Image acquisition robot

Abstract

The utility model discloses an image acquisition robot, and relates to the technical field of robots, a camera device is arranged on a rotating mechanism, the rotating mechanism is arranged on a translation mechanism, the translation mechanism is arranged on a lifting mechanism, the lifting mechanism is arranged on a bearing main body and can adjust the height of the translation mechanism, and the translation mechanism can drive the rotating mechanism to move along a first direction; the rotating mechanism can drive the camera device to rotate, and the camera device comprises a camera; the cleaning mechanism is arranged on the bearing body and used for cleaning the camera. Therefore, the height of the translation mechanism can be adjusted through the lifting mechanism, the translation mechanism can drive the rotating mechanism to move in the first direction, the camera device is arranged on the rotating mechanism, the rotating mechanism can drive the camera device to rotate, the position of the camera can be flexibly, rapidly and accurately adjusted to aim at a target, and the flexibility of the image acquisition robot is improved; and by arranging the cleaning mechanism, the camera can be cleaned, and the accuracy of image acquisition can be improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field especially is related to an image acquisition robot. BACKGROUND

[0002] In the related art, the image acquisition robot is designed unreasonably, which results in insufficient mobility of the image acquisition robot, difficulty in quickly and accurately aligning with the target, and influence on the collection efficiency. In addition, in outdoor or industrial environments, dust, water mist or stains are easy to contaminate the camera lens, resulting in blurred images and distorted data, which seriously affects the accuracy of image acquisition. SUMMARY

[0003] The utility model discloses at least one of the technical problems in the prior art. To this end, one purpose of the utility model is to provide an image acquisition robot, which is flexible and can clean the camera, thereby improving the accuracy of image acquisition.

[0004] The image acquisition robot according to the utility model comprises a bearing body, a walking wheel, a lifting mechanism, a translation mechanism, a rotating mechanism and a camera device. The bearing body is provided with the walking wheel at the lower end. The camera device is arranged on the rotating mechanism, the rotating mechanism is arranged on the translation mechanism, the translation mechanism is arranged on the lifting mechanism, the lifting mechanism is arranged on the bearing body and can adjust the height of the translation mechanism. The translation mechanism can drive the rotating mechanism to move in the first direction. The rotating mechanism can drive the camera device to rotate. The camera device comprises a camera. A cleaning mechanism is arranged on the bearing body and used for cleaning the camera.

[0005] The image acquisition robot according to the utility model can adjust the height of the translation mechanism through the lifting mechanism, drive the rotating mechanism to move in the first direction through the translation mechanism, arrange the camera device on the rotating mechanism and drive the camera device to rotate through the rotating mechanism, flexibly, quickly and accurately adjust the position of the camera to align with the target, improve the flexibility of the image acquisition robot, clean the camera through the cleaning mechanism, and improve the accuracy of image acquisition.

[0006] In some examples of the utility model, the lifting mechanism further includes: a rotating rod, the number of the first lifting rod and the second lifting rod is two and one-to-one corresponding to form two groups of lifting rod groups, two lifting rod groups are arranged at intervals, the rotating rod is arranged in two first lifting rods and two second lifting rod, and the first lifting rod and the second lifting rod are rotatable relative to the rotating rod;Two second lifting rods are rotatably connected with the push rod.

[0007] In some examples of the utility model, the lifting mechanism further includes: a rotating rod, the number of the first lifting rod and the second lifting rod is two and one-to-one corresponding to form two groups of lifting rod groups, two lifting rod groups are arranged at intervals, the rotating rod is arranged in two first lifting rods and two second lifting rod, and the first lifting rod and the second lifting rod are rotatable relative to the rotating rod;Two second lifting rods are rotatably connected with the push rod.

[0008] In some examples of the utility model, the lifting mechanism further includes: a first screw rod, the first screw rod is arranged in the push rod and is threadedly matched with the push rod, and the first driving part is in transmission connection with the first screw rod.

[0009] In some examples of the utility model, the translation mechanism includes: a bearing plate, a second driving part, a second screw rod and a sliding block, the second driving part is arranged on the bearing plate and is in transmission connection with the second screw rod, the second screw rod is rotatably arranged on the bearing plate, the second screw rod is arranged in the sliding block and is threadedly matched with the sliding block, the sliding block is slidably arranged on the bearing plate, and the rotating mechanism is arranged on the sliding block.

[0010] In some examples of the utility model, the translation mechanism further includes: a guide rod, the guide rod is arranged on the bearing plate and is arranged in the sliding block.

[0011] In some examples of the utility model, the rotating mechanism includes: a third driving part and a rotating disc, the third driving part is arranged on the sliding block and is in transmission connection with the rotating disc, and the camera device is arranged on the rotating disc.

[0012] In some examples of the utility model, the sliding block is formed with a first mounting space and a second mounting space, the second mounting space is annular space and is arranged around the first mounting space, the third driving part is accommodated in the first mounting space, the rotating disc has a plurality of matching rods, at least part of the matching rods is accommodated in the second mounting space, and the diameter of the matching rod is matched with the width of the second mounting space.

[0013] In some examples of the present application, the bearing body comprises a plate body and a bracket, the bracket is connected with the plate body, the lifting mechanism is arranged on the plate body, and the cleaning mechanism comprises a fourth driving element, a liquid storage element, a cleaning head and a control valve.

[0014] In some examples of the present application, the bracket is formed with a mounting groove, and at least part of the fourth driving element is accommodated in the mounting groove.

[0015] In some examples of the present application, the cleaning mechanism further comprises a connecting element, the connecting element is in driving connection with the fourth driving element and defines a connecting groove, part of the liquid storage element is accommodated in the connecting groove and connected with the connecting element.

