CN104679003B - A kind of all-around mobile head robot - Google Patents

Abstract

An all-round mobile pan-tilt robot, which is composed of an omni-directional mobile tripod part and a three-degree-of-freedom adjustable pan-tilt part. The invention realizes omnidirectional movement through the omnidirectional wheels and driving motors set in the omnidirectional mobile tripod part. The flexible movement of the mobile pan-tilt robot, with the help of the flexible movement capability of the omni-directional mobile tripod part, realizes the tracking and shooting in progress; The remote control of the three disc motors realizes the camera's all-round 360° shooting without dead angles. No matter whether the omni-directional mobile pan-tilt robot is in a fixed position or a traveling position, it can meet the demanding shooting requirements. With the help of wireless data transmission technology, the omni-directional mobile pan-tilt robot of the present invention can transmit the image captured by the camera to the remote display in real time, which can be used for remote monitoring by the remote operator, and allows the operator to know the location of the camera at the first time. The content of the film.

Description

An all-round mobile pan-tilt robot

technical field

The invention belongs to the technical field of mobile pan-tilts, in particular to an omnidirectional mobile pan-tilt robot.

Background technique

With the rapid development of modern photography technology, more and more photographers hope to enjoy high-quality shooting experience, and the cloud tilt is essential, although the traditional cloud tilt technology on the market has been developed for many years, although the traditional cloud tilt There are many types, and they can also meet the general shooting requirements. However, with the continuous improvement of people's shooting requirements, the traditional pan/tilt has become increasingly unable to meet the demanding shooting requirements, and the following problems generally exist:

①The rotation range of traditional gimbals is small, making it difficult to track and shoot without dead angles;

②The image data captured by the camera with the help of traditional pan/tilt needs to be transmitted with the help of a transmission line, which makes it difficult to achieve synchronous and fast transmission;

③ Most of the video cameras use traditional pan-tilts to shoot in fixed installations, and manually move the pan-tilts to shoot. It is difficult to effectively track and shoot the shooting target.

In order to make up for many shortcomings of the traditional pan/tilt, technicians have developed some omnidirectional pan/tilts accordingly. In order to solve the problem of shooting dead angles, some omnidirectional pan/tilts are equipped with motors and driven by the motors to make the pan/tilts move horizontally and vertically. There are degrees of freedom of rotation in two directions, and the pan-tilt camera has the ability to search for any target within the shooting range.

However, since the above-mentioned omni-directional pan/tilt still adopts a fixed installation method for shooting, the shooting field of view of the pan/tilt camera is still limited, and it is still difficult to effectively realize the tracking and shooting of the shooting target without dead angle.

Contents of the invention

Aiming at the problems existing in the prior art, the present invention provides an omnidirectional mobile pan-tilt robot, which has omnidirectional mobility, can realize omnidirectional shooting without dead angle, and can realize remote monitoring and tracking shooting of shooting targets.

In order to achieve the above object, the present invention adopts the following technical scheme: a kind of omni-directional mobile pan-tilt robot, comprises omni-directional mobile tripod part and three-degree-of-freedom adjustable pan-tilt part, and described omni-directional mobile tripod part comprises tray, chassis , cross arm, electric telescopic outrigger, omnidirectional wheel and drive motor, the tray is hinged with one end of the electric telescopic outrigger, the other end of the electric telescopic outrigger is hinged with one end of the cross arm, and the other end of the cross arm is connected with the chassis through a hinge connection; the driving motor is installed horizontally on the cross arm, the omnidirectional wheel is installed on the cross arm through the axle, and the axle of the omnidirectional wheel is connected with the motor shaft of the driving motor through a coupling;

The three-degree-of-freedom adjustable pan/tilt part includes a handle, a main mounting frame, a first disc motor, a second disc motor, a third disc motor, a side swing drive shaft and a pitch drive shaft, and the first disc motor The motor is fixed horizontally in the main mounting frame, one end of the handle is connected with the main mounting frame through the first disc motor, and the three-degree-of-freedom adjustable pan-tilt part is connected with the tray of the omni-directional mobile tripod part through the other end of the handle; The pendulum driving shaft is located on the main mounting frame above the first disc motor and arranged horizontally, one end of the side swing driving shaft is connected to the main mounting frame through a bearing, and the other end of the side swing driving shaft is connected to the main mounting frame through the second disc motor; The pitch drive shaft is arranged horizontally, and the side swing drive shaft is vertically fixed to the middle part of the pitch drive shaft through its end, and pitch shaft brackets are respectively installed at both ends of the pitch drive shaft, and the third disc motor is connected to one side On the pitching shaft frame of the third disc motor and the pitching shaft frame on the other side, a camera fixing frame is connected, and a camera is installed in the camera fixing frame.

