A quadruped robot with surround view perception

Abstract

This utility model discloses a quadruped robot with surround-view perception. By installing a first surround-view camera, a second surround-view camera, a third surround-view camera, and a fourth surround-view camera on the front, rear, left, and right sides of the robot body, and ensuring that the sum of the horizontal viewing angles of these four surround-view cameras can cover the entire robot and that the fields of view of each adjacent surround-view camera overlap, a complete surround-view perception structure is formed, achieving 360-degree coverage without blind spots. This ensures that the robot can accurately judge its surrounding environment, improves its operational safety in complex environments, and provides reliable visual perception support for the execution of various complex tasks.

Description

Technical Field

[0001] This utility model relates to the field of robot vision perception technology, and in particular to a quadruped robot with surround view perception. Background Technology

[0002] In the field of robot vision perception technology, traditional solutions often use a single fisheye lens for panoramic coverage. However, due to the physical characteristics of fisheye lenses, their field of view is limited, typically not exceeding 180°, resulting in blind spots in the central area and an inability to fully perceive the surrounding environment. For example, existing technology (patent publication number CN222814550U) discloses a quadruped robot equipped with a protective wide-angle camera. This quadruped robot uses a wide-angle camera on its head to acquire images of the area in front and the area where it lands. However, the single lens is limited by the field of view, and even with a wide-angle camera, it cannot fully cover the robot's entire body, easily creating blind spots. This makes it impossible to fully monitor the image around the robot, especially the sides, resulting in insufficient environmental adaptability. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this utility model discloses a quadruped robot with surround view perception, comprising:

[0004] The robot body has a first surround-view camera installed at the front end to capture images of the robot's front, a second surround-view camera installed at the rear end to capture images of the robot's rear, and a third surround-view camera and a fourth surround-view camera arranged on both sides of the robot body to capture images of the corresponding sides of the robot; wherein the sum of the corresponding horizontal viewing angles of the first, second, third, and fourth surround-view cameras is greater than 360 degrees, and the fields of view of each adjacent surround-view camera overlap.

[0005] Preferably, the robot body includes a body assembly and a head assembly connected to the body assembly, and a first surround-view camera and a main-view telephoto camera are installed at the front end of the head assembly, the main-view telephoto camera having a first viewing angle area that is horizontally forward;

[0006] The robot body includes a body assembly and a tail assembly connected to the body assembly, with a second surround-view camera installed at the rear end of the tail assembly.

[0007] Preferably, at least one radar component is further installed at the front end of the head assembly, with the first surround-view camera and the main-view telephoto camera respectively arranged on both sides of the radar component; and / or

[0008] At least one radar component is also installed at the rear end of the tail assembly, and the second surround-view camera is arranged on one side of the radar component.

[0009] Preferably, a protective frame is arranged at the front end of the head assembly, and two radar components are arranged in series at the front end of the head assembly. The two radar components are fixed within the protective space formed by the protective frame and the front end of the head assembly; the first surround-view camera and the main-view telephoto camera are respectively arranged on both sides of the protective frame at the front end of the head assembly.

[0010] Preferably, the first surround view area of ​​the first surround view camera covers the landing area of ​​the robot's front leg assembly with the maximum forward stride.

[0011] Preferably, the third and fourth surround view cameras are respectively mounted downwards on both sides of the robot body.

[0012] Preferably, the third surround view area of ​​the third surround view camera covers at least a portion of the footing area of ​​the front leg assembly and the rear leg assembly located on the same side of the robot body;

[0013] The fourth surround view camera's fourth surround view area covers at least a portion of the footing areas of the front and rear leg components located on the same side of the robot's body.

[0014] Preferably, the third and fourth surround view cameras have the same downward tilt angle relative to the horizontal plane, and the same downward tilt angle is 5 to 30 degrees.

[0015] Preferably, storage racks are arranged on both sides of the robot body. Each storage rack includes a side wall and an end wall connected to one end of the side wall. The other end of the side wall is installed on the robot body by fasteners. The side wall and the end wall surround each other to form a receiving compartment for installing a third or fourth surround view camera. The end wall has a light guide channel.

[0016] Preferably, the sidewall is square in shape and has a mounting surface near the end of the robot body, and the endwall is inclined downward relative to the mounting surface.

