110 is provided with a plurality of first positioning portions 111, which can be designed as circular through holes. The number and arrangement of the first positioning portions 111 are set as required. Each first positioning portion 111 is used to pass through a bolt or other fastener. It should be understood that the number of first positioning portions 111 is multiple and the arrangement is various, and different numbers and positions of first positioning portions 111 can be selected and used according to requirements, which is flexible and convenient to use. The base 140 is provided with a central hole 141 and a plurality of second positioning portions 142 arranged uniformly along the axis around the central hole 141. The second positioning portions 142 can be designed as circular through holes, and the number of second positioning portions 142 is set as required. Each second positioning portion 142 can pass through a bolt or other fastener.

[0056] Optionally, one end of the first skeleton 120 is provided with a first notch 121, which can be in the shape of a "V". The top plate 110 closes the first notch 121, and the top plate 110 and the first skeleton 120 form a triangular connection structure at the first notch 121, which is stable and light in weight. Similarly, one end of the second skeleton 130 is provided with a second notch 131, which can be in the shape of a "V". The top plate 110 closes the second notch 131, and the top plate 110 and the second skeleton 130 form a triangular connection structure at the second notch 131, which is stable and light in weight.

[0057] It should be understood that, in order to facilitate the connection and cooperation of the carrier 100 with other structures of the robot, the top plate 110, the first skeleton 120, the second skeleton 130 and the base 140 can also be adaptively provided with other connection parts.

[0058] In addition, in order to improve the stability and reliability of the structure, the top plate 110, the first skeleton 120, the second skeleton 130 and the base 140 can be provided as an integrated structure. For example, the top plate 110, the first skeleton 120, the second skeleton 130 and the base 140 can be manufactured as an integrated structure by using a welding process or a casting process.

[0059] Please refer to Figure 1 and Figure 4 Optionally, the protective shell 600 can be provided as a cylindrical piece with both ends open. The outer side of the protective shell 600 is provided with a first assembly plate 610, and the first assembly plate 610 is provided with a first fixing hole 611. The protective shell 600 is arranged on the top plate 110, the first assembly plate 610 is attached to the top surface of the top plate 110, the first fixing hole 611 is in communication with the corresponding first positioning part 111, and the bolt penetrating the first positioning part 111 passes through the corresponding first fixing hole 611 to fixedly connect the protective shell 600 and the top plate 110. Correspondingly, the end cover 700 is provided as a circular cover, which can be fixed on one end of the protective shell 600 by means of a bolt or other fastener. The outer side of the end cover 700 is provided with a second assembly plate 710, and the second assembly plate 710 is provided with a second fixing hole 711. The end cover 700 is arranged on the top plate 110, the second assembly plate 710 is attached to the top surface of the top plate 110, the second fixing hole 711 is in communication with the corresponding first positioning part 111, and the bolt penetrating the first positioning part 111 passes through the corresponding second fixing hole 711 to fixedly connect the end cover 700 and the top plate 110.

[0060] Obviously, the number of the first fixing hole 611 and the second fixing hole 711 is not limited to one. When the first assembly plate 610 and the second assembly plate 710 are installed, the first fixing hole 611 and the second fixing hole 711 are respectively matched with the first positioning part 111 at the corresponding positions.

[0061] It should be understood that the protective shell 600 and the end cover 700 are both fixed to the top plate 110, the connecting structure is firm and reliable, the position is stable, and the service life is long.

[0062] Optionally, the pitch joint 400 is arranged in the protective shell 600, one side of the pitch joint 400 abuts against the end cover 700, and the other side is connected with the mounting bracket 500. The pitch joint 400 can drive the mounting bracket 500 to rotate relative to the carrier 100 about the first axis 011. The pitch joint 400 is shielded by the protective shell 600 and the end cover 700 and is not directly exposed to the external environment, so that the dustproof and antifouling effects are good, the pitch joint 400 can be effectively prevented from being polluted by dust and other impurities, the service life of the pitch joint 400 is prolonged, and the operating cost is reduced.

