Quadruped robot with multiple view angles
By installing zoom cameras and fisheye cameras on a quadruped robot, the problems of fixed viewing angle and insufficient terrain adaptability of traditional monitoring systems have been solved, enabling all-round image monitoring and target recognition in complex environments.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-09
- Publication Date
- 2026-04-03
AI Technical Summary
In traditional security monitoring systems, ordinary cameras have a fixed viewing angle, resulting in limited monitoring coverage, which cannot meet the needs of all-round monitoring, and it is difficult to identify both long-distance and short-distance targets. Mobile monitoring platforms are also limited in operation in complex terrain environments.
The robot employs a quadruped with multiple viewing angles, combining a zoom camera and a fisheye camera. The zoom camera is mounted in front of the robot's head, while the fisheye camera is mounted at an angle upwards on the body, forming non-overlapping monitoring areas. This enables all-around monitoring of targets at both long and short distances and allows the robot to adapt to complex terrain.
It enables comprehensive monitoring of larger areas in complex environments, taking into account both long-distance and short-distance target image acquisition, reducing blind spots, and adapting to diverse monitoring needs.
Smart Images
Figure CN224074361U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the technical field of quadruped robots, and more particularly to a quadruped robot with multiple perspectives. Background Technology
[0002] Currently, traditional security monitoring systems primarily rely on fixed or a limited number of ordinary cameras to achieve monitoring and identification functions. Ordinary cameras have relatively fixed viewing angles, resulting in significant limitations in their monitoring coverage. In large locations such as parking lots and plazas, a single ordinary camera cannot comprehensively monitor the entire area, inevitably creating blind spots and failing to meet the need for all-around monitoring. Furthermore, ordinary cameras struggle to simultaneously identify both long-distance and short-distance targets. When monitoring long-distance targets, their ability to capture details of short-distance targets is insufficient; conversely, when focusing on short-distance targets, they cannot effectively monitor long-distance situations, making them unsuitable for diverse monitoring needs in practical applications. Existing mobile monitoring platforms often use wheeled chassis, and the rotating mechanisms for carrying the camera equipment are costly and bulky, requiring specific terrain conditions. They often struggle to operate normally in rugged, narrow, or complex terrain environments, preventing them from moving to various monitoring areas, thus greatly limiting their application scenarios and actual effectiveness. Summary of the Invention
[0003] This utility model addresses the shortcomings of existing technologies by providing a quadruped robot with multiple perspectives, comprising:
[0004] The robot body has a first main body and a second main body; the first main body is connected to the second main body; wherein the first main body and the second main body are respectively the head, body, legs or tail of the robot body;
[0005] A zoom camera is mounted on the first main body and used to capture the external environment; the zoom camera has a first monitoring area.
[0006] At least one fisheye camera is mounted on the second body and arranged at an angle upward relative to the second body, the fisheye camera being used to capture images of the external environment; the fisheye camera has a second monitoring area, the second monitoring area and the first monitoring area comprising non-overlapping areas.
[0007] Preferably, the first body is the head of the robot body, and the zoom camera is mounted on the first body in a horizontal direction, with the camera end of the zoom camera facing the front of the first body.
[0008] Preferably, the zoom camera has a first field of view, which forms the first monitoring area, and the first field of view is 40 to 140 degrees; the zoom camera is a zoom star camera.
[0009] Preferably, the first body is movably connected to the second body and drives the zoom camera to adjust its position in the height or horizontal direction.
[0010] Preferably, when the second main body is the body of a robot, the fisheye camera is mounted on the second main body along an inclined direction, and the camera end of the zoom camera faces diagonally upwards towards the second main body.
[0011] Preferably, the camera end of the fisheye camera has an angle relative to the horizontal direction, which is between 0 and 50 degrees.
[0012] Preferably, the fisheye camera has a second field of view, which forms the second monitoring area, and the second field of view is 90 to 180 degrees.
[0013] Preferably, there are two fisheye cameras, which are distributed on both sides of the second main body to form two second monitoring areas arranged on both sides of the second main body.
[0014] Preferably, the first monitoring area and the second monitoring area cover the front area of the head and the side area of the fuselage.