[0017] The quadruped robot with surround-view perception disclosed in this utility model has a complete surround-view perception structure. This structure is formed by installing a first surround-view camera, a second surround-view camera, a third surround-view camera, and a fourth surround-view camera on the front, back, left, and right sides of the robot body, respectively. The sum of the horizontal field of view of these four surround-view cameras can cover the entire robot body, and the fields of view of each adjacent surround-view camera overlap. This achieves 360-degree coverage without blind spots, ensures the robot's accurate judgment of the surrounding environment, and improves its operational safety in complex environments.

[0018] Furthermore, by installing a first surround-view camera and a main-view telephoto camera at the front end of the head assembly, the coordinated layout of the four surround-view cameras and the main-view telephoto camera achieves the collaborative function of 360-degree blind-spot-free coverage and long-distance target recognition. 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 front view illustration of a quadruped robot with surround view perception disclosed in an embodiment of this application. Figure 1 .

[0022] Figure 2 This is a front view illustration of a quadruped robot with surround view perception disclosed in an embodiment of this application. Figure 2 .

[0023] Figure 3 This is a rear view schematic diagram of a quadruped robot with surround view perception disclosed in an embodiment of this application.

[0024] Figure 4 This is a side view of a quadruped robot with surround view perception disclosed in an embodiment of this application.

[0025] Figure 5 This is a schematic diagram of the storage rack structure disclosed in one embodiment of this application.

[0026] Reference numerals: Robot body 1; First surround view camera 2; Second surround view camera 3; Third surround view camera 4; Fourth surround view camera 5; Main view telephoto camera 6; Radar assembly 7; Protective frame 8; Body assembly 11; Head assembly 12; Storage compartment rack 13; Side wall 131; End wall 132; First radar 711; Second radar 712; Third radar 721; Fourth radar 722; Tail assembly 14. Detailed Implementation

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] like Figure 1-3As shown, this embodiment discloses a quadruped robot with surround-view perception, including a robot body 1. A first surround-view camera 2 is installed at the front end of the robot body 1 to capture images of the robot's front, and a second surround-view camera 3 is installed at the rear end of the robot body 1 to capture images of the robot's rear. A third surround-view camera 4 and a fourth surround-view camera 5 are respectively arranged on both sides of the robot body to capture images of the corresponding sides. The sum of the horizontal viewing angles of the first surround-view camera 2, second surround-view camera 3, third surround-view camera 4, and fourth surround-view camera 5 is greater than 360 degrees, and the fields of view of adjacent surround-view cameras overlap. In this embodiment, a sixth receiving structure can be provided in the right-hand region of the robot's front end to accommodate the first surround-view camera 2. The first surround-view camera 2 is assembled within this sixth receiving structure. A seventh receiving structure can be provided in the right-hand region of the middle area of ​​the robot's tail, and the second surround-view camera 3 is installed within this seventh receiving structure. Furthermore, the third surround-view camera 4 and the fourth surround-view camera 5 are respectively arranged on the left and right sides of the robot body. Each surround-view camera continuously collects images of the surrounding environment during the robot's operation: the first surround-view camera covers the road and obstacles in front, the second surround-view camera acquires information on traffic and potential hazards behind, and the left and right surround-view cameras can collect images of the distribution and spatial distance of objects on both sides in real time. This achieves 360-degree coverage without blind spots, ensuring the robot's accurate judgment of its surrounding environment and improving its operational safety in complex environments.

[0032] In this embodiment, the robot body 1 includes a body assembly 11 and a head assembly 12 connected to the body assembly 11. A first surround-view camera 2 and a main-view telephoto camera 6 are installed at the front end of the head assembly 12. The main-view telephoto camera 6 has a first forward-facing viewing area. A first receiving structure for accommodating the main-view telephoto camera 6 is provided on the left side of the front end of the robot head. Screw holes are arranged on the receiving surface, and the main-view telephoto camera is fixed to this position by bolts, providing a first forward-facing viewing area. The focal length range of this main-view telephoto camera can be 80-200mm, with a resolution of 4K, and it can employ laser-assisted focusing technology, significantly improving image clarity and focusing accuracy. It can maintain clear imaging even in low-light environments and is equipped with an infrared automatic light-sensing function, which can automatically adjust the light-sensing parameters according to the ambient light intensity to ensure high-quality images under different lighting conditions. Furthermore, the main-view telephoto camera can also be configured with an infrared automatic light-sensing function, which can automatically adjust the light-sensing parameters according to the ambient light intensity to ensure high-quality images under different lighting conditions. In some preferred embodiments, the robot body may further include a tail assembly 14 connected to the body assembly 11, with a second surround-view camera 3 mounted at the rear end of the tail assembly 14, thereby effectively acquiring images of traffic behind and images of potential hazards. When the robot reverses or is approached by an object behind it, the second surround-view camera can capture relevant information in a timely manner to monitor the environmental conditions behind the robot.

