Image acquisition device, head assembly and robot

Abstract

This application provides an image acquisition device, a head assembly, and a robot. The image acquisition device includes: multiple image acquisition units for acquiring image data; wherein the multiple image acquisition units are arranged at least at multiple preset positions in a first direction and a second direction; in a plane perpendicular to the first direction, the angle of overlap between the field of view angles of two adjacent image acquisition units in the second direction is defined as a first type of overlap angle; in a plane perpendicular to the second direction, the angle of overlap between the field of view angles of two adjacent image acquisition units in the first direction is defined as a second type of overlap angle; the first type of overlap angle is greater than the second type of overlap angle; this application expands the field of view range that the robot's head assembly can monitor by setting multiple image acquisition units with different positions in both the first and second directions.

Description

Technical Field

[0001] This application relates to the field of robotics technology, specifically to an image acquisition device, a head assembly, and a robot. Background Technology

[0002] In related technologies, in order to enable robots to obtain a sufficient field of view, multiple image acquisition units are often used to capture images. A typical solution is to use two image acquisition units placed at the positions corresponding to the human eye. This can expand the robot's field of view in the horizontal direction. However, for the robot's field of view in other directions, it is necessary to add image acquisition units at positions such as the waist to meet the functional requirements of robot walking detection or hand detection. Utility Model Content

[0003] Embodiments of this application provide an image acquisition device, a head assembly, and a robot that can improve the problem of limited field of view in robots.

[0004] As a first aspect of this application, embodiments of this application provide at least a head assembly suitable for constituting a robot. The image acquisition device includes: a plurality of image acquisition units for acquiring image data; wherein the plurality of image acquisition units are arranged at least at a plurality of preset positions in a first direction and a second direction; in a plane perpendicular to the first direction, the angle by which the field of view angles of two adjacent image acquisition units in the second direction overlap is defined as a first type of overlap angle; in a plane perpendicular to the second direction, the angle by which the field of view angles of two adjacent image acquisition units in the first direction overlap is defined as a second type of overlap angle; the first type of overlap angle is greater than the second type of overlap angle; in a plane perpendicular to the first direction, the maximum angle formed by the combination of the field of view angles of the plurality of image acquisition units is defined as a first type of combination angle; in a plane perpendicular to the second direction, the maximum angle formed by the combination of the field of view angles of the plurality of image acquisition units is defined as a second type of combination angle; the first type of combination angle is greater than or equal to the first type of overlap angle; the second type of combination angle is greater than or equal to the second type of overlap angle.

[0005] Optionally, in some embodiments of this application, the value of the first type of overlap angle ranges from 85° to 90°.

[0006] Optionally, in some embodiments of this application, the value range of the second type of overlap angle is 0° to 10°.

[0007] Optionally, in some embodiments of this application, the value range of the first type of combined angle is 85° to 90°.

[0008] Optionally, in some embodiments of this application, the value range of the second type of combined angle is 80° to 120°.

[0009] Optionally, in some embodiments of this application, at least some of the image acquisition units are aligned in a first direction and have mutually parallel lines of sight.

[0010] Optionally, in some embodiments of this application, a plurality of image acquisition units that are aligned in a first direction and have mutually parallel lines of sight in a plane perpendicular to the second direction are defined as an image acquisition module; the image acquisition device has at least two image acquisition modules.

[0011] Optionally, in some embodiments of this application, the angle between the line of sight of the two image acquisition modules ranges from 30° to 90°.

[0012] Optionally, in some embodiments of this application, two adjacent image acquisition modules are arranged facing each other so that the field of view of the two adjacent image acquisition modules at least partially overlap.

[0013] Optionally, in some embodiments of this application, the image acquisition module further includes: a light emitting unit for emitting light that can be acquired by the image acquisition unit.

[0014] Optionally, in some embodiments of this application, the plurality of image acquisition units in the image acquisition module include: an infrared camera and / or an RGB camera.

[0015] Optionally, in some embodiments of this application, the angle between the lines of sight of the two image acquisition units is defined as a first type of line of sight angle in a plane perpendicular to the first direction; the angle between the lines of sight of the two image acquisition units is defined as a second type of line of sight angle in a plane perpendicular to the second direction; the first type of line of sight angle is less than or equal to the second type of line of sight angle.

[0016] Optionally, in some embodiments of this application, the angle of the first type of collimation axis ranges from 0° to 10°; and / or, the angle of the second type of collimation axis ranges from 40° to 60°.

[0017] As a second aspect of this application, embodiments of this application provide a head assembly for a robot, the head assembly including the aforementioned image acquisition device; the image acquisition device is disposed at the facial position of the head assembly.

[0018] As a third aspect of this application, embodiments of this application provide a robot, the robot including the aforementioned image acquisition device or the aforementioned head assembly.