[0063] In the embodiment, optionally, the mounting bracket 500 includes a fixed plate 510, a first suspension arm 520, a second suspension arm 530, and a bearing 540. The fixed plate 510 can be a rectangular plate, and the front side camera 310 can be fixedly connected with the fixed plate 510 through bolts or buckles or the like. The fixed plate 510 has a first side and a second side in the length direction thereof, and the first suspension arm 520 and the second suspension arm 530 are fixedly connected with the first side and the second side respectively. The first suspension arm 520 and the second suspension arm 530 are distributed on the same side of the fixed plate 510 and are arranged in parallel and at intervals, and the front side camera 310 is located on the other side of the fixed plate 510. Meanwhile, the first suspension arm 520 is provided with a positioning through hole 521, which can be a circular hole or a stepped hole. The second suspension arm 530 is provided with an assembly through hole 531, which can be a circular hole. The axis of the positioning through hole 521 is coaxial with the axis of the assembly through hole 531 and coincides with the first axis 011. The outer ring of the bearing 540 is embedded in the assembly through hole 531.

[0064] During assembly, the pitch joint output portion 410 of the pitch joint 400 is inserted into the positioning hole 521, and the pitch joint output portion 410 can be fixedly connected with the first suspension arm 520 through bolts or the like. Part of the end cover 700 is arranged in the inner ring of the bearing 540, and the second suspension arm 530 is rotatably matched with the end cover 700 through the bearing 540. In this way, the mounting bracket 500 can be rotatably matched with the carrier 100 about the first axis 011. When the pitch joint 400 is started, the torque is output to the first suspension arm 520 through the pitch joint output portion 410 of the pitch joint 400, and then the entire mounting bracket 500 is driven to rotate about the first axis 011, so as to drive the front side camera 310 located on the fixed plate 510 to rotate, thereby achieving adjustment of the pitch angle of the front side camera 310.

[0065] It should be understood that the fixed plate 510 and the first suspension arm 520 can be arranged as an integrated structure. The second suspension arm 530 can be fixedly connected with the fixed plate 510 through bolts or buckles or the like.

[0066] It should be noted that since the first cantilever 520 and the second cantilever 530 of the mounting bracket 500 are matched with the pitch joint 400 at the same time, the mounting bracket 500 is designed as a simply supported beam structure, which has higher stability and higher structural strength compared with a cantilever beam structure.

[0067] In addition, the bearing 540 can be designed as a deep groove ball bearing 540 or the like.

[0068] Please refer to Figure 2 and Figure 5 In the embodiment, optionally, the left fixing bracket 800 includes an angle arranged first connecting plate 810 and a first positioning plate 820, the first connecting plate 810 is installed on the carrier 100, and the left camera 320 is installed on the second positioning plate 620. The first connecting plate 810 can be fixedly connected with the top plate 110 by means of bolts penetrating the first positioning part 111. The included angle of the first connecting plate 810 and the first positioning plate 820 is selected according to the field of view angle of the left camera 320, when the angle of the first connecting plate 810 and the first positioning plate 820 is determined, the left camera 320 is installed on the first positioning plate 820, and the pitch angle of the left camera 320 is also determined.

[0069] Please refer to Figure 2 and Figure 6 In the embodiment, optionally, the right fixing bracket 900 includes an angle arranged second connecting plate 910 and a second positioning plate 620, the second connecting plate 910 is installed on the carrier 100, and the right camera 330 is installed on the second positioning plate 620. The second connecting plate 910 can be fixedly connected with the top plate 110 by means of bolts penetrating the first positioning part 111. The included angle of the second connecting plate 910 and the second positioning plate 620 is selected according to the field of view angle of the right camera 330, when the angle of the second connecting plate 910 and the second positioning plate 620 is determined, the right camera 330 is installed on the second positioning plate 620, and the pitch angle of the right camera 330 is also determined.