[0033] In this embodiment, at least one radar assembly 7 is also installed at the front end of the head assembly 12, with the first surround-view camera 2 and the main-view telephoto camera 6 respectively arranged on both sides of the radar assembly 7. Specifically, the radar assembly 7 includes a front radar assembly and a rear radar assembly. The front radar assembly consists of a first radar 711 and a second radar 712. The first radar 711 is located in the second receiving structure at the upper part of the front end of the robot's head, and the second radar 712 is located in the third receiving structure at the lower part of the front end of the robot's head. The first and second radars are arranged in series vertically and are used together to detect the distance to obstacles in front. In another preferred embodiment, at least one similar radar assembly, similar to that of the head assembly, can also be installed at the rear end of the tail assembly 14, with the second surround-view camera 3 arranged on one side of the radar assembly. The radar assembly arranged at the rear end can consist of a third radar 721 and a fourth radar 722. The third radar 721 is fixed in the fourth receiving structure at the upper part of the robot's tail region, and the fourth radar 722 is fixed in the fifth receiving structure at the lower part of the robot's tail region. The two are also arranged in series vertically and are used together to detect the distance to obstacles behind. Both the front and rear radar components are surrounded by protective bars, providing effective protection. The first surround-view camera 2 and the main-view telephoto camera 6 are located on either side of the radar component 7. The layout of the three is optimized so that they do not obstruct each other's perception range. The radar component focuses on distance detection, the first surround-view camera 2 simultaneously acquires images from the front, and the main-view telephoto camera 6 focuses on details directly in front. Distance data and image information complement each other. For example, when an obstacle appears in front, the radar component first detects the distance between the obstacle and the robot, the first surround-view camera 2 captures the shape and distribution of the obstacle, and the main-view telephoto camera 6 clearly presents the specific features of the obstacle. This allows the quadruped robot to determine whether avoidance is necessary and the reasonable avoidance distance by acquiring multiple perception data, avoiding judgment errors caused by relying on only a single data point.

[0034] In this embodiment, a protective frame 8 is arranged at the front end of the head assembly 12. Two radar components 7 are arranged vertically in series at the front end of the head assembly 12, and the two radar components 7 are fixed within the protective space formed by the protective frame 8 and the front end of the head assembly 12. The first surround-view camera 2 and the main-view telephoto camera 6 are respectively arranged on both sides of the protective frame 8 at the front end of the head assembly 12. The two radar components 7 are fixed vertically in series within the protective space enclosed by the protective frame 8 and the front end of the head assembly 12. The carbon fiber protective frame 8 has sufficient strength to resist accidental impacts such as external collisions and scratches, preventing damage to the radar components 7 in complex working environments. Its light weight also does not increase the load on the head assembly 12, ensuring the robot's flexibility. The first surround-view camera 2 and the main-view telephoto camera 6 are respectively mounted on both sides of the protective frame 8. The structural design of the protective frame 8 avoids the field of view of both cameras, preventing obstruction of the camera's image acquisition path. This layout effectively protects the core detection components, extends the service life of the radar components 7, and ensures that the camera's sensing function is not affected.

[0035] In this embodiment, the first surround-view camera 2's first surround-view area covers the landing area of ​​the robot's front leg assembly with its maximum forward stride. When the robot walks on complex terrain such as mountains or gravel ground, the front leg assembly adjusts its maximum forward stride according to the terrain's undulations to find a stable foothold. At this time, the first surround-view camera 2 continuously captures images from the front, and its field of view covers this maximum stride landing area of ​​the front leg, thereby capturing terrain details such as potholes, protrusions, and small stones within this area for subsequent obstacle avoidance adjustments by the quadruped robot.

