Robot head assembly and robot

Abstract

A robot head assembly and a robot, relating to the field of artificial intelligence, are disclosed. The robot head assembly includes a head support, a LiDAR, a first camera, and multiple second cameras. The LiDAR, the first camera, and the multiple second cameras are all mounted on the head support, with the multiple second cameras arranged at intervals along the circumference of the head support. The first camera is used to acquire near-field images and their depth. The multiple second cameras are used to acquire far-field images and, in conjunction with the LiDAR, acquire the depth of the far-field images. This expands the field of view, improves the perception of the surrounding environment, enhances motion accuracy, and makes movement more stable and reliable.

Description

Technical Field

[0001] This utility model relates to the field of artificial intelligence, specifically to a robot head assembly and a robot. Background Technology

[0002] In existing technologies, the robot's vision system is primarily located in the robot's head. These systems generally come in two forms: one uses a multi-view camera arranged in a single direction, and the other combines a LiDAR sensor with a multi-view camera arranged in a single direction. Both of these vision system designs limit the range of images that can be captured simultaneously, meaning the image size is relatively narrow. Furthermore, existing robots are typically equipped with a single type of camera, capable of acquiring only a single near-field or far-field image. Some robots, while equipped with both types of cameras, can only acquire the depth of the near-field image, failing to simultaneously acquire the depth of both near-field and far-field images. This results in poor perception capabilities, leading to decreased judgment of the robot's surroundings, reduced movement accuracy, and an increased risk of collisions or tipping over. Utility Model Content

[0003] The purpose of this invention includes, for example, providing a robot head assembly that can expand the field of view, improve the perception of the surrounding environment, improve motion accuracy, and make the movement more stable and reliable.

[0004] The embodiments of this utility model can be implemented as follows:

[0005] In a first aspect, this utility model provides a robot head assembly, including a head support, a lidar, a first camera, and multiple second cameras, wherein:

[0006] The lidar, the first camera, and the plurality of second cameras are all mounted on the head support, and the plurality of second cameras are arranged at intervals in the circumferential direction of the head support;

[0007] The first camera is used to acquire close-up images and the depth of the close-up images;

[0008] The plurality of second cameras are used to acquire distant view images and, in conjunction with the lidar, acquire the depth of the distant view images.

[0009] In an optional implementation, in the height direction of the robot head assembly, the plurality of second cameras are all located between the lidar and the first camera.

[0010] In an optional implementation, any two adjacent second cameras have different shooting directions in the circumferential direction of the robot head assembly.

[0011] In an optional embodiment, the robot head assembly further includes a pitch joint mounted on the head support, and the first camera is mounted on the pitch joint.

[0012] In an optional embodiment, the pitch joint includes a support member, a pitch joint body, and a transmission assembly. The support member is mounted on the head support, the pitch joint body is mounted on the support member, and the first camera is rotatably connected to the support member about a first axis. The pitch joint body is connected to the first camera via the transmission assembly.

[0013] In an optional embodiment, the transmission assembly includes a rocker arm, a connecting rod, and a crank. The rocker arm is connected to the output end of the pitch joint body. One end of the connecting rod is rotatably connected to the rocker arm, and the other end of the connecting rod is rotatably connected to the crank. The crank is connected to the first camera, and the crank and the first camera are fixed relative to each other in the circumferential direction of the first axis.

[0014] In an optional embodiment, the first camera includes a camera body, a camera bracket, and a rotating shaft. The camera body is mounted on the camera bracket, the camera bracket is fixedly connected to the rotating shaft, and the rotating shaft is rotatably connected to the support member about the first axis. The crank is connected to the rotating shaft, and the crank and the rotating shaft are relatively fixed to each other in the circumferential direction of the first axis.

[0015] In an optional embodiment, the robot head assembly further includes a yaw joint, which is mounted on the head support, and the pitch joint is mounted on the yaw joint; the yaw joint is used to drive the pitch joint and the first camera to rotate horizontally relative to the head support.

[0016] In an optional embodiment, the yaw joint includes a yaw joint body and a limiting member, the limiting member being connected to the yaw joint body and capable of rotating horizontally relative to the head support together with the yaw joint body.