[0016] The additional aspects and advantages of the present application will be partially given in the following description, partially will become obvious from the following description, or will be understood by the practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0017] The above and / or additional aspects and advantages of the present application will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings in which:

[0018] Figure 1 is a structural schematic view of an image acquisition robot according to an embodiment of the present application;

[0019] Figure 2 is a structural schematic view of a bearing body according to an embodiment of the present application;

[0020] Figure 3 is a structural schematic view of a lifting mechanism according to an embodiment of the present application;

[0021] Figure 4 is a structural schematic view of a rotating mechanism and a translating mechanism according to an embodiment of the present application;

[0022] Figure 5 is a structural schematic view of a cleaning mechanism according to an embodiment of the present application.

[0023] REFERENCE NUMERALS:

[0024] Image acquisition robot 100;

[0025] Bearing body 10; walking wheel 11; first mounting seat 12; plate body 13; bracket 14; mounting groove 141;

[0026] Lifting mechanism 20; first lifting rod 21; second lifting rod 22; push rod 23; first driving member 24; rotating rod 25; first screw rod 26; first top block 27; second top block 28; lifting rod group 29;

[0027] Translation mechanism 30; bearing plate 31; second driving member 32; second screw rod 33; sliding block 34; first mounting space 35; second mounting space 36; guide rod 37; first support block 38; second support block 39;

[0028] Rotating mechanism 40; third driving member 41; rotating disc 42; matching rod 43;

[0029] Camera 50; camera head 51;

[0030] Cleaning mechanism 60; fourth driving member 61; liquid storage member 62; cleaning head 63; control valve 64; connecting member 65; connecting groove 66;

[0031] First pivot shaft 71; first pivot hole 72; second pivot shaft 73; second pivot hole 74; third pivot shaft 75; third pivot hole 76;

[0032] Fourth pivot shaft 77; fourth pivot hole 78; fifth pivot shaft 79; fifth pivot hole 80; sixth pivot hole 81;

[0033] Seventh pivot hole 82; seventh pivot shaft 83. DETAILED DESCRIPTION

[0034] The embodiments of the present application are described in detail below, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only, and are used to explain the present application, and cannot be understood as a limitation of the present application.

[0035] Reference is made below to Figures 1-5 The image acquisition robot 100 according to the embodiments of the present application is described below.

[0036] As Figures 1-5 shown, the image acquisition robot 100 according to the embodiments of the present application comprises a bearing body 10, a walking wheel 11, a lifting mechanism 20, a translation mechanism 30, a rotating mechanism 40, a camera 50, and a cleaning mechanism 60.

[0037] The lower end of the supporting body 10 is provided with a walking wheel 11; the camera device 50 is provided on the rotating mechanism 40, the rotating mechanism 40 is provided on the translation mechanism 30, the translation mechanism 30 is provided on the lifting mechanism 20, the lifting mechanism 20 is provided on the supporting body 10 and can adjust the height of the translation mechanism 30, the translation mechanism 30 can drive the rotating mechanism 40 to move in the first direction, the rotating mechanism 40 can drive the camera device 50 to rotate, the camera device 50 includes a camera 51; the cleaning mechanism 60 is provided on the supporting body 10, and the cleaning mechanism 60 is used to clean the camera 51.

[0038] The supporting body 10 has a traveling wheel 11 at its lower end. The supporting body 10 and the traveling wheel 11 can be connected by, but is not limited to, snap-fit ​​or bolt connection. As some embodiments of this application, the supporting body 10 and the traveling wheel 11 are connected by bolt connection. By providing the traveling wheel 11 at the lower end of the supporting body 10, the supporting body 10 can move under the action of the traveling wheel 11.

[0039] The camera device 50 is mounted on the rotating mechanism 40, which can drive the camera device 50 to rotate. As some embodiments of this application, the rotating mechanism 40 includes a third driving member 41, which can be configured as a motor. The third driving member 41 can drive the camera device 50 to rotate, thereby increasing the image acquisition range of the camera device 50.

[0040] The rotating mechanism 40 is disposed on the translation mechanism 30, and the translation mechanism 30 is capable of moving along the first direction (i.e. Figure 1 The translation mechanism 30 can drive the rotation mechanism 40 to move along the first direction (i.e., the X direction shown). Figure 1 The camera device 50 is moved in the X direction (as shown) to drive the camera device 50 along the first direction (i.e., Figure 1 The rotation mechanism 40 and the translation mechanism 30 can be connected in a manner that includes, but is not limited to, snap-fit ​​or bolt connection. As some embodiments of this application, the rotation mechanism 40 and the translation mechanism 30 are connected by snap-fit.

[0041] Translation mechanism 30 is located on lifting mechanism 20, which is located on the supporting body 10 and can move along the height direction of the image acquisition robot (i.e., Figure 1 The height of the translation mechanism 30 (shown in the Z direction) is adjusted to adjust the height of the camera device 50. The translation mechanism 30 and the lifting mechanism 20 can be connected by, but are not limited to, welding or snap-fitting. In some embodiments of this application, the translation mechanism 30 and the lifting mechanism 20 are connected by welding. The lifting mechanism 20 is located on the supporting body 10. The connection between the lifting mechanism 20 and the supporting body 10 can be, but is not limited to, welding or bolting. In some embodiments of this application, the lifting mechanism 20 and the supporting body 10 are connected by bolting.

[0042] The camera 50 comprises a camera head 51 capable of collecting images, and the cleaning mechanism 60 is arranged on the bearing main body 10, and the connection mode of the cleaning mechanism 60 and the bearing main body 10 can be, but is not limited to, welding, clamping and the like, and as some embodiments of the present application, the cleaning mechanism 60 and the bearing main body 10 are connected in a clamping mode.