[0036] In this embodiment, the third surround-view camera 4 and the fourth surround-view camera 5 are respectively mounted downwards on both sides of the robot body 1. This tilted design allows the camera's field of view to shift downwards, covering the parts of the robot adjacent to its body, thereby reducing near-end blind spots and improving movement safety. Because the third and fourth surround-view cameras are mounted downwards, their field of view is significantly lower than when mounted horizontally, enabling them to clearly capture images of the areas adjacent to the sides and bottom of the robot body, including low obstacles below the sides of the body and the distance to objects close to the body—areas that are difficult to cover with traditional horizontally mounted cameras. When there are low protrusions or narrow spaces on the sides of the robot, the downward-tilted cameras can capture this information in a timely manner, effectively filling the near-end perception blind spots of the robot, avoiding collision risks caused by ignoring obstacles below the body and in the near-end area, and improving near-range environmental perception capabilities.

[0037] In this embodiment, the third surround-view camera 4 covers at least a portion of the landing areas of the front and rear leg components on the same side of the robot body; the fourth surround-view camera 5 covers at least a portion of the landing areas of the front and rear leg components on the same side of the robot body. The third surround-view camera 4 continuously captures images of at least a portion of the landing areas of the front and rear leg components on the same side of the robot, and the fourth surround-view camera 5 can simultaneously capture images of the corresponding area on the other side. This improves the quadruped robot's perception of blind spots on the underside of the body and enhances the monitoring of the landing environment of the front and rear legs on the same side to adapt to various harsh working environments.

[0038] In this embodiment, the third surround-view camera 4 and the fourth surround-view camera 5 are tilted downwards at the same angle relative to the horizontal plane, with the downward tilt angle ranging from 5 to 30 degrees. The cameras on both sides tilt downwards at the same angle to capture images, ensuring symmetrical perception range on both sides of the robot and preventing one side from being too wide and the other too narrow. When the robot turns, moves sideways, or adjusts its posture in narrow passages, the cameras on both sides can simultaneously provide uniform lateral and leg-foot placement image information, ensuring consistent environmental data received by the control system from both sides, allowing for more accurate assessment of the surrounding environment. In one specific embodiment, the left and right surround-view cameras are set to a tilted state at a downward angle of 15°. This shifts the camera's field of view downwards, covering the robot's body and reducing near-end blind spots, thus improving safety. Each camera captures images at an appropriate resolution and frame rate to ensure clear and complete images.

[0039] In this embodiment, storage racks 13 are arranged on both sides of the robot body 1. Each storage rack 13 includes a side wall 131 and an end wall 132 connecting one end of the side wall. The other end of the side wall 131 is fastened to the robot body 1 by fasteners. The side wall 131 and the end wall 132 form a housing for mounting a third surround-view camera 4 or a fourth surround-view camera 5. The end wall 132 has a light guide channel. When installing the third or fourth surround-view camera, the housing structure of the square side wall 131 is smooth and without protrusions, so the camera will not scratch the housing wall during insertion or removal, protecting the camera housing and lens from damage. The housing can effectively block dust, moisture and oil in the working environment, preventing these impurities from adhering to the camera lens and causing blurred images, or seeping into the interior and damaging the sensor. Even in humid environments or oily industrial scenes, the internal components of the camera can still be kept dry and clean. The light guide channel on end wall 132 ensures that ambient light from outside enters the containment chamber smoothly, preventing insufficient light due to chamber obstruction and ensuring that the camera can capture clear images under different lighting conditions. At the same time, side wall 131 is securely connected to the robot body with fasteners, ensuring that the camera will not loosen after installation. This facilitates the installation, removal, and maintenance of the camera, and extends its service life.

[0040] In this embodiment, the sidewall 131 is square in shape and has a mounting surface near the robot body. The endwall 132 is inclined downward relative to the mounting surface. Specifically, the storage compartments for the first surround-view camera 2 and the second surround-view camera 3 adopt a square design, which helps to prevent the cameras from being scratched by the outside during installation and removal, and can effectively block dust, moisture and oil stains, protect the internal lenses and sensors, and improve the durability and reliability of the equipment. The endwall 132 is inclined downward relative to the mounting surface, and its tilt angle is adapted to the downward tilting installation angle of the third and fourth surround-view cameras, so that the camera lens can be more smoothly aligned with the sensing area below through the light guide channel of the endwall 132. For example, when the camera is tilted downward to cover the leg landing area, the horizontal endwall may block part of the field of view below the lens, resulting in the inability to fully capture the image of the landing area. The downward tilting endwall 132 can provide a wide field of view channel for the lens, ensuring that the camera can fully capture the landing area and near-end environmental details from the side and below. This design perfectly matches the tilted installation requirements of the cameras, avoids limiting the camera's field of view due to the structure of the silo, ensures the complete perception range of the side-view cameras, and provides more comprehensive side image materials for panoramic view stitching.