[0017] The head support is provided with two limiting parts arranged at intervals. Both limiting parts are located on the rotation path of the limiting member, and the two limiting parts cooperate to limit the rotation range of the limiting member.

[0018] In an optional embodiment, the head support includes a base and a mounting bracket; the base has a hollow area, and the mounting bracket is fixed above the base; the lidar is mounted on the mounting bracket and located within the hollow area; the plurality of second cameras are all mounted on the mounting bracket and located outside the hollow area.

[0019] In an optional implementation, the first camera is configured as an RGBD camera, and / or the second camera is configured as an RGB camera.

[0020] Secondly, this utility model also provides a robot, including a robot body and the aforementioned robot head assembly, wherein the head support is mounted on the top of the robot body.

[0021] The beneficial effects of this utility model embodiment include, for example:

[0022] In summary, this embodiment provides a robot head assembly that integrates a LiDAR, a first camera, and multiple second cameras on the head support. The first camera has the capability to acquire near-field images and perceive the depth of near-field images. The LiDAR and multiple second cameras work together to acquire distant-field images, and the LiDAR is combined with the LiDAR to obtain the depth of the distant-field images. Thus, during operation, the robot head assembly can not only acquire near-field and distant-field images, but also perceive the depth of both near-field and distant-field images. Accurate judgment of the distant environment not only facilitates robot walking, avoiding missteps or collisions and improving walking safety, but also guides the robot to plan its movement route in advance, making its movement smoother. Accurate judgment of the near-field environment not only improves the robot's ability to recognize objects, but also facilitates the robot's fine manipulation. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is an assembly diagram of the robot head assembly in this embodiment;

[0025] Figure 2 This is a schematic diagram of the first camera tilting upwards in the robot head assembly of this embodiment;

[0026] Figure 3 This is a schematic diagram of the first camera of the robot head assembly in this embodiment looking down;

[0027] Figure 4 This is a schematic diagram of a portion of the robot head assembly in this embodiment;

[0028] Figure 5 This is an exploded view of a portion of the robot head assembly in this embodiment;

[0029] Figure 6 This is a schematic diagram of the pitch joint and the first camera assembly structure in this embodiment;

[0030] Figure 7 This is an exploded view of the pitch joint and the first camera assembly structure in this embodiment.

[0031] icon:

[0032] 100-Head support; 110-Base; 111-Hollowed-out area; 120-Mounting bracket; 121-Enclosure panel; 122-Base plate; 123-Assembly through hole; 124-Limiting part; 125-Positioning plane; 200-LiDAR; 300-First camera; 310-Camera body; 320-Camera bracket; 321-First arm; 322-Connecting arm; 323-Second arm; 330-First bearing seat; 340-Second bearing seat; 350-Third bearing; 360-Fourth bearing; 370-First rotating shaft; 380-Second... Rotating shaft; 390-Retaining ring; 400-Second camera; 500-Yaw joint; 510-Yaw joint body; 520-Limiting component; 521-Limiting protrusion; 600-Pitch joint; 610-Support component; 611-Joint bracket; 612-First fixed bracket; 613-Second fixed bracket; 620-Pitch joint body; 630-Transmission assembly; 631-Rock arm; 632-Connecting rod; 633-Crank; 634-First bearing; 635-Second bearing; 636-Positioning hole; 637-Fastening hole; 700-Fastener. Detailed Implementation

[0033] 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 embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0034] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0035] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0036] In the description of this utility model, it should be noted that if terms such as "upper," "lower," "inner," or "outer" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product is usually placed during use, 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, and therefore should not be construed as a limitation of this utility model.

[0037] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0038] It should be noted that, where there is no conflict, the features in the embodiments of this utility model can be combined with each other.

[0039] In existing technologies, some robots are equipped with only one type of camera, capable of acquiring only a single close-up image and sensing the depth of that close-up image, but unable to acquire or sense the depth of distant images. Some robots, while equipped with two types of cameras, can acquire close-up images and sense the depth of close-up images, as well as acquire distant images, but cannot sense the depth of distant images. Alternatively, some robots are equipped with one type of camera and a LiDAR 200, capable of acquiring close-up images and sensing the depth of close-up images, as well as sensing the depth of distant objects, but unable to acquire clear distant images. In summary, existing robots cannot simultaneously acquire close-up and distant images, nor can they sense the depth of both close-up and distant images, thus failing to meet the needs of different usage scenarios.