[0043] The cleaning mechanism 60 is used for cleaning the camera head 51, and the cleaning mechanism 60 can clean the camera head 51, and as some embodiments of the present application, the cleaning mechanism 60 comprises a cleaning head 63 capable of contacting the camera head 51 to efficiently remove dust, water mist or stains on the camera head 51.

[0044] It should be noted that the position of the camera head 51 can be flexibly, quickly and accurately adjusted to align the target by controlling the lifting mechanism 20, the translation mechanism 30 and the rotating mechanism 40 to cooperate, which is beneficial to improve the flexibility of the image collection robot 100. Moreover, the camera head 51 can be made to face and contact the cleaning mechanism 60 by controlling the lifting mechanism 20, the translation mechanism 30 and the rotating mechanism 40 to cooperate, and the cleaning mechanism 60 can clean the camera head 51 to reduce the risk of blurred images and distorted data collected by the image collection robot 100 and improve the accuracy of image collection.

[0045] Therefore, the lifting mechanism 20 can adjust the height of the translation mechanism 30, the translation mechanism 30 can drive the rotating mechanism 40 to move along the first direction (i.e. Figure 1 The camera 50 is arranged on the rotating mechanism 40 and the rotating mechanism 40 can drive the camera 50 to rotate, the position of the camera head 51 can be flexibly, quickly and accurately adjusted to align the target, the flexibility of the image collection robot 100 is improved, the camera head 51 can be cleaned by arranging the cleaning mechanism 60, and the accuracy of image collection is improved.

[0046] In some embodiments of the present application, as shown in Figure 3 The lifting mechanism 20 comprises a first lifting rod 21, a second lifting rod 22, a push rod 23 and a first driving member 24, one end of the first lifting rod 21 is rotatably connected with the bearing main body 10, the other end of the first lifting rod 21 is rotatably connected with the translation mechanism 30, one end of the second lifting rod 22 is rotatably connected with the translation mechanism 30, the other end of the second lifting rod 22 is rotatably connected with the push rod 23, the first lifting rod 21 and the second lifting rod 22 are rotatably connected, the first driving member 24 is arranged on the bearing main body 10 and is in transmission connection with the push rod 23, and the first driving member 24 can drive the push rod 23 to move along a direction perpendicular to the lifting direction of the translation mechanism 30.

[0047] The first driving member 24 can be configured as, but is not limited to, a motor, a driving cylinder, etc. As some embodiments of the present application, the first driving member 24 is configured as a motor.

[0048] The first lifting rod 21 has opposite two ends, one end of the first lifting rod 21 is rotatably connected with the bearing body 10, and the rotatable connection between the one end of the first lifting rod 21 and the bearing body 10 can be, but is not limited to, a shaft hole matching connection, etc. As some embodiments of the present application, the bearing body 10 can have one of a first pivot hole 72 and a first pivot shaft 71, and the first lifting rod 21 can have the other of the first pivot hole 72 and the first pivot shaft 71. For example, the bearing body 10 can have the first pivot shaft 71, the first lifting rod 21 can have the first pivot hole 72, and the first pivot shaft 71 and the first pivot hole 72 are matched with each other to rotatably connect the first lifting rod 21 with the bearing body 10.

[0049] As some embodiments of the present application, as shown in Figure 3 The lifting mechanism 20 includes the first mounting seat 12, the first mounting seat 12 is fixedly connected with the bearing body 10, the first mounting seat 12 has the first pivot shaft 71, the first lifting rod 21 has the first pivot hole 72, and the first pivot shaft 71 and the first pivot hole 72 are matched with each other to rotatably connect the first lifting rod 21 with the bearing body 10.

[0050] The other end of the first lifting rod 21 is rotatably connected with the translation mechanism 30, and the rotatable connection between the first lifting rod 21 and the translation mechanism 30 can be, but is not limited to, a shaft hole matching connection, etc. As some embodiments of the present application, the translation mechanism 30 can have one of a second pivot hole 74 and a second pivot shaft 73, and the first lifting rod 21 can have the other of the second pivot hole 74 and the second pivot shaft 73. For example, the translation mechanism 30 can have the second pivot shaft 73, the first lifting rod 21 can have the second pivot hole 74, and the second pivot shaft 73 and the second pivot hole 74 are matched with each other to rotatably connect the first lifting rod 21 with the translation mechanism 30.

[0051] As some embodiments of the present application, as shown in Figure 3 The translation mechanism 30 includes the first top block 27, the first top block 27 has the second pivot hole 74, the first lifting rod 21 has the second pivot shaft 73, and the second pivot shaft 73 and the second pivot hole 74 are matched with each other to rotatably connect the second lifting rod 22 with the translation mechanism 30.

[0052] One end of the second lifting rod 22 is rotatably connected with the translation mechanism 30, and the rotatable connection between the second lifting rod 22 and the translation mechanism 30 can be, but is not limited to, shaft-hole matching connection and the like. As some embodiments of the present application, the translation mechanism 30 can have one of a third pivot hole 76 and a third pivot shaft 75, and the second lifting rod 22 can have the other of the third pivot hole 76 and the third pivot shaft 75. For example, the translation mechanism 30 can have the third pivot shaft 75, and the second lifting rod 22 can have the third pivot hole 76, and the third pivot shaft 75 and the third pivot hole 76 are matched with each other to rotatably connect the second lifting rod 22 with the translation mechanism 30.

[0053] As some embodiments of the present application, as shown in Figure 3 the translation mechanism 30 includes a second top block 28, and the second top block 28 has the third pivot hole 76. The second lifting rod 22 has the third pivot shaft 75, and the third pivot shaft 75 and the third pivot hole 76 are matched with each other to rotatably connect the second lifting rod 22 with the translation mechanism 30.