There are two limit stoppers on the side swing drive shaft, and a limit stopper is set on the main mounting frame directly below the side swing drive shaft, and the limit stopper is located between the two limit stoppers; The included angle between the two limit stoppers is 90°.

The camera fixing frame and the pitch shaft frame are connected by a stepped shaft, a limiting boss is arranged on the camera fixing frame, an arc-shaped limiting groove is arranged on the pitching shaft frame, and the limiting boss is located at the arc-shaped limit. Inside the slot; the arc angle of the arc-shaped limiting slot is 180°.

A power supply for a disc motor is provided on the main mounting frame, and the first disc motor, the second disc motor and the third disc motor are powered by the power supply for the disc motor; the chassis is provided with The driving motor power supply, the driving motor is powered by the driving motor power supply.

The connection between the handle and the tray adopts a quick-plug type, and a fastening sleeve is arranged in the middle of the tray. In contact with the inner pipe wall of the fastening sleeve, external threads are provided on the outer pipe wall of the fastening sleeve, and the fastening sleeve is connected with a nut through the external thread, and the lower end surface of the nut fits the upper end surface of the expansion sleeve.

An encoder is installed on the axle of the omnidirectional wheel, and a gyroscope is installed on the three-degree-of-freedom adjustable pan-tilt part and the omni-directional mobile tripod part.

The omni-directional mobile pan-tilt robot is equipped with a remote control handle, a wireless control signal transmitter, a wireless control signal receiver, a wireless image signal transmitter, a wireless image signal receiver, a host computer and a lower computer. The signal output end is connected to the signal input end of the wireless control signal transmitter, the signal output end of the wireless control signal transmitter is wirelessly connected to the signal input end of the wireless control signal receiver, and the signal output end of the wireless control signal receiver is connected to the The control terminals of the electric telescopic outrigger, the driving motor, the first disc motor, the second disc motor and the third disc motor are connected; the signal output end of the camera is connected with the signal input end of the wireless image signal transmitter, wireless The signal output end of the image signal transmitter is wirelessly connected to the signal input end of the wireless image signal receiver, the signal output end of the wireless image signal receiver is connected to a display, and the signal output end of the wireless image signal receiver is connected to the host computer, and the host computer The computer is wirelessly connected with the lower computer, and the upper computer is connected with the control terminals of the electric telescopic outrigger, the drive motor, the first disc motor, the second disc motor and the third disc motor through the lower computer.

Beneficial effects of the present invention:

Compared with the prior art, the present invention realizes the flexible movement of the omni-directional mobile pan-tilt robot through the omni-directional mobile tripod part, and can realize tracking and shooting in progress by means of the omni-directional mobile tripod part; through the three-degree-of-freedom adjustable cloud The platform part realizes the all-round 360° shooting of the camera without dead angle, which can meet the demanding shooting requirements whether it is in a fixed position or on the move. With the help of wireless data transmission technology, the all-round mobile pan-tilt robot of the present invention can transmit the image captured by the camera to the remote display in real time, which can be used for remote monitoring by the remote operator, and allows the operator to know the location of the camera at the first time. The content of the film.