[0040] In view of this, the designers have provided a robot head assembly and robot that can simultaneously acquire near-field images, far-field images, perceive the depth of near-field images, and perceive the depth of far-field images, with comprehensive functions.

[0041] Please refer to Figures 1-7 This embodiment provides a robot head assembly, which includes a head support 100, a LiDAR 200, a first camera 300, and multiple second cameras 400. The LiDAR 200, the first camera 300, and the multiple second cameras 400 are all mounted on the head support 100, and the multiple second cameras 400 are arranged at intervals in the circumferential direction of the head support 100. The first camera 300 is used to acquire close-up images and the depth of the close-up images. The multiple second cameras 400 are used to acquire distant images and, in conjunction with the LiDAR 200, acquire the depth of the distant images.

[0042] As described above, the working principle of the robot head assembly provided in this embodiment is as follows:

[0043] By integrating a LiDAR 200, a first camera 300, and multiple second cameras 400 onto the head support 100, the first camera 300 is capable of acquiring near-field images and sensing the depth of near-field images. The LiDAR 200 and the multiple second cameras 400 work together to acquire distant-field images through the second cameras 400 and to acquire the depth of distant-field images by combining the LiDAR 200 with the acquisition of the depth of distant-field images. In this way, during the operation of the robot's head assembly, it can not only acquire near-field and distant-field images, but also sense the depth of near-field and distant-field images. Through accurate judgment of the distant environment, it not only facilitates the robot's walking, avoiding situations such as stepping into gaps or colliding during walking, thus improving walking safety, but also guides the robot to plan its movement route in advance, making its movement smoother. Through accurate judgment of the near-field environment, it not only improves the robot's ability to recognize objects, but also facilitates the robot to perform fine operations.

[0044] It should be understood that close-up and distant images are relative; distant images are farther away than close-up images.

[0045] The following embodiments illustrate the details of the robot head assembly of this application by way of example.

[0046] Please refer to Figures 1-7 In this embodiment, optionally, the robot head assembly includes a head support 100, a LiDAR 200, a first camera 300, six second cameras 400, a yaw joint 500, and a pitch joint 600. The LiDAR 200 and the six second cameras 400 are all mounted on the head support 100. The six second cameras 400 are evenly spaced circumferentially around the robot head assembly, and all six cameras are at the same height and located above the LiDAR 200. The yaw joint 500 is mounted on top of the head support 100, the pitch joint 600 is mounted on top of the yaw joint 500, and the first camera 300 is mounted on the pitch joint 600, located above the six second cameras 400. The LiDAR 200, the first camera 300, and the six second cameras 400 do not obstruct each other, resulting in a wider field of view.

[0047] It should be noted that the first camera 300, driven by the pitch joint 600 and the yaw joint 500, can achieve horizontal rotation and pitch adjustment, thereby expanding the field of view of the first camera 300 and enabling it to acquire a wider range of close-up images and the depth of the close-up images. The six second cameras 400 work together to acquire distant images in all directions around the robot's head assembly, and, in conjunction with the LiDAR 200, can acquire the depth of the distant images in all directions, achieving full-field-of-view perception without blind spots.

[0048] It is worth noting that, since the lidar 200 is mounted on the head support 100, when the pitch joint 600 and yaw joint 500 move, they drive the first camera 300 to perform corresponding actions. However, the lidar 200 is not affected by the pitch joint 600 and yaw joint 500, and is not easy to shake. The lidar 200 operates stably and reliably, and the data acquired is more accurate.

[0049] It should be understood that in other embodiments, the number of second cameras 400 is not limited to six; it can also be two, three, four, or five, etc. By using a set number of second cameras 400, the field of view in all four directions of the robot head assembly can be expanded. Simultaneously, to minimize redundant design and expand the surrounding field of view, any two adjacent second cameras 400 in the circumferential direction of the robot head assembly have different shooting directions. Furthermore, the edges of the images captured by two second cameras 400 with different shooting directions are stitched together or partially overlapped, minimizing blind spots in the captured images and reducing the number of second cameras 400, thus lowering costs.