[0054] The other end of the second lifting rod 22 is rotatably connected with the push rod 23, and the rotatable connection between the second lifting rod 22 and the push rod 23 can be, but is not limited to, shaft-hole matching connection and the like. As some embodiments of the present application, the push rod 23 can have one of a fourth pivot hole 78 and a fourth pivot shaft 77, and the second lifting rod 22 can have the other of the fourth pivot hole 78 and the fourth pivot shaft 77. For example, the push rod 23 can have the fourth pivot shaft 77, and the second lifting rod 22 can have the fourth pivot hole 78, and the fourth pivot shaft 77 and the fourth pivot hole 78 are matched with each other to rotatably connect the second lifting rod 22 with the push rod 23.

[0055] The first lifting rod 21 is rotatably connected with the second lifting rod 22, and the rotatable connection between the first lifting rod 21 and the second lifting rod 22 can be, but is not limited to, shaft-hole matching connection and the like. As some embodiments of the present application, the first lifting rod 21 can have one of a fifth pivot hole 80 and a fifth pivot shaft 79, and the second lifting rod 22 can have the other of the fifth pivot hole 80 and the fifth pivot shaft 79. For example, the first lifting rod 21 can have the fifth pivot hole 80, and the second lifting rod 22 can have the fifth pivot shaft 79, and the fifth pivot shaft 79 and the fifth pivot hole 80 are matched with each other to rotatably connect the second lifting rod 22 with the first lifting rod 21.

[0056] The first driving member 24 is arranged on the bearing main body 10, and the connection mode of the first driving member 24 and the bearing main body 10 can be, but is not limited to, clamping, bolt connection and the like. As some embodiments of the present application, the first driving member 24 is connected to the bearing main body 10 in a bolt connection mode. The first driving member 24 is in transmission connection with the push rod 23. As some embodiments of the present application, the lifting mechanism 20 further comprises a first screw rod 26, the push rod 23 has a first threaded hole, the first driving member 24 is in transmission connection with the first screw rod 26, the first screw rod 26 is in threaded cooperation with the first threaded hole of the push rod 23, and the first driving member 24 can drive the first screw rod 26 to rotate, so as to drive the push rod 23 to move in a direction (for example, the X direction shown in the figure) perpendicular to the lifting direction of the translation mechanism 30, and further drive the lifting mechanism 20 to lift or lower the translation mechanism 30 as a whole. Figure 1

[0057] As some embodiments of the present application, the first screw rod 26 is in transmission connection with the push rod 23. Specifically, the first screw rod 26 has an external thread, the push rod 23 has a first threaded hole matched with the external thread, the first screw rod 26 can be arranged in the push rod 23 and matched with the first threaded hole of the push rod 23, the first driving member 24 is controlled to rotate the first screw rod 26, the push rod 23 can be driven to move in a first direction (for example, the X direction shown in the figure) away from the first driving member 24, so that the first lifting rod 21 and the second lifting rod 22 are rotated, thereby controlling the translation mechanism 30 to lift, or the first driving member 24 is controlled to rotate the first screw rod 26, the push rod 23 can be driven to move in a first direction (for example, the X direction shown in the figure) towards the first driving member 24, so that the first lifting rod 21 and the second lifting rod 22 are rotated, thereby controlling the translation mechanism 30 to lower. Figure 1 Figure 1

[0058] In this way, the lifting mechanism 20 has a simple and reasonable structure, the translation mechanism 30 can be conveniently controlled to lift or lower, the lifting process is stable, the flexibility of the image acquisition robot 100 is improved, and the image acquisition efficiency is improved.

[0059] In some embodiments of the present application, as shown in the figure, Figure 3 As shown in the figure, the lifting mechanism 20 further comprises a rotating rod 25, the number of the first lifting rods 21 and the second lifting rods 22 is both two and one-to-one corresponding to form two groups of lifting rod groups 29, the two lifting rod groups 29 are arranged at intervals, the rotating rod 25 is arranged in the two first lifting rods 21 and the two second lifting rods 22, and the first lifting rods 21 and the second lifting rods 22 are rotatable relative to the rotating rod 25; the two second lifting rods 22 are in rotatable connection with the push rod 23.

[0060] ​​​The number of the first lifting rods 21 is two, the number of the second lifting rods 22 is the same as that of the first lifting rods 21 and is arranged one by one, that is, one first lifting rod 21 corresponds to one second lifting rod 22, one first lifting rod 21 and the corresponding second lifting rod 22 can form a lifting rod group 29, two first lifting rods 21 and two second lifting rods 22 can form two lifting rod groups 29, and the two lifting rod groups 29 are arranged at intervals, for example, the two lifting rod groups 29 are arranged at intervals along the second direction (i.e., the Y direction shown in the figure). Figure 1 The two lifting rod groups 29 are arranged at intervals along the second direction (i.e., the Y direction shown in the figure).

[0061] The rotating rod 25 penetrates the two lifting rod groups 29 along the second direction (i.e., the Y direction shown in the figure), and the first lifting rod 21 and the second lifting rod 22 are rotatable relative to the rotating rod 25. Figure 1 As some embodiments of the present application, the first lifting rod 21 has a fifth pivot hole 80, the second lifting rod 22 has a sixth pivot hole 81, and the rotating rod 25 penetrates the two spaced fifth pivot holes 80 and the two spaced sixth pivot holes 81 along the second direction (i.e., the Y direction shown in the figure) respectively, and cooperates with the fifth pivot hole 80 and the sixth pivot hole 81 to make the first lifting rod 21 and the second lifting rod 22 rotatable relative to the rotating rod 25. Figure 1 The two second lifting rods 22 are rotatably connected with the push rod 23, and the manner in which the second lifting rod 22 is rotatably connected with the push rod 23 can be, but is not limited to, shaft hole cooperation connection, and as some embodiments of the present application, the push rod 23 has a fourth pivot shaft 77, the two second lifting rods 22 have a fourth pivot hole 78, and the two fourth pivot holes 78 can cooperate with the fourth pivot shaft 77 to rotatably connect the two second lifting rods 22 with the push rod 23.

