Head and neck assembly and robot

Abstract

The utility model provides a head and neck assembly and a robot. The head and neck assembly comprises a mask assembly, a first acquisition assembly, a second acquisition assembly and a third acquisition assembly; the first collection assembly, the second collection assembly and the third collection assembly are arranged on the mask assembly, the first collection assembly and the second collection assembly are arranged on the front face of the mask assembly, and the third collection assembly is arranged on the back face of the mask assembly. In this way, the first collecting assembly, the second collecting assembly and the third collecting assembly can achieve 360-degree circumferential full coverage of the robot in the horizontal field angle. Meanwhile, the first acquisition assembly and the second acquisition assembly have a height difference, so that depth information in the environment can be obtained. The robot has a better coverage range, can obtain more information in the environment, and has better operation and interaction capabilities.

Description

Technical Field

[0001] This application relates to the field of robotics, specifically to a head and neck assembly and a robot. Background Technology

[0002] Currently, humanoid robot technology has made significant progress, and humanoid robots are gradually moving from the laboratory to broader practical applications. Their intelligence and mobility are constantly improving, playing an important role in various fields such as home services, medical care, and industrial production. However, in related technologies, the head sensor uses an RGB-D camera in conjunction with LiDAR. Improper placement of the camera and LiDAR can result in a limited coverage area for the robot, making it unable to recognize surrounding objects, thus affecting the robot's operational and interactive capabilities. Utility Model Content

[0003] This application provides a head and neck assembly and a robot in several embodiments, which can, to a certain extent, set multiple sets of cameras on the head of a humanoid robot to cooperate with each other to achieve a larger coverage area and collect depth information.

[0004] In a first aspect, embodiments of this application provide a head and neck assembly, including:

[0005] Face mask assembly;

[0006] A first acquisition component, a second acquisition component, and a third acquisition component are disposed on the face mask assembly. The first acquisition component and the second acquisition component are both disposed on the front of the face mask assembly, and the first acquisition component is disposed above the second acquisition component in the height direction of the head and neck assembly. The third acquisition component is disposed on the back of the face mask assembly.

[0007] Optionally, at least one of the first acquisition component and the second acquisition component includes two acquisition devices, which are located at the same height of the mask component and are symmetrical about the central axis of the mask component.

[0008] Optionally, the first acquisition component includes a first top-mounted camera and a second top-mounted camera, wherein the angle between the optical axis center of the first top-mounted camera and the optical axis center of the second top-mounted camera in the horizontal plane is 100°-140°.

[0009] Optionally, the third acquisition component includes a rear camera;

[0010] The optical axis centers of any two of the first top-mounted camera, the second top-mounted camera, and the rear camera are at an angle of 120° in the horizontal plane.

[0011] Optionally, the mask assembly includes two first clearance notches disposed on the forehead, each of the first clearance notches being retracted relative to the forehead;

[0012] The first acquisition component includes a first top-mounted camera and a second top-mounted camera, which are respectively disposed in a first clearance notch.

[0013] Optionally, the distance between the light-incident surfaces of the first and second top-mounted cameras and the first clearance notch is greater than or equal to 5 mm.

[0014] Optionally, the second acquisition component includes a first bottom camera and a second bottom camera, wherein the angle between the optical axes of the first bottom camera and the second bottom camera and the horizontal plane is 10°-25°.

[0015] Optionally, the mask assembly includes a second clearance notch disposed on the chin, the second clearance notch retracting relative to the chin, and both the first bottom camera and the second bottom camera are disposed in the second clearance notch.

[0016] Optionally, the mask assembly includes a front mask and a rear mask, which are detachably connected together, with the first and second acquisition components disposed on the front mask and the third acquisition component disposed on the rear mask.

[0017] Optionally, the head and neck assembly further includes a display screen disposed between the first acquisition component and the second acquisition component, wherein the surface portion of the front cover connected to the display screen has a curvature consistent with that of the display screen.

[0018] Optionally, the third acquisition component is located at the middle position of the rear part of the mask component.

[0019] Optionally, the head and neck assembly includes a neck support and a radar assembly disposed on the neck support, the neck support forming three detection windows surrounding the radar assembly, the detection windows being used to expose the radar assembly.

