Bouncing device, photographing device, and control method

Abstract

The present invention application discloses a bouncing device, a photographing device and a control method, belonging to the field of robots. The photographing control method of the photographing device includes: receiving a bouncing signal command; controlling a retracting and releasing device to simultaneously release the free end of a pre-fixed tension belt according to the bouncing signal command; and controlling a high-definition camera to take a photograph during the ascending process of the bouncing device. This application provides a bouncing device capable of achieving high jumps, and uses this bouncing device to take an aerial photograph of the surrounding environment. The captured data can obtain the three-dimensional landform of the environment through corresponding image reconstruction algorithms, which is beneficial to display environmental features such as the distribution of obstacles and the positions of deep pits in the environment that are difficult to observe on the ground.

Description

Technical Field

[0001] The present invention application belongs to the technical field of robots, and relates to a bouncing robot capable of taking aerial photos. Specifically, it is a bouncing device, a photographing device having the bouncing device, and a control method for the corresponding device. Background Art

[0002] In the first moment after astronauts land on the moon, they are faced with the tension and excitement of a strange environment, unknown dangers, and curiosity about the terrain, and hope to comprehensively explore the surrounding environment, understand their own situation, and decide on the next action.

[0003] In order to conduct lunar surface research well, it is necessary to take the astronauts as the center, obtain high-definition images from an aerial perspective, and build a local three-dimensional environment map of the astronauts to enable them to comprehensively understand their own situation and relieve the fear of the unknown and strange environment of the astronauts;

[0004] However, with the current conventional lunar surface robots and other equipment, it is very difficult to see high and far, and it is impossible to comprehensively understand the local lunar surface environment; at the same time, it is also very difficult to obtain high-resolution three-dimensional images from the photos obtained by satellites due to the long distance.

[0005] While small bouncing robots can efficiently and accurately detect the local lunar surface terrain, helping astronauts understand the surrounding strange environment, including information such as terrain, obstacle distribution, deep pit locations, and lava cave entrances;

[0006] Therefore, the present invention takes the astronaut landing point as the center, uses a bouncing robot to continuously take high-definition images of the local environmental terrain from an aerial perspective; based on the multi-view geometry theory, builds a high-definition local three-dimensional environment map of the lunar surface, provides complete and clear three-dimensional environment information for astronauts, and is of great significance for astronauts to comprehensively understand their own situation and relieve the fear in an unknown and strange environment; Summary of the Invention

[0007] Aiming at the problem that existing equipment cannot effectively obtain a high-definition, large-range aerial perspective local three-dimensional environment map in the first time, the present application proposes a bouncing device, a photographing device, and a control method based on a small self-weight and high jump. By adopting the technical solutions disclosed in the present application, the bouncing of the robot can be well realized. Using this bouncing device, it is also possible to continuously take high-definition images of the local environmental terrain from an aerial perspective, thereby constructing a local three-dimensional environment map and efficiently and highly clearly detecting the local environment.

[0008] To achieve the above technical objectives, the technical solutions adopted by the present invention are as follows:

[0009] In a first aspect, the present application provides a bouncing device, including:

[0010] A base;

[0011] A number of elastic frames, one ends of the number of elastic frames are uniformly fixed on the peripheral sides of the base, and the other ends form an outwardly curved and protruding arcuate structure and uniformly extend below the base to form an approximately elliptical sphere;

[0012] A number of tension belts, each elastic frame is provided with at least one tension belt with the same number, one end of the tension belt is a fixed end, and the other end is a free end, wherein the fixed end is fixed on the elastic frame, and the free end is detachably fixed on the base; and

[0013] A winding and unwinding device, which is located on the base, and the winding and unwinding device is used for winding the free end of the tension belt and releasing the free end of the tension belt according to a bounce command signal.