[0019] Optionally, in some embodiments of this application, the distance between the two image acquisition units in the first direction is defined as a first type of distance; In the second direction, the distance between the two image acquisition units is defined as a second type of distance; The largest first-type distance among the plurality of image acquisition units is less than or equal to the largest second-type distance among the plurality of image acquisition units.

[0020] Optionally, in some embodiments of this application, the maximum first-type distance between the plurality of image acquisition units ranges from 17mm to 27mm; The maximum second-type distance between the multiple image acquisition units ranges from 35mm to 53mm.

[0021] Optionally, in some embodiments of this application, the ratio of the largest first type distance between the plurality of image acquisition units to the arm span width of the robot is defined as the field of view width ratio; the ratio of the largest second type distance between the plurality of image acquisition units to the standing height of the robot is defined as the field of view height ratio; the field of view height ratio is greater than or equal to the field of view width ratio.

[0022] Optionally, in some embodiments of this application, the field of view height ratio ranges from 0.0260 to 0.0391; and / or, the field of view width ratio ranges from 0.0139 to 0.0209.

[0023] Optionally, in some embodiments of this application, the ratio of the first type of overlap angle to the first type of combination angle is defined as the first type of view overlap ratio; the ratio of the second type of overlap angle to the second type of combination angle is defined as the second type of view overlap ratio; the first type of view overlap ratio is greater than the second type of view overlap ratio.

[0024] Optionally, in some embodiments of this application, the first type of view overlap ratio is in the range of 0 to 1; and / or, the second type of view overlap ratio is in the range of 0 to 0.1.

[0025] Optionally, in some embodiments of this application, the ratio of the first type of view overlap ratio to the field of view height ratio is defined as the first class angle factor; the ratio of the second type of view overlap ratio to the field of view width ratio is defined as the second class angle factor; the first class angle factor is greater than the second class angle factor.

[0026] Optionally, in some embodiments of this application, the first class angle factor ranges from 0 to 38; and / or, the second class angle factor ranges from 0 to 7.

[0027] The beneficial effects of the embodiments of this application are: by setting multiple image acquisition units with different positions in both the first and second directions, the field of view that the robot's head assembly can monitor is expanded.

[0028] More specifically, some embodiments of this application may produce the following specific beneficial effects: By overlapping the field of view angles of the image acquisition units distributed in the first and second directions, the blind spots caused by the expanded field of view are eliminated. Two image acquisition modules positioned opposite each other can simultaneously cover the range of motion of the robot's limbs. Attached Figure Description

[0029] 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.

[0030] Figure 1 This is a schematic diagram of the structure of the first image acquisition device provided in the embodiments of this application from a first perspective; Figure 2 yes Figure 1 The image acquisition device shown is a schematic diagram of its structure from a second-view perspective. Figure 3 yes Figure 1 The image acquisition device shown is a schematic diagram from a third-person perspective. Figure 4 This is a schematic diagram of the structure of the second image acquisition device provided in the embodiments of this application from a third-person perspective; Figure 5 This is a schematic diagram of the structure of the third image acquisition device provided in the embodiments of this application from a first-view perspective; Figure 6 This is a schematic diagram of the structure of the fourth image acquisition device provided in the embodiments of this application from a first-view perspective; Figure 7 yes Figure 6 The image acquisition device shown is a schematic diagram of its structure from a second-view perspective. Figure 8 yes Figure 6 The image acquisition device shown is a schematic diagram from a third-person perspective. Figure 9 This is a schematic diagram of the structure of the fifth image acquisition device provided in the embodiments of this application from a first-view perspective; Figure 10 yes Figure 9The image acquisition device shown is a schematic diagram from a third-person perspective. Figure 11 yes Figure 9 The diagram shows a three-dimensional structure of the image acquisition device. Figure 12 This is a schematic diagram of the structure of an image acquisition module provided in an embodiment of this application; Figure 13 This is a three-dimensional structural diagram of the head assembly provided in an embodiment of this application; Figure 14 This is a schematic diagram of the robot provided in the embodiments of this application from a first-person perspective; Figure 15 yes Figure 14 The diagram shown is a structural schematic of the robot from a second-person perspective. Figure 16 yes Figure 14 The diagram shows the structure of the robot from a third-person perspective.

[0031] Meaning of the reference numerals in the diagram: 1. Robot; 10. Header components; 101. Head shell; 100. Image acquisition device; 110. Image acquisition module; 111. Image acquisition unit; 111a. Line of sight; 112. Infrared camera; 113. RGB camera; 114. Light emitting unit; 120. Mounting plate; 130. Device housing; A1, First type of overlap angle; B1, Type I combined angles; C1, the first type of field of view; C11, high-precision field of view; C12, Limiting field of view; E1, the angle between the first type of line of sight; L1, first type of distance; A2, Second type of overlap angle; B2, Second type of combined angles; C2, Second type of field of view; E2, the angle between the second type of line of sight; R1, first rotation angle range; R2, the second rotation angle range; L2, the second type of distance; D1, First Direction; D2, Second Direction; D3, third direction. Detailed Implementation

[0032] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. In addition, it should be understood that the specific embodiments described herein are only for illustration and explanation of this application and are not intended to limit this application. In this application, unless otherwise stated, directional terms such as "upper" and "lower" generally refer to the upper and lower positions of the device in actual use or operation, specifically the drawing directions in the accompanying drawings; while "inner" and "outer" refer to the outline of the device.