[0015] Preferably, the camera end of the zoom camera faces the front of the robot body to form a first monitoring area, and two fisheye cameras are respectively located on both sides of the zoom camera and face the sides of the robot body to form two opposing second monitoring areas. The first monitoring area and the two second monitoring areas cover the front area and the two side areas of the robot body.
[0016] Compared with the prior art, the beneficial effects of this utility model are:
[0017] This utility model discloses a multi-view quadruped robot, comprising a robot body with a first main body and a second main body; wherein the first main body and the second main body can be the head, body, legs, or tail of the robot body, respectively; a zoom camera is mounted on the first main body and used to capture the external environment and form a first monitoring area; at least one fisheye camera is mounted on the second main body and arranged at an angle upward relative to the second main body, used to capture the external environment and form a second monitoring area, wherein the second monitoring area and the first monitoring area include non-overlapping areas. By combining the zoom camera and the fisheye camera, a larger shooting area can be monitored. Utilizing the advantages of the zoom camera in acquiring long-distance images and the fisheye camera in acquiring close-range wide-angle images, the robot achieves comprehensive monitoring that considers both long-distance and close-range target image acquisition. Furthermore, the quadruped robot's adaptability to complex terrain enables image monitoring in complex environments.
[0018] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description
[0019] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0020] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings. In the following description, the same reference numerals denote the same parts.
[0021] Figure 1 This is a side view of a quadruped robot disclosed in an embodiment of the present invention.
[0022] Figure 2 This is a front view of a quadruped robot disclosed in an embodiment of the present invention.
[0023] Figure 3 This is a schematic diagram of the field of view of a zoom camera and a fisheye camera disclosed in an embodiment of the present invention.
[0024] Figure 4 This is a schematic diagram of the installation angle of a fisheye camera according to an embodiment of the present invention. Detailed Implementation
[0025] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the described embodiments of this utility model without creative effort are within the scope of protection of this utility model.
[0026] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.
[0027] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.
[0028] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.
[0029] Unless otherwise defined, the technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains. The terms “first,” “second,” and similar terms used in this patent application specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms “an” or “a” and similar terms do not indicate a limitation of quantity, but rather indicate the presence of at least one.
[0030] Please refer to the attached document. Figures 1-2 This application provides a quadruped robot 100, which is used for autonomous movement and obstacle avoidance.
[0031] Please refer to the attached document. Figures 1-2In this embodiment, the quadruped robot 100 includes a robot body 10, a zoom camera 20, and at least one fisheye camera 30. The robot body 10 includes a first main body 11 and a second main body 12. The first main body 11 is connected to the second main body 12. The first main body 11 and the second main body 12 are at least one of the head, body, legs, or tail of the robot body 10. The zoom camera 20 is mounted on the first main body 11 and is used to capture images of the external environment. The zoom camera 20 has a first monitoring area. At least one fisheye camera 30 is mounted on the second main body 12 and is arranged obliquely upward relative to the second main body 12. The fisheye camera 30 is used to capture the external environment; the fisheye camera 30 has a second monitoring area; the second monitoring area and the first monitoring area have non-overlapping shooting areas, which can cover the surrounding environment of the first main body 11 and the surrounding environment of the second main body 12. By cooperating with the zoom camera and the fisheye camera, a larger shooting area can be monitored. By utilizing the advantages of the zoom camera in acquiring long-distance images and the fisheye camera in acquiring close-range wide-angle images, the need for all-round monitoring that takes into account both long-distance and close-range target image acquisition can be achieved. In addition, with the complex terrain adaptability of the quadruped robot, the image monitoring needs in complex environments can be met.
[0032] Please refer to the attached document. Figures 1-2 In this embodiment, the second monitoring area and the first monitoring area overlap, covering the front area of the head and the two sides of the fuselage, thereby achieving ultra-wide-angle visual coverage.
[0033] Please refer to the attached document. Figures 1-2 In this embodiment of the application, when the first body 11 is the head of the robot body 10, the zoom camera 20 is mounted on the first body 11 in a horizontal direction, with the camera end of the zoom camera 20 facing the front of the first body 11, so that the zoom camera 20 can be fixed to the first body 11, thereby facilitating the zoom camera 20 to take pictures of the surrounding environment of the first body 11 and reducing the visual blind spot of the head of the robot body 10.