[0041] This embodiment also includes a power supply circuit located inside the device body. The power supply circuit is connected to the main control board via a USB interface to provide a stable power supply to the camera. The USB interface module conforms to standard specifications, has stable electrical connection performance, and is precisely matched with the main control board interface, achieving a tight connection via a cable. This design not only facilitates connection but also has good versatility and pluggability, making system assembly, debugging, and maintenance easier, further ensuring the real-time performance and stability of the system operation.

[0042] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

[0043] In summary, the above description is only a preferred embodiment of the present utility model. All equivalent changes and modifications made within the scope of the patent application of the present utility model shall fall within the scope of the patent of the present utility model.

Claims

1. A quadruped robot with surround view perception, characterized in that: The robot body includes a first surround-view camera installed at the front end of the robot body to capture images of the front of the robot, a second surround-view camera installed at the rear end of the robot body to capture images of the rear of the robot, and a third surround-view camera and a fourth surround-view camera respectively arranged on both sides of the robot body to capture images of the corresponding sides of the robot. The sum of the corresponding horizontal viewing angles of the first, second, third, and fourth surround-view cameras is greater than 360 degrees, and the fields of view of each adjacent surround-view camera overlap.

2. The quadruped robot with surround view perception according to claim 1, characterized in that: The robot body includes a body assembly and a head assembly connected to the body assembly. A first surround-view camera and a main-view telephoto camera are installed at the front end of the head assembly. The main-view telephoto camera has a first field of view area that is horizontally forward. The robot body includes a body assembly and a tail assembly connected to the body assembly, with a second surround-view camera installed at the rear end of the tail assembly.

3. The quadruped robot with surround view perception of claim 2, wherein: The head assembly is further equipped with at least one radar assembly at its front end, with the first surround-view camera and the main-view telephoto camera respectively arranged on both sides of the radar assembly; and / or At least one radar component is also installed at the rear end of the tail assembly, and the second surround-view camera is arranged on one side of the radar component.

4. The quadruped robot with surround view perception of claim 3, wherein: A protective frame is arranged at the front end of the head assembly, and two radar components are arranged in series at the front end of the head assembly. The two radar components are fixed within the protective space formed by the protective frame and the front end of the head assembly. The first surround-view camera and the main-view telephoto camera are respectively arranged on both sides of the protective frame at the front end of the head assembly.

5. The quadruped robot with surround view perception according to any one of claims 1-4, characterized in that: The first surround view area of ​​the first surround view camera covers the landing area of ​​the robot's front leg assembly with the maximum forward stride.

6. The quadruped robot with surround view perception of claim 5, wherein: The third and fourth surround-view cameras are respectively mounted downwards on both sides of the robot body.

7. The quadruped robot with surround view perception according to claim 6, characterized in that: The third surround view camera's third surround view area covers at least a portion of the footing areas of the front leg assembly and the rear leg assembly located on the same side of the robot's body; The fourth surround view camera's fourth surround view area covers at least a portion of the footing areas of the front and rear leg components located on the same side of the robot's body.

8. The quadruped robot with surround view perception of claim 5, wherein: The third and fourth surround view cameras have the same downward tilt angle relative to the horizontal plane, which is between 5 and 30 degrees.

9. The quadruped robot with surround view perception of claim 5, wherein: The robot body has storage compartments on both sides. Each storage compartment includes a side wall and an end wall connected to one end of the side wall. The other end of the side wall is installed on the robot body by fasteners. The side wall and the end wall surround each other to form a storage compartment for installing a third or fourth surround view camera. The end wall has a light guide channel.

10. The quadruped robot with surround view perception according to claim 9, characterized in that: The side wall is square around, and has a mounting surface near one end of the robot body, and the end wall is inclined downward relative to the mounting surface.

Images