[0033] Reference Figures 1 to 3 As shown, as a first aspect of this application, this application provides an image acquisition device 100, which is at least adapted to constitute the head assembly 10 of a robot 1.

[0034] Reference Figures 1 to 3 As shown, the image acquisition device 100 includes a plurality of image acquisition units 111. The image acquisition unit 111 is used to acquire image data.

[0035] In this application, the image acquisition unit 111 refers to any device or module capable of independently acquiring images, which can be a visible light camera or an invisible light camera. It is understood that the image acquisition unit 111 itself, or the camera it can constitute, includes, but is not limited to: RGB camera 113, structured light 3D camera, infrared camera 112, millimeter-wave camera, LiDAR (Light Laser Detection and Ranging), polarization camera, spectral camera, X-ray camera, ToF (Time of Flight) camera, and binocular camera. That is, the image acquisition unit 111 itself can be used as one of the aforementioned cameras or a part of one of the aforementioned cameras.

[0036] Reference Figures 1 to 3 As shown, multiple image acquisition units 111 are arranged at least at multiple preset positions in a first direction D1 and a second direction D2 that are perpendicular to each other. That is, image acquisition units 111 are provided at multiple preset positions in the first direction D1, and image acquisition units 111 are also provided at multiple preset positions in the second direction D2.

[0037] It is understood that multiple image acquisition units 111 are equivalent to forming an array on the plane where the first direction D1 and the second direction D2 are located. The array arrangement here only refers to the position of the image acquisition units 111. The orientation of the image acquisition units 111 themselves (that is, the orientation of the line of sight 111a of the image acquisition units 111) does not need to be exactly the same. Each image acquisition unit 111 can have a separate orientation.

[0038] Reference Figure 4 As shown, the line of sight 111a of the two image acquisition units 111 in the image acquisition device 100 are inclined to intersect, that is, the orientation of the image acquisition units 111 themselves is not the same, but it can still be considered that the two image acquisition units 111 are arranged in the second direction D2 as defined in this application.

[0039] It should be noted that, in this application, the line of sight 111a of the image acquisition unit 111 refers to the axis of the imaging focal point of the lens assembly formed by the optical elements of the image acquisition unit 111, that is, the focal axis of the lens assembly; since the image acquisition unit 111 is mainly used for visual inspection in this application, this virtual axis is called the line of sight 111a.

[0040] In this application, the field of view angle of the image acquisition unit 111 in the plane perpendicular to the first direction D1 is defined as a first type of field of view angle C1; similarly, the field of view angle of the image acquisition unit 111 in the plane perpendicular to the second direction D2 is defined as a second type of field of view angle C2. The first type of field of view angle C1 and the second type of field of view angle C2.

[0041] In this application, the field of view is used to indicate the range of field of view that the image acquisition unit 111 can detect.

[0042] Reference Figure 8 As shown, in some embodiments of this application, the image acquisition unit 111 has two field of view ranges: a high-precision field of view C11 and a limiting field of view C12; wherein, the high-precision field of view C11 is included in the range of the limiting field of view C12; the difference between the high-precision field of view C11 and the limiting field of view C12 is that, based on the decrease in accuracy at the imaging boundary, the high-precision field of view C11 refers to the image within this field of view range that can have high imaging accuracy, while the limiting field of view C12 refers to all field of view ranges that can be imaged by the imaging chip. Although imaging can still be performed in areas outside the high-precision field of view C11, the imaging accuracy is lower.

[0043] It should be noted that, unless otherwise specified, the field of view referred to in this application can refer to either the high-precision field of view C11 or the extreme field of view C12.

[0044] Reference Figure 2 and Figure 4 As shown, in a plane perpendicular to the first direction D1, the angle by which the field of view angles of two adjacent image acquisition units 111 overlap in the second direction D2 is defined as the first type of overlap angle A1; the value range of the first type of overlap angle A1 is 60° to 120°.

[0045] As a specific scheme, the further range of values ​​for the first type of overlap angle A1 is 75° to 115°.

[0046] As a more specific approach, the further range of values ​​for the first type of overlap angle A1 is 85° to 90°.

[0047] Reference Figure 7 As shown, as a specific choice, the first type of overlap angle A1 can be selected as 87°.