[0034] Please refer to the attached document. Figures 1-2 In this embodiment of the application, the zoom camera 20 has a first field of view, which forms a first monitoring area. The first field of view is 40 to 140 degrees. The zoom camera 20 can be a zoom star camera, which is used for face and license plate recognition in long-distance, low-light environments, so as to simultaneously take into account both long-distance and short-distance targets.
[0035] Please refer to the attached document. Figures 1-2In this embodiment, the first body 11 is movably connected to the second body 12 so as to adjust the position of the first body 11 relative to the second body 12. The first body 11 drives the zoom camera 20 to adjust its position in the height or horizontal direction. The zoom camera 20 moves with the movement of the first body 11 so as to expand the shooting range of the zoom camera 20 so as to achieve a shooting angle of 40 to 140 degrees.
[0036] Please refer to the attached document. Figures 1-2 In this embodiment of the application, when the second body 12 is the body of the robot body 10, the fisheye camera 30 is mounted on the second body 12 along the inclined direction, and the camera end of the zoom camera 20 faces the upper side of the second body 12 so that the fisheye camera 30 can be fixed to the second body 12, thereby facilitating the fisheye camera 30 to take pictures of the surrounding environment of the second body 12 and reducing the visual blind spot of the robot body 10.
[0037] In this embodiment, the camera end of the fisheye camera 30 mounted on the second main body has a mounting angle relative to the horizontal direction, the mounting angle being 0 to 50 degrees. Specifically, the second main body can be the body of a quadruped robot, as shown in the attached figure. Figure 4 As shown, two fisheye cameras are mounted on either side of the robot's body or on either side of the back of the body. Each fisheye camera has an angle b relative to the horizontal direction, which can be a 30-degree elevation angle, meaning it is mounted at a 30-degree angle upwards. This expands the upward field of view and overcomes the field of view limitations caused by the low profile of the quadruped robot. For example, compared to when the camera end of the fisheye camera 30 is completely horizontal, a slight upward angle adjustment allows the camera to capture images of faces at higher elevations on the side. This helps cover areas that might otherwise be obscured. Furthermore, in narrow passages or areas with height differences, adjusting the angle ensures that key areas are included in the field of view, minimizing blind spots.
[0038] Please refer to the attached document. Figures 1-2 In this embodiment, the fisheye camera 30 has a second field of view, which forms a second monitoring area. The second field of view is 90 to 180 degrees, which enables ultra-wide-angle shooting. This avoids the need for only one fisheye camera 30 to shoot, reduces the visual blind spots of the quadruped robot, and effectively meets the requirements of the quadruped robot to acquire images containing faces and license plates on both sides during movement.
[0039] In this embodiment, two fisheye cameras 30 can be arranged, distributed on both sides of the second main body 12. The two fisheye cameras 30 further expand the shooting range, allowing them to cover a wide-angle field of view exceeding 0 degrees on the side. After distortion correction algorithms, high-quality image output is generated.
[0040] In this embodiment, the zoom camera 20 is located to one side of the fisheye camera 30; the first monitoring area is the front area of the first main body 11, and the second monitoring area is the side area of the second main body 12. By mounting the zoom camera 20 at the front and the fisheye cameras 30 on the left and right sides, they are used for long-distance high-definition target detection and close-range wide-angle blind spot filling, respectively, reducing the visual blind spots of the quadruped robot 100 and effectively meeting the ultra-wide-angle visual coverage requirements.
[0041] Specifically, the zoom camera's camera end can face the front of the robot body to form a first monitoring area, and two fisheye cameras are respectively located on both sides of the zoom camera and face the sides of the robot body to form two opposing second monitoring areas. The first monitoring area and the two second monitoring areas cover the front and side areas of the robot body, meeting the requirements of ultra-wide-angle visual coverage.