[0070] It should be understood that the structure of the left fixing bracket 800 and the right fixing bracket 900 can be the same, and the two can be arranged symmetrically, which is convenient for processing and manufacturing and assembly. Correspondingly, the absolute values of the pitch angles of the left camera 320 and the right camera 330 can be set to be the same, for example, in the embodiment, the absolute values of the pitch angles of the left camera 320 and the right camera 330 are both 30°, that is, when the left camera 320 is inclined downward by 30°, the right camera 330 is inclined downward by -30°. Please refer to Figure 2In other embodiments, the left camera 320 and the right camera 330 are at an angle of a with respect to an axis perpendicular to the front face of the robot head structure 001, and a can be 5°, and the distance between the left camera 320 and the right camera 330 gradually increases in the direction from the front face to the back face of the robot head structure 001, that is, the left camera 320 and the right camera 330 are closer to each other on the side of the front camera 310. By reasonably controlling the shooting angle of the left camera 320, the shooting angle of the right camera 330, and the shooting angle of the front camera 310, the edges of the shooting pictures of the at least two cameras 300 with different shooting directions can be spliced or partially overlapped with each other, so that the environmental information can be more efficiently and reasonably integrated.

[0071] It should be understood that, in order to more flexibly integrate the image information obtained by the plurality of cameras 300 to obtain more complete and effective images, and to avoid the occurrence of a shooting dead angle, the left camera 320 and the right camera 330 can be driven by the corresponding pitch joints 400 to adjust the pitch angles of the left camera 320 and the right camera 330 as needed, thereby improving the flexibility of use.

[0072] In addition, the front camera 310, the left camera 320, or the right camera 330 can be configured as a monocular camera or a multi-view camera.

[0073] It should be understood that, in order to more flexibly integrate the image information obtained by the plurality of cameras 300 to obtain more complete and effective images, and to avoid the occurrence of a shooting dead angle, the left camera 320 and the right camera 330 can be driven by the corresponding pitch joints 400 to adjust the pitch angles of the left camera 320 and the right camera 330 as needed, thereby improving the flexibility of use. Figure 7 In the embodiment, optionally, the radar 200 can be a laser radar 200, and the radar 200 can be fixed to the bottom of the top plate 110 by bolts, so that the radar 200 is located in the hollowed-out area 101 and does not interfere with the plurality of cameras 300 located outside the hollowed-out area 101.

[0074] The robot head structure 001 provided in the embodiment is provided with the front camera 310 located in the front of the robot head structure 001, the left camera 320 and the right camera 330 located on the left and right sides of the front camera 310, and the three cameras 300 arranged in the circumferential direction of the robot head structure 001. The three cameras 300 cooperate to simultaneously obtain image information in different directions around the robot head structure 001 without rotating the robot head structure 001, and have a large field of view. The carrier 100 is provided with the radar 200, and the radar 200 cooperates with the plurality of cameras 300 to obtain image information in different identification modes, thereby improving the stability and reliability of the robot.

[0075] The embodiment further provides a robot, which comprises a robot body structure 002 and the robot head structure 001 of the above-mentioned embodiment, and the base 140 of the robot head structure 001 is mounted on the robot body structure 002.

[0076] It should be understood that, in order to more flexibly integrate the image information obtained by the plurality of cameras 300 to obtain more complete and effective images, and to avoid the occurrence of a shooting dead angle, the left camera 320 and the right camera 330 can be driven by the corresponding pitch joints 400 to adjust the pitch angles of the left camera 320 and the right camera 330 as needed, thereby improving the flexibility of use. Figure 8 and Figure 9Optionally, the robot body structure 002 comprises a body mounting member 021 and a heading joint 022, the base 140 of the carrier 100 is rotatably connected to the top of the body mounting member 021. The heading joint 022 is mounted on the body mounting member 021, and the heading joint output part 0221 of the heading joint 022 is fixedly connected to the base 140 through a bolt passing through the second positioning part 142. In this way, when the heading joint output part 0221 of the heading joint 022 rotates, the carrier 100 can be driven to rotate horizontally around the second axis 023 relative to the body mounting member 021, so as to drive the whole robot head structure 001 to rotate horizontally as a whole.