[0050] Please refer to Figure 1 , Figure 4 and Figure 5 In this embodiment, optionally, the head support 100 includes a base 110 and a mounting bracket 120. The base 110 has a hollow area 111, with an open top. The mounting bracket 120 can be fixed to the base 110 using fasteners 700 such as screws or bolts. The lidar 200 can be mounted to the bottom of the mounting bracket 120 using fasteners 700 such as screws or bolts. The lidar 200 extends into the hollow area 111 through the open top, allowing it to sense the external environment.

[0051] Optionally, the mounting bracket 120 has a connected surrounding plate 121 and a base plate 122. The surrounding plate 121 is an annular plate with open ends, and six mounting through holes 123 are provided on the peripheral wall of the surrounding plate 121. The six mounting through holes 123 are evenly spaced in the circumferential direction of the surrounding plate 121. The base plate 122 is connected to the bottom side of the surrounding plate 121 and closes the opening on the bottom side. Two limiting parts 124 are provided on the top side of the base plate 122, and the two limiting parts 124 are spaced in the circumferential direction of the surrounding plate 121. For example, an arc-shaped groove can be provided on the base plate 122, which extends in the circumferential direction of the surrounding plate 121, and the two limiting parts 124 are the two groove sidewalls of the arc-shaped groove in its extension direction. The top of the base 110 is fixedly connected to the base plate 122 by fasteners 700 such as screws or bolts, and the surrounding plate 121 is located above the base 110. Six second cameras 400 are respectively installed in six mounting through holes 123, and each of the six second cameras 400 can be fixed to the mounting bracket 120 by fasteners 700 such as screws or bolts. All six second cameras 400 are located outside the hollow area 111 and are not obstructed by the base 110. The shooting angle of each second camera 400 is downward, that is, the image acquisition head of each second camera 400 is tilted at a certain angle downward relative to the horizontal plane, so as to acquire more surface image information.

[0052] It should be understood that, in order to improve the firmness of the connection between the second camera 400 and the enclosure 121, six inclined positioning planes 125 can be provided on the outer side of the enclosure 121. Each positioning plane 125 is provided with an assembly through hole 123. The second camera 400 is inserted into the corresponding assembly through hole 123 from the outside of the enclosure 121, and the side of the second camera 400 can fit against the corresponding positioning plane 125. This can not only improve the tightness of the fit between the second camera 400 and the enclosure 121, but also determine the accurate position of the second camera 400 through the positioning plane 125, reduce the assembly difficulty, and improve the assembly efficiency.

[0053] In addition, during assembly, all six second cameras 400 can be installed on the enclosure 121 first, and then the enclosure 121 can be connected to the base plate 122 for easy assembly.

[0054] It should be noted that since the number of second cameras 400 is not limited to six, the number of positioning planes 125 and mounting through holes 123 on the enclosure 121 is also not limited to six. The number of positioning planes 125 and mounting through holes 123 on the enclosure 121 can be kept consistent and can be redundantly designed, so as to facilitate the assembly of the corresponding number of second cameras 400 on the enclosure 121 according to the requirements, and the addition or subtraction of second cameras 400 can be flexibly carried out.

[0055] In this embodiment, the model of the lidar 200 can be selected as needed, and no specific limitation is made in this embodiment.

[0056] Please refer to Figure 1 , Figure 4 and Figure 5 In this embodiment, optionally, the yaw joint 500 includes a yaw joint body 510 and a limiting member 520. The fixed end of the yaw joint body 510 is connected to the pitch joint 600, and the output end of the yaw joint 500, i.e., the rotating shaft, is fixedly connected to the base plate 122. The rotation axis of the yaw joint 500 extends vertically. The limiting member 520 is configured as a ring structure, and a limiting protrusion 521 is provided on the bottom side of the limiting member 520. The limiting member 520 is sleeved on the outside of the yaw joint body 510 and fixedly connected to the fixed end. After the yaw joint 500 and the head support 100 are installed, the limiting protrusion 521 is located between two limiting parts 124, and each limiting part 124 is located on the rotation path of the limiting protrusion 521. That is, after the yaw joint body 510 is started, the output end is fixed to the head support 100. The fixed end rotates, thereby driving the limiting member 520 to rotate, so that the limiting protrusion 521 rotates between the two limiting parts 124. During the rotation of the limiting protrusion 521, it can contact one of the two limiting parts 124, thereby limiting the rotation range of the yaw joint body 510 through the two limiting parts 124.