[0020] Secondly, embodiments of this application provide a robot, which includes the head and neck assembly as described above.

[0021] The various embodiments provided in this specification involve configuring a first, second, and third data acquisition component on a face mask assembly. The first and second components are positioned on the front of the face mask assembly to identify environmental information in front of the robot, while the third component is positioned on the back of the face mask assembly to identify environmental information behind the robot. This allows the robot to achieve 360° circumferential coverage in the horizontal field of view. Simultaneously, the height difference between the first and second components allows for the acquisition of depth information in the environment. The robot has a better coverage range, can acquire more information about the environment, and has improved operational and interactive capabilities. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the head and neck assembly according to an embodiment of this application.

[0023] Figure 2 This is another structural schematic diagram of the head and neck assembly according to an embodiment of this application.

[0024] Figure 3 This is another structural schematic diagram of the head and neck assembly according to an embodiment of this application.

[0025] Figure 4 This is a schematic diagram of the horizontal field of view of the head and neck assembly according to an embodiment of this application.

[0026] Figure 5 This is a schematic diagram of the robot modules according to an embodiment of this application.

[0027] Explanation of reference numerals in the attached figures

[0028] 100. Head and neck assembly; 10. Mask assembly; 11. Front mask; 111. Forehead; 112. Chin; 113. First clearance notch; 114. Second clearance notch; 12. Rear mask; 20. First acquisition assembly; 21. First top-mounted camera; 22. Second top-mounted camera; 30. Second acquisition assembly; 31. First bottom-mounted camera; 32. Second bottom-mounted camera; 40. Third acquisition assembly; 50. Display screen; 60. Neck support; 61. Detection window; 62. Chamfered structure; 70. Radar assembly; 200. Robot. Detailed Implementation

[0029] The technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0030] In this specification, the accompanying drawings are not necessarily drawn to scale, and local features may be enlarged or reduced to show the details of the local features more clearly.

[0031] Unless otherwise stated, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of this specification. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items. The singular forms "a," "the," and "the" as used in this specification and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0032] In the description of this specification, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this specification, "a plurality of" means two or more, unless otherwise explicitly specified.

[0033] In the description of this specification, the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "height," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the purpose of simplifying the description in this specification and do not indicate that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. In other words, they should not be construed as limitations on this application.

[0034] In the description of this specification, unless otherwise expressly defined, the terms "installation," "connection," "joining," "fixing," "setting," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral part; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can also refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this specification according to the specific circumstances.

[0035] Please see Figures 1 to 5According to an embodiment of the first aspect of this application, an embodiment of this application provides a head and neck assembly 100, which includes a mask assembly 10, a first acquisition component 20, a second acquisition component 30, and a third acquisition component 40; the first acquisition component 20, the second acquisition component 30, and the third acquisition component 40 are disposed on the mask assembly 10, the first acquisition component 20 and the second acquisition component 30 are both disposed on the front side of the mask assembly 10, and the third acquisition component 40 is disposed on the back side of the mask assembly 10.

[0036] The third acquisition component 40 works in conjunction with the first acquisition component 20 to achieve 360° circumferential full coverage in the horizontal field of view. The first acquisition component 20 assists the second acquisition component 30 in acquiring depth information in the environment.

[0037] In this embodiment of the application, by setting a first acquisition component 20, a second acquisition component 30 and a third acquisition component 40 on the mask component 10, the three acquisition components cooperate with each other to achieve 360° circumferential full coverage of the robot 200 in the horizontal field of view. Furthermore, the first acquisition component 20 assists the second acquisition component 30 in acquiring depth information in the environment. In this way, the robot 200 can acquire more information in the environment and have a better interactive experience.

[0038] Specifically, the first acquisition component 20 and the second acquisition component 30 are disposed on the front of the mask assembly 10 to identify and acquire visual information from the front. An algorithm combines the information acquired by the first acquisition component 20 and the second acquisition component 30 to obtain depth information in the environment and determine the relative position of the robot 200 to the target. It is understood that in this implementation, the first acquisition component 20 and the second acquisition component 30 need to be disposed at different positions away from each other on the mask assembly 10, resulting in a viewing angle difference, so that the robot 200's control module can identify and obtain more accurate information data.