[0048] Reference Figure 2 and Figure 4 As shown, it can be understood that the first type of overlap angle A1 is the angle formed by the intersection of the boundaries of two field angles of two adjacent image acquisition units 111 in the plane perpendicular to the first direction D1. The size of the first type of overlap angle A1 characterizes the degree of overlap of the field of view ranges of the two image acquisition units 111 in the plane perpendicular to the first direction D1.

[0049] Reference Figure 2 As shown, when the line of sight 111a of the two image acquisition units 111 are set in parallel and the first type of field of view C1 is equal, the angle of the first type of overlap angle A1 is equal to the first type of field of view C1. The advantage of this is that when using a binocular camera to detect depth information, there is a sufficient overlap area. However, this can easily cause the overall field of view to be limited. Therefore, the first type of overlap angle A1 cannot be too large or too small, and the requirements of the overall field of view also need to be taken into account.

[0050] Reference Figure 2 As shown, the maximum angle formed by the combined field of view angles of multiple image acquisition units 111 in a plane perpendicular to the first direction D1 is defined as the first type of combination angle B1. It can be understood that the first type of combination angle B1 is the included angle formed by the two outermost boundaries of the field of view angles of the two outermost image acquisition units 111 in the plane perpendicular to the first direction D1 among the multiple image acquisition units 111 in the second direction D2.

[0051] Reference Figure 2 As shown, the angles of the first type of overlap angle A1 and the first type of combination angle B1 need to consider both depth detection and field of view. Therefore, the first type of overlap angle A1 is not necessarily better the larger it is. As a specific solution, the value range of the first type of combination angle B1 is 60° to 120°.

[0052] As a specific scheme, the further range of values ​​for the first type of combined angle B1 is 75° to 115°.

[0053] As a more specific approach, the further range of values ​​for the first type of combined angle B1 is 85° to 90°.

[0054] Reference Figure 7 As shown, as a specific choice, the first type of combination angle B1 can be selected as 87°.

[0055] Reference Figure 3 As shown, in a plane perpendicular to the second direction D2, the angle by which the field of view angles of two adjacent image acquisition units 111 in the first direction D1 overlap is defined as the second type of overlap angle A2; the value range of the second type of overlap angle A2 is 0° to 30°.

[0056] As a specific scheme, the further range of values ​​for the second type of overlap angle A2 is 0° to 20°.

[0057] As a more specific approach, the second type of overlap angle A2 can be further ranged from 0° to 10°.

[0058] Reference Figure 10 As shown, as a specific choice, the second type of overlap angle A2 can be selected as 0°, that is... Figure 10 The boundaries of the second type of field of view C2 of the two image acquisition units 111 shown are parallel, which can maximize the angular range that the second type of combined angle B2 can cover.

[0059] It is understandable that the second type of overlap angle A2 is the angle formed by the intersection of the two field angles of two adjacent image acquisition units 111 in the plane perpendicular to the second direction D2. The size of the second type of overlap angle A2 characterizes the degree of overlap of the field of view ranges of the two image acquisition units 111 in the plane perpendicular to the second direction D2.

[0060] Reference Figure 3 As shown, when the line of sight 111a of the two image acquisition units 111 are set in parallel and the second type of field of view C2 is equal, the angle of the second type of overlap angle A2 is equal to the second type of field of view C2. The advantage of this is that when using a binocular camera to detect depth information, there is a sufficient overlap area. However, this can easily cause the overall field of view to be limited. Therefore, the second type of overlap angle A2 cannot be too large or too small, and the requirements of the overall field of view also need to be taken into account.

[0061] Reference Figure 3As shown, the maximum angle formed by the combination of the field of view angles of multiple image acquisition units 111 in a plane perpendicular to the second direction D2 is defined as the second type of combination angle B2. It can be understood that the second type of combination angle B2 is the included angle formed by the two boundaries outside the field of view angles of the two outermost image acquisition units 111 in the plane perpendicular to the second direction D2 among the multiple image acquisition units 111 in the first direction D1.

[0062] Reference Figure 3 As shown, the angles of the second type overlap angle A2 and the second type combination angle B2 need to consider both depth detection and field of view. Therefore, the second type overlap angle A2 is not necessarily better the larger it is. As a specific solution, the value range of the second type combination angle B2 is 60° to 150°.

[0063] As a specific scheme, the further range of values ​​for the second type of combination angle B2 is 70° to 130°.

[0064] As a more specific approach, the second type of combination angle B2 can be further ranged from 80° to 120°.

[0065] Reference Figure 8 and Figure 10 As shown, as a specific option, the second type of combination angle B2 can be selected as a high-precision field of view C11 of 84° or a limiting field of view C12 of 116°.

[0066] Reference Figure 14 and Figure 15 As shown, for the humanoid robot 1, since its height is greater than its shoulder width, and the humanoid robot 1 needs to observe the road conditions in front of it while walking, it also needs to pay attention to the road conditions under its feet. Therefore, the image acquisition system of the robot 1 often needs to cover the largest possible field of view in the vertical direction. The traditional solution is to add a set of image sensors to the waist of the robot 1. Such a solution not only increases the complexity of the layout, but also loses the flexibility when installed on the movable head component 10.