[0057] For example, in this embodiment, the rotation range of the yaw joint body 510 is ±120°, that is, the yaw joint body 510 can rotate 120° counterclockwise or 120° clockwise, thereby adjusting the shooting direction of the first camera 300 in the horizontal plane.

[0058] Please refer to Figure 1 , Figure 6 and Figure 7 In this embodiment, optionally, the pitch joint 600 includes a support member 610, a pitch joint body 620, and a transmission assembly 630. The support member 610 can be fixed to the fixed end of the yaw joint body 510 by fasteners 700 such as screws or bolts. The fixed end of the pitch joint body 620 can be fixed to the support member 610 by fasteners 700 such as screws or bolts. The first camera 300 is rotatably connected to the support member 610 about a first axis. The pitch joint body 620 is connected to the first camera 300 through the transmission assembly 630. When the pitch joint body 620 moves, it can drive the first camera 300 to rotate relative to the support member 610 through the transmission assembly 630, thereby adjusting the pitch angle of the first camera 300.

[0059] It should be understood that by controlling the rotation range of the pitch joint body 620, the maximum tilt angle of the first camera 300 can be made greater than the maximum elevation angle, facilitating more tabletop operations for the robot. For example, the maximum elevation angle of the first camera 300 can be controlled at 45° by the pitch joint body 620, and the maximum tilt angle of the first camera 300 can be controlled at 75° by the pitch joint body 620.

[0060] Optionally, the support member 610 includes a joint bracket 611, a first fixed bracket 612, and a second fixed bracket 613. The joint bracket 611 can be fixed to the fixed end of the yaw joint 500 by fasteners 700 such as screws or bolts. Both the first fixed bracket 612 and the second fixed bracket 613 can be fixed to the joint bracket 611 by fasteners 700 such as screws or bolts, and the first fixed bracket 612 and the second fixed bracket 613 are arranged at intervals in the extension direction of the second axis. The pitch joint body 620 is disposed between the first fixed bracket 612 and the second fixed bracket 613, and the fixed end of the pitch joint body 620 can be fixedly connected to both the first fixed bracket 612 and the second fixed bracket 613 by fasteners 700 such as screws or bolts. The output end of the pitch joint body 620, i.e., the pivot, extends out of both the joint bracket 611 and the first fixed bracket 612. The axis of the pitch joint body 620 coincides with the second axis.

[0061] Optionally, the transmission assembly 630 includes a rocker arm 631, a connecting rod 632, a crank 633, a first bearing 634, and a second bearing 635. The rocker arm 631 is fixedly connected to the output end of the pitch joint body 620 via fasteners 700 such as screws or bolts, and is located on the inner side of the first fixed bracket 612 near the second fixed bracket 613. One end of the connecting rod 632 is rotatably connected to the rocker arm 631 via the first bearing 634 about a third axis, and the third axis is spaced from the second axis, meaning the connection position of the connecting rod 632 and the rocker arm 631 is eccentrically positioned relative to the center of the rocker arm 631. The other end of the connecting rod 632 is rotatably connected to the crank 633 about a fourth axis via the third bearing 350. The crank 633 is connected to the first camera 300, and the crank 633 and the first camera 300 are fixed relative to each other in the circumferential direction along the first axis. In this way, when the pitch joint body 620 moves, the rocker arm 631 rotates, which drives the connecting rod 632 to rotate. The connecting rod 632 drives the crank 633 to swing, thereby driving the first camera 300 to swing back and forth within a set angle range through the crank 633, so as to adjust the pitch angle of the second camera 400.