[0039] In this embodiment, the specific types of data acquired by the first acquisition component 20, the second acquisition component 30, and the third acquisition component 40 are not limited, in order to meet different needs. For example, the first acquisition component 20, the second acquisition component 30, and the third acquisition component 40 can be cameras. Furthermore, in this embodiment, the number of cameras included in the first acquisition component 20, the second acquisition component 30, and the third acquisition component 40 is not limited, in order to meet different needs.

[0040] In some embodiments, the third acquisition component 40 is disposed at the middle position of the rear part of the mask assembly 10. In this way, the third acquisition component 40 can work with the first acquisition component 20 and the second acquisition component 30 to achieve 360° horizontal coverage without blind spots.

[0041] In one embodiment, both the first acquisition component 20 and the second acquisition component 30 are located on the front of the mask assembly 10, and both can employ wide-angle or fisheye lenses. The third acquisition component 40 is located on the back of the mask assembly 10, employing a wide-angle or fisheye lens, and works in conjunction with the front camera group to achieve 360° horizontal coverage without blind spots, while also supporting partial vertical field-of-view supplementation. In this embodiment, a multi-camera image stitching algorithm can be used to seamlessly stitch together the fields of view of the three cameras to generate a real-time panoramic image.

[0042] In some embodiments, at least one of the first acquisition component 20 and the second acquisition component 30 includes two acquisition devices, which are positioned at the same height of the mask component 10 and symmetrical about the central axis of the mask component 10. Thus, the two acquisition devices being positioned at the same height creates a viewing angle difference at the same horizontal level, thereby cooperating with the third acquisition component 40 to achieve 360° horizontal coverage without blind spots.

[0043] In this embodiment, the first acquisition component 20, in conjunction with the second acquisition component 30, can acquire depth information in the environment. The first acquisition component 20 and the second acquisition component 30 can calculate disparity based on binocular vision, which is suitable for dynamic object detection (such as pedestrian distance estimation). Then, the robot 200 can unify the depth data from different camera groups into the same coordinate system to construct a 3D environmental semantic map. Of course, in other embodiments, high-precision depth information can also be acquired by setting up a LiDAR or structured light projector; specific methods are not limited here.

[0044] In some embodiments, the mask assembly 10 includes a front mask 11 and a rear mask 12, which are detachably connected together. A first acquisition component 20 and a second acquisition component 30 are disposed on the front mask 11, and a third acquisition component 40 is disposed on the rear mask 12.

[0045] In this way, the front cover 11 and the rear cover 12 combine to form a more realistic image that is closer to a human face.

[0046] In this embodiment, the connection method between the front cover 11 and the rear cover 12 is not limited to meet different needs. For example, the mask assembly 10 can adopt a split modular design, with the front cover 11 and the rear cover 12 connected to each other by a snap-fit, magnetic or sliding rail structure to form a more human-like bionic shape, while optimizing the camera layout to achieve efficient environmental perception.

[0047] It is understandable that the head and neck assembly 100 can have a front and a rear side, which correspond to the front and back of the human body. That is, the front side of the head and neck assembly 100 is the side facing the front cover 11, and the rear side of the head and neck assembly 100 is the side facing the rear cover 12. As an important part of the robot 200, the head and neck assembly 100, composed of interconnected head and neck structures, simulates the human head and neck. The head structure can rotate relative to the neck structure to perform nodding, tilting, or lateral head movements. This increases the realism of the head and neck assembly 100, enhances the appearance of the robot 200, improves user acceptance, recognition, and user experience, and expands the application of the robot 200 in scenarios with high realism requirements, such as film and television production and theme park interactions.

[0048] In some embodiments, a transparent mask may be provided on the outside of the front cover 11, which protects the camera assembly without affecting light transmission.

[0049] In some embodiments, the first acquisition component 20 includes a first top-mounted camera 21 and a second top-mounted camera 22, which are symmetrically arranged along the central axis of the front cover 11.

[0050] In some embodiments, the angle between the optical axis center of the first top-mounted camera 21 and the optical axis center of the second top-mounted camera 22 in the horizontal plane is 100°-140°. Thus, the optical axis centers of the first top-mounted camera 21 and the second top-mounted camera 22 can be set at an angle, allowing the first acquisition component 20 to have a better field of view.