[0077] Wherein, except for the special description, the second axis 023 extends vertically in the upright state of the robot as the reference, and the first axis 011 and the second axis 023 are perpendicular to each other, that is, the heading joint 022 can drive the robot head structure 001 to rotate in the horizontal plane, so as to adjust the orientation of the head structure.

[0078] The robot provided by the embodiment has a wide field of view and stable and reliable operation.

[0079] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited to this. Any skilled person in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A robot head structure, characterized by The robot head structure (001) comprises a carrier (100), a radar (200) and a plurality of cameras (300), wherein: The carrier (100) is provided with a hollow area (101), the radar (200) is installed on the carrier (100) and located in the hollow area (101); The plurality of cameras (300) are all installed on the carrier (100) and located outside the hollow area (101); at least two cameras (300) of the plurality of cameras (300) have different shooting directions, and the at least two cameras (300) with different shooting directions are arranged in the circumferential direction of the robot head structure (001).

2. The robot head structure according to claim 1, wherein: The shooting pictures of the at least two cameras (300) with different shooting directions are spliced or partially overlapped with each other at the edges.

3. The robot head structure according to claim 1, wherein: The robot head structure (001) further comprises at least one pitch joint (400) corresponding to at least one camera (300) of the plurality of cameras (300); The pitch joint (400) is installed on the carrier (100) and connected with the corresponding camera (300) to drive the corresponding camera (300) to pitch relative to the carrier (100).

4. The robot head structure according to claim 3, wherein: The robot head structure (001) further comprises at least one mounting bracket (500) corresponding to the at least one pitch joint (400); The mounting bracket (500) is connected with a pitch joint output portion (410) of the corresponding pitch joint (400), and the corresponding camera (300) is installed on the mounting bracket (500); the pitch joint (400) drives the corresponding mounting bracket (500) and the corresponding camera (300) to synchronously pitch.

5. The robot head structure according to claim 4, wherein: The robot head structure (001) further comprises at least one protective shell (600) and at least one end cover (700) corresponding to the at least one pitch joint (400); The end cover (700) is installed at the end of the corresponding protective shell (600), the pitch joint (400) is arranged in the corresponding protective shell (600), and the pitch joint output portion (410) of the pitch joint (400) is located at the side of the protective shell (600) away from the end cover (700).

6. The robot head structure according to claim 5, wherein: The mounting bracket (500) comprises a fixed plate (510), a first cantilever (520) and a second cantilever (530). The fixed plate (510) is provided with a corresponding camera (300); the first cantilever (520) and the second cantilever (530) are connected with the fixed plate (510); the first cantilever (520) is connected with the pitch joint output part (410) of the pitch joint (400), and the second cantilever (530) is rotatably matched with the end cover (700).

7. The robot head structure according to claim 3, characterized in that: The robot head structure (001) further comprises at least one fixed support corresponding to at least one camera (300) in the plurality of cameras (300); The fixed support is mounted on the carrier (100) and connected with the corresponding camera (300) to lock the shooting angle of the corresponding camera (300).

8. The robot head structure according to claim 7, characterized in that: The number of cameras (300) with different shooting directions is three, including a front camera (310), a left camera (320) and a right camera (330), the front camera (310) is connected with one pitch joint (400); the left camera (320) and the right camera (330) are distributed on both sides of the front camera (310) and are connected with two fixed supports respectively; The pitch angles of the left camera (320) and the right camera (330) are both set to be downward inclined by 30°, or / and, the included angle between the left camera (320) and the right camera (330) and the axis perpendicular to the front face of the robot head structure (001) is 5°, and the distance between the left camera (320) and the right camera (330) gradually increases in the direction from the front face to the back face of the robot head structure (001).

9. A robot, characterized in that Including: The robot body structure (002) and the robot head structure (001) of any one of claims 1-8, the carrier (100) is mounted on the top of the robot body structure (002).

10. The robot according to claim 9, characterized in that: The robot body structure (002) comprises a body mount (021) and a heading joint (022); The carrier (100) is rotatably matched with the body mount (021); the heading joint (022) is mounted on the body mount (021) and connected with the carrier (100) to drive the carrier (100) to rotate horizontally relative to the body mount (021).

Images