[0067] To solve the above problems, in the technical solution of this application, the line of sight 111a of at least one or a group of image acquisition units 111 intersects with the line of sight 111a of another or another group of image acquisition units 111 in space.

[0068] In the technical solution of this application, image acquisition units 111 with reasonable field of view are evenly arranged in the first direction D1 and the second direction D2. Through the differentiated design of the first type of overlap angle A1 and the second type of overlap angle A2, the image acquisition device 100 of this application is more suitable for the head component 10 of the humanoid robot 1.

[0069] In some embodiments of this application, the first type of overlap angle A1 is greater than the second type of overlap angle A2; the first type of combination angle B1 is greater than or equal to the first type of overlap angle A1; and the second type of combination angle B2 is greater than or equal to the second type of overlap angle A2.

[0070] That is, this application also adapts the body structure and detection requirements of the humanoid robot 1 by specifically setting the first type of combined angle B1 and the second type of combined angle B2.

[0071] Reference Figure 2 and Figure 3 As shown, as a specific scheme, a portion of the image acquisition units 111 are aligned in the first direction D1 and have mutually parallel line of sight axes 111a. Figure 2 and Figure 3 In the embodiment shown, the line of sight 111a of all image acquisition units 111 are parallel to each other.

[0072] Reference Figure 5 As shown, in some other embodiments of this application, the line of sight 111a of the image acquisition units 111 (a set of image acquisition units 111 aligned in the first direction D1 or the third direction D3) in the two image acquisition modules 110 are arranged in parallel.

[0073] That is, in this application, a plurality of image acquisition units 111 that are aligned in the first direction D1 (and / or the third direction D3) and have mutually parallel lines of sight 111a in a plane perpendicular to the second direction D2 are defined as an image acquisition module 110.

[0074] As a more specific embodiment, this application may allow the image acquisition device 100 to have at least two image acquisition modules 110.

[0075] It should be noted that the line of sight 111a of the image acquisition unit 111 belonging to the same image acquisition module 110 lies in a plane perpendicular to the second direction D2. Figure 5 The plane shown in the diagram contains parallel lines. Figure 5 (Displayed as overlapping) The line of sight 111a of the image acquisition unit 111 belonging to the same image acquisition module 110 can be set parallel or intersecting (not parallel) in other planes. For example, in the plane perpendicular to the first direction D1, the line of sight 111a of the image acquisition unit 111 belonging to the same image acquisition module 110 can be set parallel or intersecting at a certain angle.

[0076] That is, multiple image acquisition units 111 can be divided into two groups. The line of sight 111a of multiple image acquisition units 111 in each group are set in parallel, but the line of sight 111a of one group intersects (is not parallel) with the line of sight 111a of the other group.

[0077] Reference Figure 9 and Figure 10 As shown, it can be understood that the line of sight 111a of one or a group of image acquisition units 111 in this application may intersect with the line of sight 111a of another or another group of image acquisition units 111 in space.

[0078] This can both expand the overlapping field of view of different image acquisition units 111 and expand the overall field of view of the image acquisition units 111.

[0079] By adopting this implementation method, the second type of overlap angle A2 and the second type of combination group can be expanded simultaneously by deflecting the line of sight 111a without significantly changing the distance between two adjacent image acquisition units 111 in the first direction D1. This can take into account both expanding the overall field of view and the depth detection range.

[0080] In some embodiments of this application, the angle between the line of sight 111a of two adjacent image acquisition modules 110 ranges from 30° to 90°.

[0081] As a specific scheme, the angle between the line of sight 111a of two adjacent image acquisition modules 110 can be further ranged from 35° to 75°.

[0082] As a more specific embodiment, the angle between the line of sight 111a of two adjacent image acquisition modules 110 can be further ranged from 40° to 60°.

[0083] Reference Figure 10 As shown, as a specific option, the angle between the line of sight 111a of two adjacent image acquisition modules 110 can be selected as 42°.

[0084] In some embodiments of this application, reference is made to Figure 4 , Figure 5 and Figure 10 As shown, in a plane perpendicular to the first direction D1, the angle between the line of sight 111a of the two image acquisition units 111 is defined as the first type of line of sight angle E1; in a plane perpendicular to the second direction D2, the angle between the line of sight 111a of the two image acquisition units 111 is defined as the second type of line of sight angle E2; the first type of line of sight angle E1 is less than or equal to the second type of line of sight angle E2.

[0085] As a specific scheme, the value range of the first type of collimation axis angle E1 is 0° to 30°; the value range of the second type of collimation axis angle E2 is 30° to 90°.

[0086] As a specific scheme, the further range of the first type of collimation axis angle E1 is 0° to 20°.