[0051] For example, the angle between the optical axis center of the first top-mounted camera 21 and the optical axis center of the second top-mounted camera 22 in the horizontal plane can be 100°, 110°, 120°, 130°, or 140°.

[0052] In addition, in this embodiment, the horizontal and vertical field of view of the first top-mounted camera 21 and the second top-mounted camera 22 are both 196°. Thus, the first top-mounted camera 21 and the second top-mounted camera 22 have a relatively wide field of view, helping the robot 200 to have a wider frontal view, and achieving full circumferential coverage when combined with other camera groups.

[0053] In one example, the first top-mounted camera 21 and the second top-mounted camera 22 of the first acquisition component 20 can be set at the "forehead" position of the front cover 11, and the first top-mounted camera 21 and the second top-mounted camera 22 are symmetrically arranged along the central axis of the front cover 11. In this way, the first top-mounted camera 21 and the second top-mounted camera 22 can simulate human eyes, increase the simulation degree of the head and neck component 100, and improve the appearance of the robot 200.

[0054] Understandably, the first top-mounted camera 21 and the second top-mounted camera 22 can simulate a human overhead view, making them suitable for identifying distant targets such as obstacles 3-5 meters away.

[0055] In some embodiments, the third acquisition component 40 includes a rear camera; the optical axis centers of any two of the first top-mounted camera 21, the second top-mounted camera 22, and the rear camera form an angle of 120° in the horizontal plane. Thus, the optical axis centers of the first top-mounted camera 21, the second top-mounted camera 22, and the rear camera all form an angle of 120° in the horizontal plane, evenly distributing a 360° circumferential area.

[0056] For example, the angle between the optical axis center of the first top-mounted camera 21 and the optical axis center of the second top-mounted camera 22 in the horizontal plane can be 120°, and the horizontal field of view of the first top-mounted camera 21 and the second top-mounted camera 22 is 196°. In this way, in conjunction with the third acquisition component 40, a 360° circumferential area can be covered, and the first top-mounted camera 21 and the second top-mounted camera 22 have a 76° overlap area in front.

[0057] In some embodiments, the third acquisition component 40 is disposed in the middle of the rear cover 12, and the horizontal and vertical field of view of the third acquisition component 40 are both 196°. Thus, the third acquisition component 40, in conjunction with the first acquisition component 20, enables the robot 200 to have a wider recognition angle.

[0058] Please combine Figure 4 , Figure 4 This is a top view of the head and neck assembly 100. It is understood that... Figure 4 The two dashed lines represent the optical axis centers of the first top-mounted camera 21 and the second top-mounted camera 22, respectively. The solid lines represent the horizontal field of view of the first top-mounted camera 21, the second top-mounted camera 22, and the third acquisition component 40, respectively. Specifically, on the horizontal plane, the angle between the optical axis centers of the first top-mounted camera 21 and the second top-mounted camera 22 is 120°, and the horizontal field of view of both the first and second top-mounted cameras 21 and 22 is 196°. At this angle, the first and second top-mounted cameras 21 and 22 have a 76° overlap area in front of them. Furthermore, the horizontal field of view of the third acquisition component 40 is 196°, and the third acquisition component 40, in conjunction with the first acquisition component 20, can achieve 360° circumferential coverage.

[0059] In this embodiment, the first top-mounted camera 21 and the second top-mounted camera 22 adopt a non-parallel optical axis design, and the angle between their optical axis centers on the horizontal plane is adjustable from 100° to 140°. This layout can significantly expand the effective field of view of the camera group while optimizing depth perception performance. In one embodiment, when the optical axis centers of the first top-mounted camera 21 and the second top-mounted camera 22 are in a small-angle mode, high-precision stereo vision is formed, suitable for close-range depth measurement (such as object grasping or gesture recognition within 1 meter), and can be applied to scenarios involving the precise operation of a robot 200. In another embodiment, when the optical axis centers of the first top-mounted camera 21 and the second top-mounted camera 22 are in a large-angle mode, the optical axes are significantly separated, and each camera independently covers a wider area. After combination, the horizontal field of view can reach an ultra-wide range, which can be applied to scenarios such as rapid environmental scanning and panoramic monitoring in security patrols.