[0062] Such an arrangement can make the lifting mechanism 20 simple and reasonable in structure, can make the lifting mechanism 20 more stably control the translation mechanism 30 to rise or fall, can make the lifting process smooth, and can reduce the risk of tilting of the translation mechanism 30 in the lifting process, so that the lifting mechanism 20 can stably drive the camera 51 to rise and fall, and is favorable to improve the use stability and reliability of the image acquisition robot 100.

[0063] In some embodiments of the present application, as shown in the figure, The lifting mechanism 20 further comprises a first screw rod 26, the first screw rod 26 penetrates the push rod 23 and is in threaded cooperation with the push rod 23, and the first driving member 24 is in transmission connection with the first screw rod 26.

[0064] Figure 3 The two lifting rod groups 29 are arranged at intervals along the second direction (i.e., the Y direction shown in the figure).

[0065] The first driving member 24 and the first screw 26 can be connected by a transmission method that can be, but is not limited to, spline connection, gear pair connection, etc. As some embodiments of this application, the first driving member 24 and the first screw 26 are connected by a spline connection.

[0066] As some embodiments of this application, the first screw 26 has an external thread, and the push rod 23 has a first threaded hole that mates with it. The first screw 26 can pass through the first threaded hole and be threadedly engaged with the first threaded hole of the push rod 23. By controlling the first driving member 24 to drive the first screw 26 to rotate, the push rod 23 can be driven in a direction perpendicular to the lifting direction of the translation mechanism 30 (e.g., Figure 1 The first lifting rod 21 and the second lifting rod 22 are moved away from the first driving member 24 in the X direction (as shown), so that the first lifting rod 21 and the second lifting rod 22 rotate, thereby controlling the translation mechanism 30 to rise. Alternatively, by controlling the first driving member 24 to drive the first screw 26 to rotate, the push rod 23 can be driven in a direction perpendicular to the lifting direction of the translation mechanism 30 (e.g., ...). Figure 1 The X-direction shown moves toward the direction close to the first drive member 24, so that the first lifting rod 21 and the second lifting rod 22 rotate, thereby enabling the translation mechanism 30 to descend.

[0067] This configuration allows the push rod 23 to move in a direction perpendicular to the lifting direction of the translation mechanism 30 by controlling the first screw 26 (e.g., Figure 1 The lifting mechanism 20 can move in the X direction (as shown), thereby controlling the lifting mechanism 20 to drive the translation mechanism 30 to rise or fall as a whole, so that the lifting mechanism 20 can stably drive the camera 51 to rise and fall, and improve the control accuracy of the lifting mechanism 20, which is beneficial to improving the stability and reliability of the image acquisition robot 100.

[0068] In some embodiments of this utility model, such as Figure 4 As shown, the translation mechanism 30 includes: a support plate 31, a second driving member 32, a second screw 33, and a slider 34. The second driving member 32 is disposed on the support plate 31 and is connected to the second screw 33 in a transmission manner. The second screw 33 is rotatably disposed on the support plate 31. The second screw 33 passes through the slider 34 and is threadedly engaged with the slider 34. The slider 34 is slidably disposed on the support plate 31. The rotation mechanism 40 is disposed on the slider 34.

[0069] The second drive element 32 can be constructed as, but is not limited to, a motor. As some embodiments of this application, the second drive element 32 is constructed as a motor.

[0070] The second driving member 32 is disposed on the support plate 31. The connection between the second driving member 32 and the support plate 31 can be, but is not limited to, snap-fit, bolt connection, etc. As some embodiments of this application, the second driving member 32 and the support plate 31 are connected by bolt connection.

[0071] The second driving member 32 is connected to the second screw 33 in a transmission manner. The transmission connection between the second driving member 32 and the second screw 33 can be, but is not limited to, spline connection, gear pair connection, etc. As some embodiments of this application, the second driving member 32 and the second screw 33 are connected in a transmission manner through spline connection.

[0072] The second screw 33 is rotatably mounted on the bearing plate 31, as in some embodiments of this application, such as... Figure 4 As shown, the translation mechanism 30 also includes a first support block 38, which is fixed to the bearing plate 31. The two first support blocks 38 are aligned along a first direction (i.e., Figure 1 The first support block 38 (shown in the X direction) is respectively located on both sides of the second screw 33. The second screw 33 has a seventh pivot shaft 83, and the first support block 38 has a seventh pivot hole 82. The seventh pivot hole 82 mates with the shaft hole of the seventh pivot shaft 83 to allow the second screw 33 to rotatably mount on the support plate 31. Alternatively, the first support block 38 has a seventh pivot hole 82, which mates with the shaft hole of the second screw 33 to allow the second screw 33 to rotatably mount on the support plate 31.

[0073] The second screw 33 passes through and is threadedly engaged with the slider 34. The slider 34 is slidably mounted on the support plate 31. Specifically, the second screw 33 has an external thread, and the slider 34 has a second threaded hole. The second screw 33 can pass through the second threaded hole of the slider 34 and be threadedly engaged with the slider 34. As some embodiments of this application, the second screw 33 can be rotated by controlling the second driving member 32. The rotation of the second screw 33 can control the slider 34 to move along a first direction (i.e., Figure 1 Move in the X direction (as shown).