Description of drawings

Fig. 1 is a kind of all-round mobile pan-tilt robot (expanded state) structural representation of the present invention;

Fig. 2 is a kind of all-round mobile pan-tilt robot (folded state) structural representation of the present invention;

Fig. 3 is a structural schematic diagram of the present invention when the electric telescopic outrigger is in an extended state;

Fig. 4 is a partial structural schematic diagram of the omni-directional mobile tripod of the present invention;

Fig. 5 is a three-dimensional schematic diagram of the three-degree-of-freedom adjustable pan/tilt part of the present invention;

Fig. 6 is a side view structural diagram of the three-degree-of-freedom adjustable pan/tilt part (partially cut in section) of the present invention;

Fig. 7 is a top view structure diagram of the three-degree-of-freedom adjustable pan-tilt part (partially cut in section) of the present invention;

Fig. 8 is a schematic diagram of the cooperative connection between the handle and the tray of the present invention;

Fig. 9 is a schematic diagram of the cooperative connection between the omnidirectional wheel, the cross arm and the drive motor of the present invention;

In the figure, 1—tray, 2—chassis, 3—cross arm, 4—electric telescopic outrigger, 5—omnidirectional wheel, 6—drive motor, 7—hinge, 8—drive motor power supply, 9—handle, 10 —Main mounting bracket, 11—First disc motor, 12—Second disc motor, 13—Third disc motor, 14—Swing drive shaft, 15—Pitch drive shaft, 16—Coupling, 17— Pitch axis frame, 18—camera fixing frame, 19—camera, 20—limit stopper, 21—limit bracket, 22—step shaft, 23—disk motor power supply, 24—fastening sleeve, 25— Expansion sleeve, 26—nut, 27—bearing, 28—limiting boss, 29—arc spaced groove.

detailed description

The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

As shown in Figures 1 to 9, an omnidirectional mobile pan-tilt robot includes an omnidirectional mobile tripod part and a three-degree-of-freedom adjustable pan-tilt part. The omnidirectional mobile tripod part includes a tray 1, a chassis 2, a horizontal Arm 3, electric telescopic outrigger 4, omnidirectional wheel 5 and drive motor 6, the tray 1 is hinged with one end of the electric telescopic outrigger 4, the other end of the electric telescopic outrigger 4 is hinged with one end of the cross arm 3, and the cross arm 3 The other end is connected with the chassis 2 through the hinge 7; the drive motor 6 is horizontally installed on the cross arm 3, the omnidirectional wheel 5 is installed on the cross arm 3 through the axle, and the axle of the omnidirectional wheel 5 is connected with the drive motor 6 The motor shafts are connected by a shaft coupling 16;

The three-degree-of-freedom adjustable pan/tilt part includes a handle 9, a main mounting frame 10, a first disc motor 11, a second disc motor 12, a third disc motor 13, a side swing drive shaft 14 and a pitch drive shaft 15 , the first disc motor 11 is fixed horizontally in the main mounting frame 10, one end of the handle 9 is connected to the main mounting frame 10 through the first disc motor 11, and the three-degree-of-freedom adjustable pan/tilt part is connected to the other end of the handle 9 The pallet 1 of the all-round mobile tripod part is connected; the side swing drive shaft 14 is located on the main mounting frame 10 above the first disc motor 11 and is horizontally arranged, and one end of the side swing drive shaft 14 is connected to the main mounting frame 10 through a bearing 27 The other end of the side swing drive shaft 14 is connected to the main mounting frame 10 through the second disc motor 12; Then, the pitch shaft frame 17 is respectively installed at both ends of the pitch drive shaft 15, and the third disc motor 13 is connected to the pitch shaft frame 17 on one side, and the third disc motor 13 is connected to the pitch shaft on the other side. A camera fixing frame 18 is connected between the frames 17, and a camera 19 is installed in the camera fixing frame 18.

Two limit stoppers 20 are arranged on the side swing drive shaft 14, and a limit clamp 21 is arranged on the main installation frame 10 directly below the side swing drive shaft 14, and the limit clamp 21 is located at two limit positions. Between the baffles 20; the angle between the two limiting baffles 20 is 90°.

Between the camera fixed frame 18 and the pitching shaft frame 17, a stepped shaft 22 is connected, and a limiting boss 28 is set on the camera mounting frame 18, and an arc-shaped spacer groove 29 is arranged on the pitching shaft frame 17 to limit The positioning boss is located in the arc-shaped limiting groove 29; the arc angle of the arc-shaped limiting groove 29 is 180°.

The main mounting frame 10 is provided with a disc motor power supply 23, and the first disc motor 11, the second disc motor 12 and the third disc motor 13 are powered by the disc motor power supply 23; The chassis 2 is provided with a driving motor power supply 8 , and the driving motor 6 is powered by the driving motor power supply 8 .