[0087] As a more specific approach, the first type of line-of-sight angle E1 can be further ranged from 0° to 10°.

[0088] Reference Figure 7 As shown ( Figure 7 and Figure 10 In the scheme shown, the second type of collimation axis 111a is set in parallel. As a specific option, the included angle E2 of the second type of collimation axis can be 0°, that is, all the second type of collimation axes 111a (the projection of the collimation axis 111a in the plane perpendicular to the first direction D1) are set in parallel.

[0089] As a specific scheme, the further range of the second type of collimation axis angle E2 is 35° to 75°.

[0090] As a more specific approach, the second type of collimation axis angle E2 can be further ranged from 40° to 60°.

[0091] Reference Figure 10 As shown, as a specific option, the second type of line of sight angle E2 can be selected as 42°.

[0092] Reference Figure 6 and Figure 12 As shown, in some embodiments of this application, the multiple image acquisition units 111 in the image acquisition module 110 include: an infrared camera 112 and / or an RGB camera 113; and the image acquisition module 110 also includes: a light emitting unit 114; the light emitting unit 114 is used to emit light that can be acquired by the image acquisition unit 111.

[0093] As a specific plan, refer to Figure 12 As shown, two Intel Realsense D455 camera modules can be vertically arranged to form one image acquisition module 110 of this application. The Intel Realsense D455 camera module has two infrared cameras 112 and one infrared projector (as a light emitting unit 114). The two infrared cameras 112 can form a binocular camera system, calculating depth information through observation; that is, the two infrared cameras 112 can be used as depth cameras, and can also detect the depth or shape of objects by generating dot or stripe patterns from the infrared light in the image. The Intel Realsense D455 camera module also includes an RGB camera 113, which is mainly used to acquire color images and combine them with depth images to generate corresponding RGBD images. The Intel Realsense D455 camera module may also include a vision processor and an IMU sensor, etc.

[0094] Reference Figure 10 and Figure 11As shown, the image acquisition device 100 of this application also includes: a mounting plate 120 and a device housing 130; wherein, the mounting plate 120 is used to install different image acquisition modules 110 into a whole. As an optional solution, the mounting plate 120 can be made of a material with high thermal conductivity (such as metal material), so that the mounting plate 120 can be used as a heat sink for overall heat dissipation.

[0095] The housing 130 is used to accommodate the image acquisition module 110 and to cover the image acquisition module 110 to protect it.

[0096] The image acquisition module 110 of this application can be as follows: Figure 6 , Figure 9 and Figure 12 As shown, it can be a separate device with a separate housing, or it can be directly composed of a circuit board, electrical components and image acquisition unit 111, and then uniformly installed into the device housing 130.

[0097] Reference Figures 13 to 16 As shown, as a second aspect of this application, this application also provides a head assembly 10, which is suitable for a humanoid robot 1.

[0098] The head assembly 10 of this application includes the image acquisition device 100 described above. Specifically, the head assembly 10 includes two image acquisition modules 110, and the image acquisition device 100 is disposed at the face position of the head assembly 10.

[0099] Reference Figures 13 to 16 As shown, the two image acquisition modules 110 can be symmetrically set relative to the midpoint of the head component 10, which helps to simplify the subsequent vision-based algorithms of the robot 1.

[0100] Reference Figures 13 to 16 As shown, two adjacent image acquisition modules 110 are arranged facing each other so that the field of view of the two adjacent image acquisition modules 110 at least partially overlap. That is, the base on which the two image acquisition modules 110 are mounted is recessed inward to form a "V" shaped groove, and the two image acquisition modules 110 are respectively mounted on the groove wall of the "V" shaped groove, and the line of sight 111a of the two image acquisition modules 110 are perpendicular to their respective groove walls.

[0101] Reference Figures 13 to 16 As shown, the head assembly 10 of this application also includes a head housing 101. The head housing 101 is mainly used to house the image acquisition device 100 and other components of the robot 1 head. The double-layer design of the head housing 101 and the device housing 130 can further improve the structural strength, thereby preventing damage to the image acquisition module 110.

[0102] Reference Figures 14 to 16 As shown, as a third aspect of this application, this application also provides a robot 1, specifically, a humanoid robot 1, which includes the aforementioned image acquisition device 100 or the aforementioned head assembly 10.

[0103] As a specific plan, refer to Figure 14 and Figure 16 As shown, the aforementioned first direction D1 can be used as the left and right direction of robot 1, and the aforementioned second direction D2 can be used as the up and down direction of robot 1.

[0104] The angle at which the head assembly 10 of robot 1 can pitch and rotate in a plane perpendicular to the first direction D1 is defined as the first rotation angle range R1; the angle at which the head assembly 10 of robot 1 can pitch and rotate in a plane perpendicular to the second direction D2 is defined as the second rotation angle range R2.