[0062] Optionally, the crank 633 is provided with a positioning hole 636. The cross-sectional profile of the positioning hole 636 is non-circular, and the cross-section is a plane perpendicular to the axis of the positioning hole 636. Simultaneously, the side wall of the crank 633 is also provided with fastening holes 637. Multiple fastening holes 637 can be provided, spaced apart circumferentially around the positioning hole 636 and all connected to the positioning hole 636. Each fastening hole 637 can accommodate fasteners 700 such as screws or bolts.

[0063] In this embodiment, optionally, the first camera 300 includes a camera body 310, a camera bracket 320, a first bearing seat 330, a second bearing seat 340, a third bearing 350, a fourth bearing 360, a first rotating shaft 370, a second rotating shaft 380, and a retaining ring 390. The camera bracket 320 is configured as a U-shaped bracket, that is, the camera bracket 320 includes a first arm 321, a connecting arm 322, and a second arm 323 connected in sequence, with the first arm 321 and the second arm 323 extending in the same direction. The camera body 310 can be mounted on the connecting arm 322 using fasteners 700 such as screws or bolts, with the camera body 310 located on the side of the connecting arm 322 away from the first arm 321 and the second arm 323. The first bearing housing 330 can be fixed to the inner side of the first fixed bracket 612 by fasteners 700 such as screws or bolts. The first rotating shaft 370 is rotatably connected to the first bearing housing 330 around the first axis via the third bearing 350, and the inner end of the first rotating shaft 370 extends out of the third bearing 350. The part of the first rotating shaft 370 that extends out of the third bearing 350 is a plug-in section. The cross-sectional profile of the plug-in section is non-circular, and the cross-section is a plane perpendicular to the axis of the first rotating shaft 370. The inner side of the first support arm fits against the outer side of the first rotating shaft 370, and the two can be fixedly connected by fasteners 700 such as screws or bolts. Meanwhile, the crank 633 is located inside the first bearing housing 330, and the inner end of the first rotating shaft 370 passes through the third bearing 350 and is inserted into the positioning hole 636 on the crank 633. Since both the insertion section and the positioning hole 636 are non-circular, after they are inserted and fitted together, they are relatively fixed in the circumferential direction of the first axis. That is, the first rotating shaft 370 will not rotate relative to the positioning hole 636, and the crank 633 can drive the first rotating shaft 370 to rotate around the first axis. Furthermore, the fastener 700 screwed into the fastening hole 637 can lock the first rotating shaft 370 in the positioning hole 636, improving the firmness of the connection.

[0064] Meanwhile, the second bearing seat 340 can be fixed to the inner side of the second fixed bracket 613 by fasteners 700 such as screws or bolts. The second rotating shaft 380 is rotatably connected to the second bearing seat 340 around the first axis via the fourth bearing 360. One end of the second rotating shaft 380 extends out of the inner side of the second bearing seat 340, and a retaining ring 390 is fixed to the outside of the second rotating shaft 380, preventing the second rotating shaft 380 from disengaging from the fourth bearing 360. The inner side of the second support arm fits against the outer side of the second rotating shaft 380, and the two can be fixedly connected by fasteners 700 such as screws or bolts. In this way, the camera bracket 320 can rotate relative to the head bracket 100 around the first axis through the cooperation of the first rotating shaft 370 and the second rotating shaft 380, thereby driving the camera body 310 to perform pitch adjustment.

[0065] It should be understood that the first axis, the second axis, the third axis, and the fourth axis are arranged in parallel and spaced apart.

[0066] It is worth noting that the torque of the pitch joint body 620 is transmitted to the second camera 400 through the transmission component 630, and the torque transmission is stable and reliable.

[0067] It should be noted that the first camera 300 and the second camera 400 are of different types and can perform different functions. For example, in this embodiment, the first camera 300 can be set as an RGBD camera, etc., which can acquire close-up images and perceive near depth. The second camera 400 can be set as an RGB camera, etc., which can acquire distant images and cooperate with the LiDAR 200 to obtain distant depth.