[0060] In some embodiments, the mask assembly 10 includes two first clearance notches 113 disposed on the forehead 111, each first clearance notch 113 retracting relative to the forehead 111; the first acquisition assembly 20 includes a first top-mounted camera 21 and a second top-mounted camera 22, each of the first top-mounted camera 21 and the second top-mounted camera 22 being disposed in one of the first clearance notches 113. Thus, the first top-mounted camera 21 corresponds to one first clearance notch 113, and the second top-mounted camera 22 corresponds to the other first clearance notch 113, making the first top-mounted camera 21 and the second top-mounted camera 22 resemble human eyes, improving the simulation level.

[0061] In some embodiments, the distance between the light-incident surfaces of the first top-mounted camera 21 and the second top-mounted camera 22 and the first clearance notch 113 is greater than or equal to 5 mm.

[0062] Thus, the first clearance notch 113 can retract relative to the entire forehead 111, so that the light-receiving surfaces of the first top-mounted camera 21 and the second top-mounted camera 22 protrude beyond the plane of the first clearance notch 113. This allows the first top-mounted camera 21 and the second top-mounted camera 22 to have a better field of view and cover a wider area.

[0063] For example, the distance between the light-incident surface of the first top-mounted camera 21 and the second top-mounted camera 22 and the first clearance notch 113 can be 5mm, 5.2mm, 5.4mm, 5.6mm, 5.8mm, 6mm, 6.2mm, 6.4mm, 6.6mm, 6.8mm, or 7mm.

[0064] For example, the distance between the light-incident surfaces of the first top-mounted camera 21 and the second top-mounted camera 22 and the first clearance notch 113 can be 5mm.

[0065] In some embodiments, the second acquisition component 30 includes a first bottom camera 31 and a second bottom camera 32, which are symmetrically arranged along the central axis of the front cover 11.

[0066] In this embodiment, the vertical field of view of both the first bottom camera 31 and the second bottom camera 32 is 118°.

[0067] Thus, the first bottom camera 31 and the second bottom camera 32 can assist the first acquisition component 20 in recognizing objects in front of the robot 200, enabling the robot 200 to effectively recognize objects shorter than itself.

[0068] In this embodiment, the first bottom camera 31 and the second bottom camera 32 are symmetrically arranged about the central axis, which can work with the first acquisition component 20 to provide a more comprehensive field of view to the front. For example, the robot 200 can cover a 0.5-meter-tall child and a 2.0-meter-tall adult within a 0.5-meter to 1-meter area without having to bend over or lower its head, resulting in more focused observation and a better delivery experience.

[0069] In some embodiments, the angle between the optical axes of the first bottom camera 31 and the second bottom camera 32 and the horizontal plane is 10°-25°. Thus, by setting the angle between the optical axes of the first bottom camera 31 and the second bottom camera 32 and the horizontal plane within this range, the robot 200 can have a better recognition angle for its front and lower front view.

[0070] For example, the angle between the optical axis of the first bottom camera 31 and the second bottom camera 32 and the horizontal plane can be 10°, 11°, 12°, 13°, 14°, 15°, 16°, 17°, 18°, 19°, 20°, 21°, 22°, 23°, 24°, or 25°.

[0071] In some embodiments, the mask assembly 10 includes a second clearance notch 114 disposed on the chin portion 112, the second clearance notch 114 being retracted relative to the chin portion 112, and both the first bottom camera 31 and the second bottom camera 32 being disposed on the second clearance notch 114.

[0072] Thus, the second clearance notch 114 can retract relative to the entire chin portion 112, so that the light-incident surfaces of the first bottom camera 31 and the second bottom camera 32 protrude from the plane of the second clearance notch 114. This allows the first bottom camera 31 and the second bottom camera 32 to have a better field of view and cover a wider area.

[0073] For example, the optical axes of the first bottom camera 31 and the second bottom camera 32 are arranged in parallel and are both tilted downwards at a 15° angle to the ground.

[0074] In some embodiments, the head and neck assembly 100 further includes a display screen 50 disposed between the first acquisition assembly 20 and the second acquisition assembly 30, with the display screen 50 positioned between the forehead 111 and the chin 112. Thus, the display screen 50 can be used to display basic information, facilitating interaction with the user. Furthermore, the placement of the display screen 50 between the forehead 111 and the chin 112 allows it to resemble the appearance of a human wearing glasses, further enhancing the realism of the robot 200.