[0105] Reference Figures 14 to 16 As shown, the maximum first-type combination angle B1 that the image acquisition device 100 in the head assembly 10 of robot 1 can provide is greater than or equal to the first rotation angle range R1; the maximum second-type combination angle B2 that the image acquisition device 100 in the head assembly 10 of robot 1 can provide is less than or equal to the second rotation angle range R2. This is determined by the biomimetic design and application scenario of the humanoid robot 1.

[0106] It is understandable that even with the same line of sight 111a and field of view design, the distance between image acquisition units 111, especially the distance between the two farthest image acquisition units 111 of the same type (such as the lens spacing of a binocular camera), will have a significant impact on the detection range.

[0107] The balance between rotation angle and field of view is determined by the biomimetic design and application scenarios of the humanoid robot 1.

[0108] Reference Figure 9 As shown in this application, in the first direction D1, the distance between two image acquisition units 111 is defined as a first type distance L1; in the second direction D2, the distance between two image acquisition units 111 is defined as a second type distance L2; the maximum first type distance L1 between multiple image acquisition units 111 is less than or equal to the maximum second type distance L2 between multiple image acquisition units 111.

[0109] The maximum first-type distance L1 between multiple image acquisition units 111 ranges from 17mm to 27mm; the maximum second-type distance L2 between multiple image acquisition units 111 ranges from 35mm to 53mm.

[0110] As a more specific scheme, the maximum first-type distance L1 between multiple image acquisition units 111 ranges from 19mm to 24mm; the maximum second-type distance L2 between multiple image acquisition units 111 ranges from 39mm to 48mm.

[0111] As a specific choice, the maximum first-type distance L1 between the multiple image acquisition units 111 is 21.77 mm; the maximum second-type distance L2 between the multiple image acquisition units 111 is 44 mm.

[0112] If the distance between multiple image acquisition units 111 is large, although the detection range at the far end can be extended, it is easy to create a large blind zone at the near end. Therefore, it is necessary to set these distances within an appropriate range, while also taking into account the robot 1's needs for detection in different dimensions.

[0113] The ratio of the largest first-type distance between multiple image acquisition units 111 to the arm span width of robot 1 is defined as the field of view width ratio; the ratio of the largest second-type distance between multiple image acquisition units 111 to the standing height of robot 1 is defined as the field of view height ratio.

[0114] In this application, the field-of-view height ratio is greater than or equal to the field-of-view width ratio. This makes it more suitable for the biomimetic design and application scenarios of the humanoid robot 1.

[0115] As a specific scheme, the range of the field of view height ratio is 0.0260 to 0.0391; the range of the field of view width ratio is 0.0139 to 0.0209.

[0116] As a more specific approach, the field of view height ratio ranges from 0.0293 to 0.0359; the field of view width ratio ranges from 0.0156 to 0.0192.

[0117] As a specific choice, the field of view height ratio is set to 0.0326; the field of view width ratio is set to 0.0174.

[0118] In this application, the ratio of the first type of overlap angle A1 to the first type of combination angle B1 is defined as the first type of viewpoint overlap ratio; and the ratio of the second type of overlap angle A2 to the second type of combination angle B2 is defined as the second type of viewpoint overlap ratio.

[0119] In this application, the overlap ratio of the first type of viewpoint is greater than that of the second type of viewpoint. This is more suitable for the biomimetic design and application scenarios of the humanoid robot 1, as well as for the ratio of field of view height and field of view width.

[0120] As a specific scheme, the value range of the first type of view overlap ratio is 0 to 1; the value range of the second type of view overlap ratio is 0 to 0.1.

[0121] The ratio of the first type of visual overlap ratio to the field of view height ratio is defined as the first type of angle factor; the ratio of the second type of visual overlap ratio to the field of view width ratio is defined as the second type of angle factor; the first type of angle factor is greater than the second type of angle factor.

[0122] The first class angle factor ranges from 0 to 38; the second class angle factor ranges from 0 to 7.

[0123] By setting the first and second class angle factors, four aspects can be balanced simultaneously: field of view, rotation range, spacing of image acquisition units 111, and the high-frequency area that the humanoid robot 1 needs to detect.

[0124] As a more specific scheme, the first class angle factor ranges from 0 to 34.1; the second class angle factor ranges from 0 to 6.4.

[0125] The embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. An image acquisition device, at least suitable for constituting a head assembly of a robot, characterized in that, The image acquisition device includes: Multiple image acquisition units are used to acquire image data; The image acquisition units are arranged at least at multiple preset positions in the first direction and the second direction, respectively. In a plane perpendicular to the first direction, the angle by which the field of view angles of two adjacent image acquisition units overlap in the second direction is defined as the first type of overlap angle; In a plane perpendicular to the second direction, the angle by which the field of view angles of two adjacent image acquisition units in the first direction overlap is defined as the second type of overlap angle; The first type of overlap angle is greater than the second type of overlap angle; In a plane perpendicular to the first direction, the maximum angle formed by the combination of the field of view angles of multiple image acquisition units is defined as the first type of combination angle; In a plane perpendicular to the second direction, the maximum angle formed by the combination of the field of view angles of multiple image acquisition units is defined as the second type of combination angle; The first type of combined angle is greater than or equal to the first type of overlapping angle; the second type of combined angle is greater than or equal to the second type of overlapping angle.