[0068] The robot head assembly provided in this embodiment can acquire near-field images and perceive near-field depth using a first camera 300. The navigating joint 500 drives the pitch joint 600 and the first camera 300 to rotate horizontally together, expanding the left and right field of view. The pitch joint 600 drives the first camera 300 to rotate vertically, expanding the vertical field of view. The cooperation of the navigating joint 500 and the pitch joint 600 further widens the field of view of the first camera 300. It can also utilize six second cameras 400 to acquire distant images around the robot head assembly and, in conjunction with the lidar 200, perceive distant depth. Thus, when the robot walks, it can primarily rely on the six second cameras 400 and one lidar 200 to anticipate the surrounding environment, resulting in more stable walking. When the robot needs to identify objects, it can primarily rely on the first camera 300 to accurately scan objects, improving the accuracy of object recognition.

[0069] This embodiment also provides a robot, including a robot body and the robot head assembly described above. The bottom of the base 110 of the head support 100 is mounted on the top of the robot body. For example, the base 110 can be fixedly connected to the robot body by fasteners 700 such as screws or bolts.

[0070] It should be understood that the robot body integrates a processor. The LiDAR 200, the first camera 300, and the second camera 400 are all connected to the processor. The information acquired by the LiDAR 200, the first camera 300, and the second camera 400 can be transmitted to the processor in real time. After the processor processes the information, it can guide the robot body to perform corresponding actions.

[0071] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. A robot head assembly, characterized in that, Includes a head support (100), a lidar sensor (200), a first camera (300), and multiple second cameras (400), wherein: The lidar (200), the first camera (300) and the plurality of second cameras (400) are all mounted on the head support (100), and the plurality of second cameras (400) are arranged at intervals in the circumferential direction of the head support (100); The first camera (300) is used to acquire a close-up image and the depth of the close-up image; The plurality of second cameras (400) are used to acquire distant images and, in conjunction with the lidar (200), acquire the depth of the distant images.

2. The robot head assembly according to claim 1, characterized in that: In the height direction of the robot head assembly, the plurality of second cameras (400) are all located between the lidar (200) and the first camera (300).

3. The robot head assembly according to claim 1, characterized in that: In the circumferential direction of the robot head assembly, any two adjacent second cameras (400) have different shooting directions.

4. The robot head assembly according to claim 1, characterized in that: The robot head assembly also includes a pitch joint (600), which is mounted on the head support (100), and the first camera (300) is mounted on the pitch joint (600).

5. The robot head assembly according to claim 4, characterized in that: The pitch joint (600) includes a support (610), a pitch joint body (620), and a transmission assembly (630). The support (610) is mounted on the head support (100), and the pitch joint body (620) is mounted on the support (610). The first camera (300) is rotatably connected to the support (610) about a first axis. The pitch joint body (620) is connected to the first camera (300) via the transmission assembly (630).

6. The robot head assembly according to claim 5, characterized in that: The transmission assembly (630) includes a rocker arm (631), a connecting rod (632), and a crank (633). The rocker arm (631) is connected to the output end of the pitch joint body (620). One end of the connecting rod (632) is rotatably connected to the rocker arm (631), and the other end of the connecting rod (632) is rotatably connected to the crank (633). The crank (633) is connected to the first camera (300), and the crank (633) and the first camera (300) are relatively fixed relative to each other in the circumferential direction of the first axis.

7. The robot head assembly according to claim 6, characterized in that: The first camera (300) includes a camera body (310), a camera bracket (320), and a rotating shaft. The camera body (310) is mounted on the camera bracket (320). The camera bracket (320) is fixedly connected to the rotating shaft. The rotating shaft is rotatably connected to the support member (610) around the first axis. The crank (633) is connected to the rotating shaft. The crank (633) and the rotating shaft are relatively fixed in the circumferential direction of the first axis.

8. The robot head assembly according to claim 1, characterized in that: The head support (100) includes a base (110) and a mounting bracket (120); the base (110) is provided with a hollow area (111), and the mounting bracket (120) is fixed above the base (110); the lidar (200) is mounted on the mounting bracket (120) and located within the hollow area (111); the plurality of second cameras (400) are all mounted on the mounting bracket (120) and located outside the hollow area (111).

9. The robot head assembly according to claim 1, characterized in that: The first camera (300) is configured as an RGBD camera, and / or the second camera (400) is configured as an RGB camera.

10. A robot, characterized in that, The robot includes: The robot body and the robot head assembly according to any one of claims 1-9, wherein the head support (100) is mounted on top of the robot body.

Images