[0074] The rotating mechanism 40 is disposed on the slider 34. The connection between the rotating mechanism 40 and the slider 34 can be, but is not limited to, snap-fit ​​or bolt connection. As some embodiments of this application, the rotating mechanism 40 and the slider 34 are connected by snap-fit.

[0075] This setting allows for operation along the first direction (i.e.) Figure 1 The position of the slider 34 (shown in the X direction) can be flexibly controlled to control the position of the rotation mechanism 40 set on the translation mechanism 30, which can improve the flexibility of the image acquisition robot 100 and improve the acquisition efficiency of the image acquisition robot 100.

[0076] In some embodiments of this utility model, such asFigure 4 As shown, the translation mechanism 30 also includes a guide rod 37, which is disposed on the bearing plate 31 and passes through the slider 34.

[0077] Among them, the guide rod 37 is disposed on the bearing plate 31, as in some embodiments of this application, such as Figure 4 As shown, the translation mechanism 30 also includes a second support block 39, which is fixed to the bearing plate 31. The two second support blocks 39 are aligned along the first direction (i.e., Figure 1 The X-direction shown is respectively located on both sides of the guide rod 37, and the guide rod 37 is fixedly connected to the two second support blocks 39 so that the guide rod 37 is located on the bearing plate 31.

[0078] The guide rod 37 can pass through the slider 34. As in some embodiments of this application, the slider 34 has a guide hole, and the guide rod 37 can pass through the guide hole of the slider 34 to pass through the slider 34. The extension direction of the guide rod 37 is the same as the extension direction of the second screw 33.

[0079] This setting allows slider 34 to move along the first direction (i.e. Figure 1 The movement guide (shown in the X direction) lowers the slider 34 along the first direction (i.e., Figure 1 The risk of displacement in the X direction (as shown) is reduced, which helps improve the reliability of the image acquisition robot 100.

[0080] In some embodiments of this utility model, such as Figure 4 As shown, the rotating mechanism 40 includes: a third driving member 41 and a turntable 42. The third driving member 41 is disposed on the slider 34 and is connected to the turntable 42 in a transmission manner. The camera device 50 is disposed on the turntable 42.

[0081] The third driving member 41 is disposed on the slider 34 and is connected to the turntable 42 in a transmission manner. As some embodiments of this application, the slider 34 forms a first mounting space 35, and the third driving member 41 is housed in the first mounting space 35.

[0082] The third driving component 41 and the turntable 42 can be connected by a transmission method that is not limited to spline connection, gear pair connection, etc. As some embodiments of this application, the third driving component 41 and the turntable 42 are connected by a spline connection.

[0083] The camera device 50 is mounted on the turntable 42. The connection between the camera device 50 and the turntable 42 can be, but is not limited to, snap-fit ​​or bolt connection. As some embodiments of this application, the camera device 50 and the turntable 42 are connected by snap-fit.

[0084] It is understandable that by controlling the third drive unit 41, the turntable 42 can be rotated, which in turn can control the rotation of the camera device 50.

[0085] The arrangement can realize multi-angle collection of the camera 50, improve flexibility of the image collection robot 100, and facilitate improvement of use reliability of the image collection robot 100.

[0086] In some embodiments of the present application, as shown in Figure 4 The slider 34 is formed with a first mounting space 35 and a second mounting space 36, the second mounting space 36 is configured as an annular space and is arranged around the first mounting space 35, the third driving member 41 is accommodated in the first mounting space 35, the rotating disc 42 has a plurality of matching rods 43, at least part of the matching rods 43 is accommodated in the second mounting space 36, and the diameter of the matching rods 43 is adapted to the width of the second mounting space 36.

[0087] The second mounting space 36 is configured as an annular space, and the second mounting space 36 is arranged around the first mounting space 35, that is, the second mounting space 36 is arranged outside the first mounting space 35, the third driving member 41 can be accommodated in the first mounting space 35, the rotating disc 42 has a plurality of matching rods 43, the number of the matching rods 43 can be, but is not limited to, seven, eight, etc., and as some embodiments of the present application, the rotating disc 42 has eight matching rods 43. The plurality of matching rods 43 are arranged around, at least part of the matching rods 43 is accommodated in the second mounting space 36, that is, part of the matching rods 43 is accommodated in the second mounting space 36, or all of the matching rods 43 is accommodated in the second mounting space 36. As some embodiments of the present application, the rotating disc 42 has eight matching rods 43, the eight matching rods 43 are arranged around, and part of each of the eight matching rods 43 is accommodated in the second mounting space 36, and the diameter of the matching rods 43 is adapted to the width of the second mounting space 36.

[0088] By accommodating the third driving member 41 in the first mounting space 35, the space utilization rate is improved, the compactness of the structure design of the image collection robot 100 is improved, and by providing the rotating disc 42 with a plurality of matching rods 43, the rotating disc 42 can be more stable during rotation, so that the camera 50 can be more stable during rotation, and the use reliability of the image collection robot 100 is improved.

[0089] In some embodiments of the present application, as shown in Figure 2 and Figure 5As shown, the carrying body 10 comprises a plate body 13 and a support 14 connected with the plate body 13, a lifting mechanism 20 arranged on the plate body 13, and a cleaning mechanism 60 comprising a fourth driving member 61, a liquid storage member 62, a cleaning head 63, and a control valve 64. The fourth driving member 61 is arranged on the support 14 and is in driving connection with the liquid storage member 62. The cleaning head 63 is arranged on the liquid storage member 62 and is in selective communication with the liquid storage member 62 through the control valve 64. The cleaning head 63 can contact the camera 51.

[0090] The support 14 is connected with the plate body 13. The support 14 and the plate body 13 can be connected in various manners such as welding and bolt connection. In some embodiments of the present application, the support 14 and the plate body 13 are connected by bolt connection. In some embodiments of the present application, the support 14 and the plate body 13 are integrally formed.