The connection between the handle 9 and the tray 1 adopts a quick-plug type, and a fastening sleeve 24 is arranged in the middle of the tray 1. The inner tube wall of the fastening sleeve 24 is a conical surface. The expansion sleeve 25, the outer tapered surface of the expansion sleeve 25 is in contact with the inner pipe wall of the fastening sleeve 24, and an external thread is arranged on the outer pipe wall of the fastening sleeve 24, and the fastening sleeve 24 is connected with a nut 26 through the external thread , The lower end surface of the nut 26 fits with the upper end surface of the expansion sleeve 25 .

In order to meet the posture adjustment of the omni-directional mobile pan-tilt robot, an encoder is equipped on the axle of the omni-directional wheel, and an encoder is equipped on the three-degree-of-freedom adjustable pan-tilt part and the omni-directional mobile tripod part. Gyro.

In order to meet the remote control and remote monitoring of the omnidirectional mobile pan-tilt robot, the omnidirectional mobile pan-tilt robot is equipped with a remote control handle, a wireless control signal transmitter, a wireless control signal receiver, a wireless image signal transmitter, a wireless image Signal receiver, upper computer and lower computer, the signal output end of the remote control handle is connected with the signal input end of the wireless control signal transmitter, the signal output end of the wireless control signal transmitter is wireless with the signal input end of the wireless control signal receiver Connection, the signal output end of the wireless control signal receiver is connected to the control end of the electric telescopic outrigger 4, the drive motor 6, the first disc motor 11, the second disc motor 12 and the third disc motor 13 through the lower computer; The signal output end of the camera is connected with the signal input end of the wireless image signal transmitter, the signal output end of the wireless image signal transmitter is wirelessly connected with the signal input end of the wireless image signal receiver, and the signal output end of the wireless image signal receiver A display is connected, and the signal output terminal of the wireless image signal receiver is connected to the upper computer, and the upper computer is wirelessly connected to the lower computer. The control ends of the second disc motor 12 and the third disc motor 13 are connected.

Below in conjunction with accompanying drawing, the one-time use process of the present invention is illustrated:

Start the omni-directional mobile pan-tilt robot of the present invention, when the omni-directional mobile pan-tilt robot needs to advance, the remote control handle can be used to control the rotation of the drive motor 6, and then control the rotation of the omnidirectional wheel 5, and the advancement in any direction can be easily realized as required; The target object can also be photographed by the camera 19, and the camera 19 transmits the captured image to the upper computer, and the received image is processed by the visual servo algorithm in the upper computer, and finally an automatic control signal is output to the lower computer, and then the drive motor is controlled. 6 to rotate, and control the rotation of the omnidirectional wheel 5 to realize tracking and shooting. When the omni-directional mobile pan-tilt robot is in the process of traveling or moving to a certain position, the camera 19 needs to use the three-degree-of-freedom adjustable pan-tilt part to achieve a better shooting effect, specifically through the first disc motor 11 realizes the 360° full-angle shooting of the camera 19 in the horizontal direction, and realizes the 180° shooting of the camera 19 in the vertical direction through the third disc motor 13, when the first disc motor 11 and the third disc motor 13 work together Under the driving, it can realize all-round 360° shooting without dead angle. When it is necessary to shoot the target object at a special angle, the second disc motor 12 can also be used to adjust the camera 19 to swing laterally within a range of 90° to achieve shooting. Purpose. When the shooting height of the camera 19 needs to be adjusted, the height adjustment requirements can be met only by controlling the electric telescopic legs 4 to extend through the remote control handle. The camera 19 will wirelessly transmit the captured content to the remote display in real time, so that the remote operator can perform remote monitoring, so that the operator can know the content captured by the camera 19 at the first time.

The solutions in the embodiments are not intended to limit the scope of patent protection of the present invention, and all equivalent implementations or changes that do not deviate from the present invention are included in the patent scope of this case.