[0075] In some embodiments, the display screen 50 is a curved screen, and the surface portion of the front cover 11 connected to the display screen 50 has the same curvature as the display screen 50. In this way, the curved screen can bend around the front cover 11, which makes the display screen 50 have a better display effect and makes the head and neck assembly 100 have a more rounded surface.

[0076] For example, the curved screen can be mounted on the front mask 11 like glasses and located in the center of the mask assembly 10, making the appearance of the head and neck assembly 100 more coherent and natural, further increasing the simulation level of the head and neck assembly 100. The display screen 50 can be used to display information. For example, the display screen 50 can be used to display facial expressions or text.

[0077] In some embodiments, the head and neck assembly 100 includes a neck support 60 and a radar assembly 70 disposed on the neck support 60. The neck support 60 has three detection windows 61 surrounding the radar assembly 70, which expose the radar assembly 70. Thus, the radar assembly 70 can work in conjunction with a camera assembly to assist the robot 200 in achieving three-dimensional perception and recognition of its surrounding environment, resulting in a wider recognition range and higher accuracy.

[0078] In some embodiments, the radar component 70 is a lidar with a horizontal field of view of 255°. Thus, the lidar has good recognition range and detection accuracy, which can help the robot 200 obtain more accurate information.

[0079] In this embodiment, the transmitter / receiver module in the lidar can emit laser beams and receive reflected signals. By analyzing the time delay and intensity of these signals, the robot 200 can achieve three-dimensional perception and recognition of the surrounding environment, including information such as the position, shape, and distance of obstacles.

[0080] In addition, in this embodiment, the lidar at the base is located 12mm in front of the central axis of the head and neck assembly 100 to improve the recognition range.

[0081] For example, the neck support 60 can be a one-piece structure, that is, the neck support 60 is a one-piece structure manufactured by a one-piece molding process. The one-piece molding process can be stamping, casting, etc., and this embodiment does not make specific limitations. The neck support 60 can also be a split structure, which can be connected and fixed by welding, riveting, snap-fitting, screwing, etc., and this embodiment does not make specific limitations.

[0082] In some embodiments, the detection window 61 is formed with a chamfered structure 62, which is used to extend the detection range of the radar assembly 70. Thus, the chamfered structure 62 can further increase the opening size of the detection window 61, allowing the radar assembly 70 to have a wider recognition range through the detection window 61.

[0083] In this embodiment, the neck support 60 is hollowed out to reduce weight while forming a detection window 61 to ensure the detection capability of the radar component 70.

[0084] For example, the neck support 60 includes three detection windows 61, which expose the radar module from the front, left, and right sides of the robot 200, respectively, enabling the radar assembly 70 to achieve a horizontal field of view of 255°. No windows are opened at the rear to ensure the overall strength of the neck support 60, while the third acquisition assembly 40 can compensate for the missing area at the rear.

[0085] According to an embodiment of the second aspect of this application, an embodiment of this application provides a robot 200, which includes a head and neck assembly 100 as described above.

[0086] In this embodiment, the robot 200 can achieve multi-person interaction. Multiple cameras are mounted on the mask assembly 10, which can re-lock on the face after turning the head, resulting in high interaction efficiency. At the same time, a third acquisition assembly 40 is located behind the mask assembly 10, enabling autonomous backward movement to avoid obstacles and improving passage performance.

[0087] For example, the robot 200 of this application embodiment can achieve embodied perception. Specifically, it has four hidden RGB fisheye lenses and a LiDAR sensor arranged in the forward direction, and can support embodied algorithms, visual simultaneous localization and mapping (vSLAM), and outdoor perception. Furthermore, the robot 200 of this application embodiment has a wide range of applications. The LiDAR sensor can locate the 3D pose of the workpiece, and the RGB sensor can visually identify surface defects. The LiDAR sensor can penetrate thin fog, and the visual enhancement algorithm can restore image details. The visual camera can distinguish color information, resulting in a better interactive experience.