[0091] The fourth driving member 61 is arranged on the support 14. In some embodiments of the present application, the support 14 is formed with a mounting groove 141, and at least part of the fourth driving member 61 is accommodated in the mounting groove 141. For example, part of the fourth driving member 61 is accommodated in the mounting groove 141, or the whole fourth driving member 61 is accommodated in the mounting groove 141. In some embodiments of the present application, the fourth driving member 61 is clamped to the support 14.

[0092] The fourth driving member 61 is in driving connection with the liquid storage member 62. The fourth driving member 61 and the liquid storage member 62 can be connected in various manners such as spline connection and gear pair connection. In some embodiments of the present application, the fourth driving member 61 and the liquid storage member 62 are connected in driving mode by spline connection. In some embodiments of the present application, the fourth driving member 61 and the liquid storage member 62 are fixed by screw thread.

[0093] The cleaning head 63 is arranged on the liquid storage member 62. The cleaning head 63 can be arranged on the liquid storage member 62 in various manners such as bolt connection and clamping. The cleaning head 63 is in selective communication with the liquid storage member 62 through the control valve 64. The cleaning head 63 can contact the camera 51. Specifically, the liquid storage member 62 can store cleaning liquid. The cleaning head 63 can be communicated with the liquid storage member 62 by controlling the control valve 64, so that the cleaning liquid in the liquid storage member 62 flows to the cleaning head 63, thereby improving the cleaning ability of the cleaning head 63.

[0094] As some embodiments of this application, the fourth driving member 61 can drive the liquid storage member 62 to rotate, so that the cleaning liquid in the liquid storage member 62 continuously flows to the cleaning head 63. Furthermore, the rotation of the liquid storage member 62 by the fourth driving member 61 can drive the cleaning head 63 to rotate, thereby allowing the cleaning head 63 to wipe the camera 51, which helps to improve the cleaning capability of the cleaning mechanism 60. It is understood that by controlling the lifting mechanism 20, the translation mechanism 30, and the rotation mechanism 40 to work in coordination, the camera 51 can be positioned facing and in contact with the cleaning mechanism 60. Specifically, the camera 51 can be positioned facing and in contact with the cleaning head 63, so that the cleaning liquid flowing to the cleaning head 63 flows to the camera 51, and the cleaning head 63 can wipe the camera 51.

[0095] This setup allows the camera 51 to be cleaned by the cleaning mechanism 60 located on the supporting body 10, thereby reducing the risk of blurry images and data distortion in the images acquired by the image acquisition robot 100 and improving the accuracy of image acquisition.

[0096] In some embodiments of this utility model, such as Figure 2 As shown, the bracket 14 has a mounting groove 141, and at least a portion of the fourth drive member 61 is received in the mounting groove 141.

[0097] At least a portion of the fourth drive member 61 is received in the mounting groove 141. For example, a portion of the fourth drive member 61 is received in the mounting groove 141, or all of the fourth drive member 61 is received in the mounting groove 141. As some embodiments of this application, a portion of the fourth drive member 61 is received in the mounting groove 141.

[0098] This configuration improves the stability of the cleaning mechanism 60, enhances the reliability of the image acquisition robot 100, and also improves space utilization, facilitating a more compact design for the image acquisition robot 100.

[0099] In some embodiments of this utility model, such as Figure 5 As shown, the cleaning mechanism 60 also includes a connector 65, which is connected to the fourth drive member 61 and defines a connecting groove 66. A portion of the liquid storage member 62 is housed in the connecting groove 66 and connected to the connector 65.

[0100] The connector 65 is connected to the fourth drive member 61 in a transmission manner. The transmission connection between the connector 65 and the fourth drive member 61 can be, but is not limited to, spline connection, gear pair connection, etc. As some embodiments of this application, the connector 65 and the fourth drive member 61 are connected in a transmission manner through spline connection.

[0101] The connector 65 defines a connecting groove 66, a portion of the liquid reservoir 62 is received in the connecting groove 66, and the liquid reservoir 62 is connected to the connector 65. The connection between the liquid reservoir 62 and the connector 65 can be, but is not limited to, snap-fit ​​or threaded connection. As some embodiments of this application, the liquid reservoir 62 and the connector 65 are connected by a threaded connection so that the fourth drive member 61 is connected to the liquid reservoir 62 in a transmission connection.

[0102] This configuration enables the liquid storage component 62 to be reliably connected to the fourth drive component 61 via the connector 65, which improves the working stability of the cleaning mechanism 60 and enhances the reliability of the image acquisition robot 100.

[0103] As some embodiments of this application, when it is necessary to clean the camera 51 of the camera device 50, firstly, it is necessary to keep the camera device 50 and the cleaning mechanism 60 on the same horizontal plane. The first driving member 24 can be controlled to drive the first screw 26 to rotate, so as to drive the push rod 23 in a direction perpendicular to the lifting direction of the translation mechanism 30 (e.g., Figure 1 The X-direction shown moves away from the first drive member 24, causing the first lifting rod 21 and the second lifting rod 22 to rotate. This allows the translation mechanism 30 to be controlled to rise, keeping the camera device 50 and the cleaning mechanism 60 on the same horizontal plane. Alternatively, the first drive member 24 can be controlled to drive the first screw 26 to rotate, driving the push rod 23 in a direction perpendicular to the lifting direction of the translation mechanism 30 (e.g., ...). Figure 1 The X-direction shown moves toward the direction close to the first drive member 24, so that the first lifting rod 21 and the second lifting rod 22 rotate, thereby controlling the translation mechanism 30 to descend so that the camera device 50 and the cleaning mechanism 60 are kept on the same horizontal plane.