[0014] For the bounce device adopting the above technical solution, the curved elastic frame is tightened by the tension belt, so as to accumulate enough elastic potential energy to meet the required bounce height. When in use, the base is placed upwards and the elastic frame is placed downwards. When receiving a bounce command signal, the winding and unwinding device releases the free end of the tension belt, the elastic frame expands outwards, and converts the elastic potential energy into kinetic energy, so that the bounce device bounces upwards.

[0015] Furthermore, the winding and unwinding device includes:

[0016] A microprocessor;

[0017] A signal receiving device connected to the microprocessor, which is used for receiving a bounce command signal;

[0018] A locking device connected to the microprocessor. In the initial state, the locking device locks the free end of the tension belt. When the signal receiving device receives a bounce command signal, the microprocessor controls the locking device to release the free end of the tension belt.

[0019] Furthermore, the locking device includes: a rotating shaft capable of winding the tension belt, and a motor for controlling the rotation of the rotating shaft, and the motor is connected to the microprocessor. The locking device with this structure can drive the rotating shaft to rotate through the motor to control the tightness state of the tension belt, so as to change the bending degree of the elastic frame, and correspondingly adjust the initial elastic potential energy before the bounce device takes off, so as to be able to determine the bounce height of the bounce device.

[0020] Furthermore, the locking device includes: a telescopic rod capable of telescoping, and the free end of the tension belt is sleeved on the telescopic rod; when the telescopic rod retracts, the free end of the tension belt is released. The locking device with this structure needs to adjust the tightness state of the tension belt in advance before bouncing, and then fix the free end of the tension belt to the telescopic rod. When the telescopic rod retracts, the free end of the tension belt can be released, so as to convert the elastic potential energy of the elastic frame into the kinetic energy of the bounce device.

[0021] Further, the elastic frame is made of a memory material. After the retracting and releasing device releases the free end of the tension belt, the elastic frame returns to the state of bending inward. This limitation can prevent the side of the opened bouncing device from hitting the ground and being damaged, thus playing a role in buffer protection.

[0022] Further, the number of the elastic frames is 4 - 8.

[0023] Further, each elastic frame is provided with three tension belts. The fixed ends of the tension belts of the same elastic frame are dispersedly fixed on the elastic frame, and the three positions for fixing the fixed ends of the tension belts on each elastic frame are the same.

[0024] Further, an anti - fall and energy - absorbing body is provided directly above the base. Since the overall mass of the bouncing device is concentrated on the base, when the bouncing device falls, it will turn over. In order to protect the electronic components in the bouncing device from being affected by high - speed impact when landing on the ground, this limitation absorbs the impact energy through the buffering effect of the anti - fall and energy - absorbing body when it lands, thus avoiding damage to the bouncing device.

[0025] In a second aspect, the present application also provides a bouncing control method for controlling the jumping of the above - mentioned bouncing device. The bouncing control method includes:

[0026] Receiving a bouncing signal command;

[0027] According to the bouncing signal command, controlling the retracting and releasing device to simultaneously release the free ends of the previously fixed tension belts.

[0028] Through this bouncing control method, the bouncing device can be remotely controlled to jump.

[0029] In a third aspect, the present application also provides a photographing device, including the above - mentioned bouncing device. The photographing device further includes:

[0030] A high - definition camera connected to a micro - processor, which is arranged on the base, and the shooting direction of the high - definition camera is directly below the base;

[0031] A speed sensor connected to the micro - processor, which is used to detect the motion state of the bouncing device, and the motion state includes motion speed and motion direction.

[0032] For the photographing device adopting the above - mentioned technical solution, a high - definition camera for shooting and a speed sensor are added on the basis of the bouncing device. After the bouncing device jumps up, the speed sensor detects the motion state of the bouncing device and starts the high - definition camera to shoot downward according to the motion state. Since the elastic frame opens outward, the elastic frame will not affect the shooting work of the high - definition camera.

[0033] Further, it further includes:

[0034] A data sending device connected to a microprocessor, which is used to send the data captured by a high-definition camera.