2. The image acquisition device according to claim 1, characterized in that, The first type of overlap angle ranges from 85° to 90°.

3. The image acquisition device according to claim 1, characterized in that, The second type of overlap angle ranges from 0° to 10°.

4. The image acquisition device according to claim 1, characterized in that, The first type of combined angle ranges from 85° to 90°.

5. The image acquisition device according to claim 1, characterized in that, The range of the second type of combined angle is 80° to 120°.

6. The image acquisition device according to any one of claims 1 to 5, characterized in that, At least some of the image acquisition units are aligned in a first direction and have mutually parallel lines of sight.

7. The image acquisition device according to claim 6, characterized in that, A plurality of image acquisition units that are aligned in a first direction and have mutually parallel lines of sight in a plane perpendicular to the second direction are defined as an image acquisition module; the image acquisition device has at least two image acquisition modules.

8. The image acquisition device according to claim 7, characterized in that, The angle between the line of sight of the two image acquisition modules ranges from 30° to 90°.

9. The image acquisition device according to claim 8, characterized in that, Two adjacent image acquisition modules are arranged facing each other so that the field of view of the two adjacent image acquisition modules at least partially overlap.

10. The image acquisition device according to claim 9, characterized in that, The image acquisition module also includes: A light emitting unit is used to emit light that can be captured by the image acquisition unit.

11. The image acquisition device according to claim 10, characterized in that, The multiple image acquisition units in the image acquisition module include: an infrared camera and / or an RGB camera.

12. The image acquisition device according to any one of claims 1 to 5, characterized in that, In a plane perpendicular to the first direction, the angle between the lines of sight of the two image acquisition units is defined as a first type of line of sight angle; in a plane perpendicular to the second direction, the angle between the lines of sight of the two image acquisition units is defined as a second type of line of sight angle. The angle between the first type of line of sight is less than or equal to the angle between the second type of line of sight.

13. The image acquisition device according to claim 12, characterized in that, The angle between the first type of sight axes ranges from 0° to 10°; And / or, the angle between the second type of line of sight ranges from 40° to 60°.

14. A head assembly for a robot, characterized in that, The head assembly includes an image acquisition device as described in any one of claims 1 to 13; the image acquisition device is disposed at the facial position of the head assembly.

15. A robot, characterized in that, The robot includes the image acquisition device as described in any one of claims 1 to 13 or the head assembly as described in claim 14.

16. The robot according to claim 15, characterized in that, In the first direction, the distance between the two image acquisition units is defined as a first type of distance; In the second direction, the distance between the two image acquisition units is defined as a second type of distance; The largest first-type distance among the plurality of image acquisition units is less than or equal to the largest second-type distance among the plurality of image acquisition units.

17. The robot according to claim 16, characterized in that, The maximum first-type distance between the multiple image acquisition units ranges from 17mm to 27mm; The maximum second-type distance between the multiple image acquisition units ranges from 35mm to 53mm.

18. The robot according to claim 17, characterized in that, The ratio of the largest first-type distance between the plurality of image acquisition units to the arm span of the robot is defined as the field of view width ratio; the ratio of the largest second-type distance between the plurality of image acquisition units to the standing height of the robot is defined as the field of view height ratio. The field of view height ratio is greater than or equal to the field of view width ratio.

19. The robot according to claim 18, characterized in that, The field-of-view height ratio ranges from 0.0260 to 0.0391; And / or, the field-of-view width ratio ranges from 0.0139 to 0.0209.

20. The robot according to claim 19, characterized in that, The ratio of the first type of overlap angle to the first type of combined angle is defined as the first type of viewpoint overlap ratio; the ratio of the second type of overlap angle to the second type of combined angle is defined as the second type of viewpoint overlap ratio; the first type of viewpoint overlap ratio is greater than the second type of viewpoint overlap ratio.

21. The robot according to claim 20, characterized in that, The first type of viewpoint overlap ratio ranges from 0 to 1; And / or, the overlap ratio of the second type of viewpoint ranges from 0 to 0.

1.

22. The robot according to claim 21, characterized in that, The ratio of the first type of viewpoint overlap ratio to the field of view height ratio is defined as the first type of distance angle factor; The ratio of the second type of view overlap ratio to the field of view width ratio is defined as the second type of distance angle factor; The first class angle factor is greater than the second class angle factor.

23. The robot according to claim 22, characterized in that, The first class angle factor ranges from 0 to 38. And / or, the second class angle factor ranges from 0 to 7.

Images