[0104] Next, the camera 51 needs to be aligned with the cleaning head 63. This can be achieved by controlling the second screw 33 to rotate via the second drive unit 32. The rotation of the second screw 33 controls the slider 34 to move along the first direction (i.e., Figure 1 The X direction shown moves toward the side closer to the cleaning mechanism 60, and the turntable 42 can be rotated by controlling the third drive member 41, thereby controlling the rotation of the camera 51 to adjust the position of the camera 51 and the cleaning head 63 so that the camera 51 contacts the cleaning head 63.

[0105] Finally, the cleaning head 63 can be communicated with the liquid storage member 62 by controlling the control valve 64, so that the cleaning liquid in the liquid storage member 62 flows to the cleaning head 63, the fourth driving member 61 can drive the liquid storage member 62 to rotate, so that the cleaning liquid in the liquid storage member 62 flows out to the camera 51, and the fourth driving member 61 drives the liquid storage member 62 to rotate, which can also wipe the camera 51 by rotating the cleaning head 63, so that the camera 51 can be flexibly and quickly adjusted, the flexibility of the image acquisition robot 100 is improved, and the camera 51 can be cleaned, which is beneficial to improve the accuracy of image acquisition.

[0106] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0107] In the description of the present application, "first feature" and "second feature" can include one or more features.

[0108] In the description of the present application, "a plurality of" means two or more.

[0109] In the description of the present application, "above" or "below" of the first feature to the second feature can include direct contact of the first and second features, or indirect contact of the first and second features through another feature therebetween.

[0110] In the description of the present application, "above", "above" and "above" of the first feature to the second feature include the first feature directly above and obliquely above the second feature, or only indicate that the first feature is higher than the second feature in horizontal height.

[0111] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In the description of the present application, the exemplary description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0112] Although the embodiments of the present application have been shown and described, it should be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. An image acquisition robot, characterized in that, include: The load-bearing body and the wheels are provided at the lower end of the load-bearing body; The system includes a lifting mechanism, a translation mechanism, a rotating mechanism, and a camera device. The camera device is located on the rotating mechanism, the rotating mechanism is located on the translation mechanism, the translation mechanism is located on the lifting mechanism, the lifting mechanism is located on the supporting body and can adjust the height of the translation mechanism, the translation mechanism can drive the rotating mechanism to move along a first direction, and the rotating mechanism can drive the camera device to rotate. The camera device includes a camera. A cleaning mechanism is provided on the supporting body and is used to clean the camera.

2. The image acquisition robot according to claim 1, characterized in that, The lifting mechanism includes: a first lifting rod, a second lifting rod, a push rod, and a first driving member. One end of the first lifting rod is rotatably connected to the supporting body, and the other end of the first lifting rod is rotatably connected to the translation mechanism. One end of the second lifting rod is rotatably connected to the translation mechanism, and the other end of the second lifting rod is rotatably connected to the push rod. The first lifting rod and the second lifting rod are rotatably connected. The first driving member is disposed on the supporting body and is drivenly connected to the push rod. The first driving member can drive the push rod to move in a direction perpendicular to the lifting direction of the translation mechanism.

3. The image acquisition robot according to claim 2, characterized in that, The lifting mechanism further includes a rotating rod, wherein there are two of each of the first lifting rod and the second lifting rod, which are in one-to-one correspondence to form two sets of lifting rod groups. The two sets of lifting rods are spaced apart. The rotating rod passes through the two first lifting rods and the two second lifting rods, and both the first lifting rod and the second lifting rod are rotatable relative to the rotating rod. Both of the second lifting rods are rotatably connected to the push rod.

4. The image acquisition robot according to claim 2, characterized in that, The lifting mechanism further includes: a first screw, which passes through the push rod and is threadedly engaged with the push rod; and a first driving member is connected to the first screw in a transmission manner.

5. The image acquisition robot according to claim 1, characterized in that, The translation mechanism includes: a support plate, a second driving member, a second screw, and a slider. The second driving member is disposed on the support plate and is connected to the second screw in a transmission manner. The second screw is rotatably disposed on the support plate. The second screw passes through the slider and is threadedly engaged with the slider. The slider is slidably disposed on the support plate. The rotation mechanism is disposed on the slider.

6. The image acquisition robot according to claim 5, characterized in that, The translation mechanism further includes a guide rod, which is disposed on the support plate and passes through the slider.

7. The image acquisition robot according to claim 5, characterized in that, The rotating mechanism includes a third driving member and a turntable. The third driving member is disposed on the slider and is connected to the turntable in a transmission manner. The camera device is disposed on the turntable.

8. The image acquisition robot according to claim 7, characterized in that, The slider forms a first mounting space and a second mounting space. The second mounting space is an annular space and is arranged around the first mounting space. The third driving member is housed in the first mounting space. The turntable has a plurality of mating rods. At least a portion of the mating rods is housed in the second mounting space. The diameter of the mating rods is adapted to the width of the second mounting space.

9. The image acquisition robot according to any one of claims 1-8, characterized in that, The supporting body includes a plate and a support frame, the support frame being connected to the plate, the lifting mechanism being disposed on the plate, and the cleaning mechanism including a fourth driving component, a liquid storage component, a cleaning head, and a control valve. The fourth driving component is disposed on the support frame and is drively connected to the liquid storage component. The cleaning head is disposed on the liquid storage component and is selectively connected to the liquid storage component through the control valve. The cleaning head can contact the camera.

10. The image acquisition robot according to claim 9, characterized in that, The bracket is formed with a mounting groove, and at least a portion of the fourth drive member is received in the mounting groove; And / or, the cleaning mechanism further includes: a connector, which is drively connected to the fourth drive member and defines a connecting groove, wherein a portion of the liquid reservoir is received in the connecting groove and connected to the connector.

Images