[0035] Fourthly, the present application further provides a photographing control method for controlling the above-mentioned photographing device to take pictures. The photographing control method includes:

[0036] Receiving a bounce signal command;

[0037] According to the bounce signal command, controlling the retracting and releasing device to simultaneously release the free ends of the pre-fixed tension belts;

[0038] During the ascending process of the bounce device, controlling the high-definition camera to take pictures.

[0039] Further, the bounce signal command includes a bounce height parameter that the bounce device needs to reach. The controlling the retracting and releasing device to simultaneously release the free ends of the pre-fixed tension belts according to the bounce signal command specifically includes:

[0040] Determining the elastic potential energy that needs to be accumulated when the bounce device initially bounces according to the bounce height parameter;

[0041] Determining the elastic potential energy that each elastic frame needs to accumulate according to the elastic potential energy that needs to be accumulated;

[0042] Based on the elastic potential energy that each elastic frame needs to accumulate, controlling the bending degree of the elastic frame, wherein the bending of the elastic frame is adjusted by tightening the tension belt;

[0043] Further, before receiving the bounce signal command, it includes:

[0044] Determining the elastic potential energy that needs to be accumulated when the bounce device initially bounces according to the bounce height reached by the bounce device;

[0045] Determining the elastic potential energy that each elastic frame needs to accumulate according to the elastic potential energy that needs to be accumulated;

[0046] Adjusting the bending degree of the elastic frame based on the elastic potential energy that each elastic frame needs to accumulate, wherein the bending of the elastic frame is adjusted by tightening the tension belt.

[0047] Further, during the ascending process of the bounce device, controlling the high-definition camera to take pictures specifically includes:

[0048] When the speed sensor detects that the speed of the bounce device is upward and lower than the first preset speed, turning on the high-definition camera to take pictures;

[0049] When the speed sensor detects that the speed of the bounce device is upward and lower than the second preset speed, turning off the high-definition camera.

[0050] Further, after the high-definition camera is turned off, the data captured by the high-definition camera is sent to the image processing terminal through the data sending device.

[0051] In a fifth aspect, the present application further provides a photographing control device, including:

[0052] One or more processors;

[0053] A memory for storing one or more programs,

[0054] When the one or more programs are executed by the one or more processors, the one or more processors implement any of the above photographing control methods.

[0055] Compared with the prior art, the present invention has the following remarkable beneficial effects:

[0056] 1. The bouncing device in the present application jumps by the elastic potential energy accumulated by the elastic frame itself, and by adjusting the bending degree of the elastic frame, the jumping height of the bouncing device can be controlled.

[0057] 2. The photographing device installs a high-definition camera on its base by virtue of the jumping function of the bouncing device. When the bouncing device jumps up, the terrain image directly below is photographed by the high-definition camera, and the three-dimensional environmental map of the position where the bouncing device is located can be obtained after the captured data is processed.

[0058] 3. The structure of the present application has the advantages of few parts, light weight and easy to carry, and can be repeatedly used to photograph the surrounding landforms, so as to obtain a three-dimensional map of the terrain and landforms in a large area. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 is a schematic structural diagram of a bouncing device before taking off in the present application;

[0060] Figure 2 is Figure 1 an enlarged structural diagram of part A of

[0061] Figure 3 is a schematic structural diagram of a bouncing device after taking off and opening

[0062] Figure 4 is a schematic control structural diagram of a bouncing device;

[0063] Figure 5 is a flowchart of a bouncing control method of a bouncing device;

[0064] Figure 6 is a schematic control structural diagram of a photographing device;

[0065] Figure 7 is a schematic control structural diagram of another photographing device;

[0066] Figure 8 This is a flowchart of a photo-taking control method for this application;

[0067] Figure 9 This is a jumping schematic diagram of a photo-taking device;

[0068] Figure 10 This is a flowchart for adjusting an elastic frame according to a bounce height parameter in a photo-taking control method;

[0069] Explanation of markings in the figure: 1 - base, 11 - microprocessor, 12 - signal receiving device, 13 - speed sensor, 14 - high-definition camera, 15 - data transmission module, 2 - elastic frame, 3 - tension belt, 31 - fixed end, 32 - free end, 4 - anti-drop energy-absorbing body, 51 - processor, 52 - communication interface, 53 - memory, 54 - communication bus. Detailed implementation manners

[0070] For the convenience of those skilled in the art to understand, the present invention will be further described below in conjunction with embodiments and the accompanying drawings. The content mentioned in the implementation manners does not limit the present invention.