Claims (6)

1. A kind of all-round mobile platform robot, it is characterized in that: comprise omni-directional mobile tripod part and three-degree-of-freedom adjustable platform part, described omnidirectional mobile tripod part comprises tray, chassis, transverse arm, electric telescopic Outriggers, omnidirectional wheels and drive motors, the tray is hinged to one end of the electric telescopic outrigger, the other end of the electric telescopic outrigger is hinged to one end of the cross arm, and the other end of the cross arm is connected to the chassis through a hinge; the drive motor Installed horizontally on the cross arm, the omni-directional wheel is installed on the cross arm through the wheel shaft, and the wheel shaft of the omni-directional wheel is connected with the motor shaft of the driving motor through a coupling; The three-degree-of-freedom adjustable pan/tilt part includes a handle, a main mounting frame, a first disc motor, a second disc motor, a third disc motor, a side swing drive shaft and a pitch drive shaft, and the first disc motor The motor is fixed horizontally in the main mounting frame, one end of the handle is connected with the main mounting frame through the first disc motor, and the three-degree-of-freedom adjustable pan-tilt part is connected with the tray of the omni-directional mobile tripod part through the other end of the handle; The pendulum driving shaft is located on the main mounting frame above the first disc motor and arranged horizontally, one end of the side swing driving shaft is connected to the main mounting frame through a bearing, and the other end of the side swing driving shaft is connected to the main mounting frame through the second disc motor; The pitch drive shaft is arranged horizontally, and the side swing drive shaft is vertically fixed to the middle part of the pitch drive shaft through its end, and pitch shaft brackets are respectively installed at both ends of the pitch drive shaft, and the third disc motor is connected to one side On the pitching shaft frame of the camera, a camera fixing frame is connected between the third disc motor and the pitching shaft frame on the other side, and a camera is installed in the camera fixing frame; The connection between the handle and the tray adopts a quick-plug type, and a fastening sleeve is arranged in the middle of the tray. In contact with the inner pipe wall of the fastening sleeve, external threads are provided on the outer pipe wall of the fastening sleeve, and the fastening sleeve is connected with a nut through the external thread, and the lower end surface of the nut fits the upper end surface of the expansion sleeve. 2. A kind of all-round mobile pan-tilt robot according to claim 1, characterized in that: two limit stoppers are arranged on the side swing drive shaft, and the main mounting bracket directly below the side swing drive shaft A limit card seat is arranged on the top, and the limit card seat is located between two limit stops; the angle between the two limit stops is 90°. 3. A kind of omni-directional mobile pan-tilt robot according to claim 1, characterized in that: the camera fixing frame and the pitching shaft frame are connected by a stepped shaft, and a limited boss is arranged on the camera fixing frame , an arc-shaped limiting groove is arranged on the pitch shaft frame, and the limiting boss is located in the arc-shaped limiting groove; the arc angle of the arc-shaped limiting groove is 180°. 4. a kind of all-round mobile pan-tilt robot according to claim 1, is characterized in that: on described main mount frame, be provided with disk motor power supply, described first disk motor, second disk motor and the third disc motor are powered by the disc motor power supply; the chassis is provided with a drive motor power supply, and the drive motor is powered by the drive motor power supply. 5. A kind of omni-directional mobile pan-tilt robot according to claim 1, characterized in that: an encoder is equipped on the axle of the omni-directional wheel, and an encoder is installed on the part of the adjustable pan-tilt with three degrees of freedom. The azimuth mobile tripod is equipped with a gyroscope. 6. A kind of omnidirectional mobile platform robot according to claim 1, is characterized in that: described omnidirectional mobile platform robot is equipped with remote control handle, wireless control signal transmitter, wireless control signal receiver, wireless Image signal transmitter, wireless image signal receiver, upper computer and lower computer, the signal output end of the remote control handle is connected to the signal input end of the wireless control signal transmitter, and the signal output end of the wireless control signal transmitter is connected to the wireless control signal The signal input terminal of the receiver is wirelessly connected, and the signal output terminal of the wireless control signal receiver passes through the lower computer and the control terminals of the electric telescopic outrigger, the driving motor, the first disc motor, the second disc motor and the third disc motor Connected; the signal output end of the camera is connected with the signal input end of the wireless image signal transmitter, the signal output end of the wireless image signal transmitter is wirelessly connected with the signal input end of the wireless image signal receiver, and the signal of the wireless image signal receiver The output end is connected with a display, and the signal output end of the wireless image signal receiver is connected with the upper computer, and the upper computer is wirelessly connected with the lower computer. The control ends of the second disc motor and the third disc motor are connected.