[0088] Specifically, the head and neck assembly 100 can be applied to a humanoid robot. The humanoid robot may include the head and neck assembly 100 and a torso assembly. The head and neck assembly 100 is connected to the torso assembly. Both the head and neck assembly 100 and the torso assembly can be configured in a humanoid shape. For example, the head assembly can be configured in a humanoid head shape, the neck assembly can be configured in a humanoid neck shape, and the torso assembly can be configured in a humanoid torso shape.

[0089] It should be noted that although some embodiments of this application use humanoid robots as examples, the implementation methods of this application can be applied to other robots 200, such as quadruped robots, wheeled robots, tracked robots, etc., and the implementation methods of this application are not limited thereto. When the robot 200 is a humanoid robot, the bionic robot may also have a torso, arms, and a head.

[0090] Since the robot 200 includes the head and neck assembly 100, the robot 200 has all the technical features and effects of the head and neck assembly 100, which will not be described in detail here.

[0091] The functions and effects of this embodiment can be explained by referring to the foregoing implementation methods, and will not be repeated here.

[0092] It is understood that in the various embodiments of this specification, the sequence number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this specification.

[0093] It is understood that the various implementation methods described in this specification can be implemented individually or in combination, and the embodiments in this specification are not limited in this respect.

[0094] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the aforementioned method implementations, and will not be repeated here.

[0095] The above description is merely a specific embodiment of this specification, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this specification should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A head and neck assembly, characterized in that, include: Face mask assembly; A first acquisition component, a second acquisition component, and a third acquisition component are disposed on the face mask assembly. The first acquisition component and the second acquisition component are both disposed on the front of the face mask assembly, and the first acquisition component is disposed above the second acquisition component in the height direction of the head and neck assembly. The third acquisition component is disposed on the back of the face mask assembly.

2. The head and neck assembly according to claim 1, characterized in that, At least one of the first acquisition component and the second acquisition component includes two acquisition devices, which are located at the same height of the mask component and are symmetrical about the central axis of the mask component.

3. The head and neck assembly according to claim 2, characterized in that, The first acquisition component includes a first top-mounted camera and a second top-mounted camera, and the angle between the optical axis center of the first top-mounted camera and the optical axis center of the second top-mounted camera in the horizontal plane is 100°-140°.

4. The head and neck assembly according to claim 3, characterized in that, The third acquisition component includes a rear camera; The optical axis centers of any two of the first top-mounted camera, the second top-mounted camera, and the rear camera form an angle of 120° in the horizontal plane.

5. The head and neck assembly according to claim 2, characterized in that, The mask assembly includes two first clearance notches disposed on the forehead, each of the first clearance notches being retracted relative to the forehead; The first acquisition component includes a first top-mounted camera and a second top-mounted camera, which are respectively disposed in a first clearance notch.

6. The head and neck assembly according to claim 5, characterized in that, The distance between the light-incident surfaces of the first and second top-mounted cameras and the first clearance notch is greater than or equal to 5 mm.

7. The head and neck assembly according to claim 2, characterized in that, The second acquisition component includes a first bottom-mounted camera and a second bottom-mounted camera, wherein the angle between the optical axes of the first bottom-mounted camera and the second bottom-mounted camera and the horizontal plane is 10°-25°.

8. The head and neck assembly according to claim 7, characterized in that, The mask assembly includes a second clearance notch disposed on the chin area, the second clearance notch retracting relative to the chin area, and both the first bottom camera and the second bottom camera are disposed in the second clearance notch.

9. The head and neck assembly according to claim 1, characterized in that, The mask assembly includes a front mask and a rear mask, which are detachably connected together. The first and second acquisition components are disposed on the front mask, and the third acquisition component is disposed on the rear mask.

10. The head and neck assembly according to claim 9, characterized in that, The head and neck assembly also includes a display screen disposed between the first acquisition component and the second acquisition component, wherein the surface portion of the front cover connected to the display screen has a curvature consistent with that of the display screen.

11. The head and neck assembly according to claim 1, characterized in that, The third acquisition component is located at the middle of the rear part of the mask component.

12. The head and neck assembly according to claim 1, characterized in that, The head and neck assembly includes a neck support and a radar assembly mounted on the neck support. The neck support has three detection windows surrounding the radar assembly, which are used to expose the radar assembly.

13. A robot, characterized in that, Includes the head and neck assembly as described in any one of claims 1-12.

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