[0071] As Figure 1 shown, this embodiment provides a bouncing device with a vertical jumping function, which includes a base 1. The base 1 is preferably a circular shell. A plurality of highly elastic elastic frames 2 extending outward are evenly arranged on the peripheral side surfaces of the base 1. The elastic frames 2 are strip-shaped, and one end of the elastic frame 2 extending outward bends downward to the lower part of the base 1 to form an arch structure.

[0072] Combined with Figure 2 , in order to maintain the stability of the arch structure, at least one tension belt 3 is used to fix the inner side of each elastic frame 2. One end of the tension belt 3 is a fixed end 31, and the other end is a free end 32. Among them, the fixed end 31 is fixed on the elastic frame 2, and the free end 32 is detachably fixed on the base 1. After each elastic frame 2 is bent and fixed by the tension belt 3, an approximate elliptical sphere with the base 1 at the top can be formed. The elastic frames 2 around the elliptical sphere are evenly distributed.

[0073] In this way, the bent elastic frame 2 has a certain elastic potential energy under the fixing action of the tension belt 3. In order to convert the accumulated elastic potential energy into the kinetic energy of jumping, a winding and unwinding device acting on the free end 32 of the tension belt 3 is also required. Specifically, the winding and unwinding device is arranged in the base 1. In the initial state, the winding and unwinding device is used to tighten and fix the free end 32 of the tension belt 3. When bouncing is required, the winding and unwinding device releases the free end 32 of the tension belt 3. At this time, the stable state is broken. Refer to Figure 3, the lower end of the elastic frame 2 quickly spreads outwards and releases elastic potential energy, which is then converted into the initial kinetic energy for the upward movement of the bouncing device, enabling it to jump up.

[0074] Preferably, 4 - 8 elastic frames 2 are provided. Four elastic frames can at least ensure the stability of the placement of the bouncing device. When four elastic frames 2 are selected, the base 1 can adopt a square structure, and the elastic frames 2 are just fixed at the four side positions. More preferably, six elastic frames 2 are used to obtain more elastic potential energy and increase the jumping height.

[0075] Furthermore, each elastic frame 2 is provided with three tension belts 3. The fixed ends 31 of the tension belts 3 of the same elastic frame 2 are dispersedly fixed on the elastic frame 2, and the three positions for fixing the fixed ends 31 of the tension belts 3 on each elastic frame 2 are the same.

[0076] For the tension belt 3, theoretically only one can be set, and its fixed end 31 is connected to the lower end of the elastic frame 2. If multiple tension belts are to be set, the fixed ends 31 of other tension belts 3 can be connected at other positions of the elastic frame 2, so as to stably fix the elastic frame 2 with high elasticity. The free ends 32 of the tension belts 3 are all fixed to the retracting and releasing device.

[0077] It should be noted that to ensure vertical takeoff, the structures of the elastic frame 2 and its tension belts 3 need to be completely symmetrical, that is, the bending degree of the elastic frame 2 and the positions of the tension belts 3 fixed on each elastic frame 2 are preferably the same.

[0078] To ensure the reasonable fixing and releasing of the free ends 32 of the tension belts 3 by the retracting and releasing device, embodiments for realizing the functions of the retracting and releasing device are given below.

[0079] Specifically, the retracting and releasing device includes a microprocessor 11, a signal receiving device 12 and a locking device connected to the microprocessor 11, and a power supply module for supplying power to each electronic component. The signal receiving device 12 is used to receive the bouncing command signal and send it to the microprocessor 11. After being processed by the microprocessor 11, it controls the locking device to release all the free ends 32 of the tension belts 3 simultaneously.