[0042] Specifically, for example in a preferred embodiment, as shown in the appendix Figure 3 As shown, the zoom starlight camera mounted in front of the robot's head has a field of view α of 90.3 degrees and a 6x zoom capability. The fisheye cameras mounted on either side of the robot's body or on either side of its back have a field of view β of 0 degrees and a wide dynamic range of 120dB. Both fisheye cameras can be mounted at a 30-degree elevation angle. This allows for coverage exceeding 270° in complex environments, achieving 270° coverage without blind spots, breaking through the viewing angle limitations of traditional equipment and making it suitable for complex environments. Additionally, the front zoom starlight camera undertakes the primary security sensing task, capable of detecting targets up to 30 meters away; the side fisheye cameras provide auxiliary security sensing, with a viewing angle covering the entire side of the robot. Thus, the combination of these three cameras achieves ultra-wide-angle visual coverage.
[0043] The multi-view quadruped robot disclosed in the above embodiments includes a robot body with a first main body and a second main body; wherein the first main body and the second main body can be the head, body, legs, or tail of the robot body, respectively; a zoom camera is mounted on the first main body and used to capture the external environment and form a first monitoring area; at least one fisheye camera is mounted on the second main body and arranged obliquely upward relative to the second main body, used to capture the external environment and form a second monitoring area, wherein the second monitoring area and the first monitoring area include non-overlapping areas. By cooperating with the zoom camera and the fisheye camera, a larger shooting area can be monitored, and by utilizing the advantages of the zoom camera in acquiring long-distance images and the fisheye camera in acquiring close-range wide-angle images, the need for comprehensive monitoring that takes into account both long-distance and close-range target image acquisition can be met. Furthermore, combined with the quadruped robot's adaptability to complex terrain, the image monitoring needs in complex environments can be achieved.
[0044] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the inventive concept of the present utility model using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.
Claims
1. A quadruped robot having multiple views, characterized by, The utility model relates to a robot body, having a first body and a second body; the first body is connected with the second body; wherein the first body and the second body are the head, the body, the leg or the tail of the robot body respectively; A zoom camera is installed on the first body and used for shooting the external environment; the zoom camera has a first monitoring area; At least one fisheye camera is installed on the second body and arranged upwardly relative to the second body, the fisheye camera is used for shooting the external environment; the fisheye camera has a second monitoring area, and the second monitoring area and the first monitoring area contain non-overlapping areas. The first body is the head of the robot body, the zoom camera is installed on the first body along the horizontal direction, and the camera end of the zoom camera faces the front of the first body.
2. The quadruped robot according to claim 1, characterized in that, The zoom camera has a first field of view angle, the first field of view angle forms the first monitoring area, and the first field of view angle is 40-140 degrees; the zoom camera is a zoom starlight camera.
3. The quadruped robot according to claim 2, characterized in that, The first body is movably connected with the second body and drives the zoom camera to adjust the position in the height direction or the horizontal direction.
4. The quadruped robot according to claim 3, characterized in that, When the second body is the body of the robot body, the fisheye camera is installed on the second body along the inclined direction, and the camera end of the zoom camera faces the obliquely upper side of the second body.
5. The quadruped robot of claim 2, wherein, The camera end of the fisheye camera installed on the second body has an installation included angle relative to the horizontal direction, and the installation included angle is 0-50 degrees.
6. The quadruped robot of claim 5, wherein, The fisheye camera has a second field of view angle, the second field of view angle forms the second monitoring area, and the second field of view angle is 90-180 degrees.
7. The quadruped robot of claim 5, wherein, There are two fisheye cameras, and the two fisheye cameras are distributed on the two sides of the second body and form two second monitoring areas arranged on the two sides of the second body.
8. The quadruped robot of claim 1, wherein, The first monitoring area and the second monitoring area cover the front area of the head and the side area of the body.
9. The quadruped robot of claim 8, wherein, The camera end of the zoom camera faces the front of the robot body and forms the first monitoring area, the two fisheye cameras are respectively on the two sides of the zoom camera and respectively face the two side directions of the robot body and form two second monitoring areas arranged in opposite directions, and the first monitoring area and the two second monitoring areas cover the front area and the two side areas of the robot body.
10. The quadruped robot of claim 1, wherein,