[0080] For the implementation of the locking device, two different schemes are given below, and their applicable conditions are different.

[0081] The first solution is applicable to the case of remotely controlled bouncing. The locking device includes: a telescopic rod that can be extended and retracted. The free end 32 of the tension belt 3 is sleeved on the telescopic rod, and the sleeving method can be a hook or a more stable ring structure. When the telescopic rod extends, the free end 32 of the tension belt 3 can be sleeved or fixed on the telescopic rod. After the signal receiving device 12 receives the bouncing command signal, the microprocessor 11 controls the telescopic rod to retract, thereby releasing the free end 32 of the tension belt 3, and the elastic frame 2 expands to convert the elastic potential energy into the function of jumping. The locking device of this structure needs to preset the tightness state of the tension belt 3 before bouncing. Therefore, the initial state of the elastic frame 2 determines its bouncing height.

[0082] The second solution can not only remotely control the bouncing but also remotely modify the bouncing height. At this time, the locking device specifically includes: a rotating shaft capable of winding the tension belt 3 and a motor for controlling the rotation of the rotating shaft, and the motor is controlled and connected through the microprocessor 11. As Figure 4 shown, in this case, when it is necessary to jump higher, the height parameter carried in the bouncing command signal can be used to remotely control the motor to drive the rotating shaft to rotate, thereby increasing the tightness state of the tension belt 3, increasing the bending degree of the elastic frame 2, and correspondingly increasing the initial elastic potential energy accumulated before the bouncing device takes off. In this way, after the free end 32 of the tension belt 3 is released, the bouncing device can jump higher than the preset height, and vice versa.

[0083] Preferably, the elastic frame 2 is made of a material with a memory function. At this time, as Figure 3 shown, the elastic frame 2 is preferably set to be slightly bent inward in the free state. In this way, when the free end 32 of the tension belt 3 is released, the elastic frame 2 returning to the inwardly bent shape in the free state is beneficial to play a buffering and protecting role when landing on the side of the bouncing mechanism.

[0084] Since various electronic components are included on the base 1, and the overall mass of the bouncing device is concentrated on the base 1, when the bouncing device falls, like a badminton, the base 1 at the top will turn over. In order to protect the electronic components in the bouncing device from being affected by high-speed impact on the ground during landing, in this embodiment, an anti-falling and energy-absorbing body 4 is provided directly above the base 1, so as to absorb the impact energy through the buffering effect of the anti-falling and energy-absorbing body 4 when landing, thereby avoiding damage to the bouncing device.

[0085] In another embodiment, as Figure 5 shown, it gives the bouncing control method of the above-mentioned bouncing device. The bouncing control method specifically includes:

[0086] S1. Receive the remotely sent bouncing signal command through the signal receiving device

[0087] The bounce signal command can be a simple jump trigger signal or a signal containing other control parameters, such as bounce time, bounce height, or bounce direction, etc.

[0088] S2. Control the retracting and releasing device to simultaneously release the free ends of the pre-fixed tension belts according to the bounce signal command

[0089] After receiving the bounce signal command, the signal receiving device 12 sends it to the microprocessor 11 for analysis. If the bounce signal command only contains a simple jump trigger signal, it only needs to directly release the free ends 32 of all the tension belts 3 simultaneously.

[0090] Through the above bounce control method, it is possible to remotely control the bounce device to perform jump actions relatively simply.

[0091] Such as Figure 6 As shown, in this embodiment, with the help of the jump function of the bounce device, a photographing device is provided. The photographing device is additionally provided with a high-definition camera 14 and a speed sensor 13 connected to the microprocessor 11. Both the high-definition camera 14 and the speed sensor 13 are arranged in the base 1. Among them, the high-definition camera 14 uses a wide-angle camera and is preferably arranged below the base 1 so that its shooting direction faces directly below the base 1; the speed sensor 13 is used to detect the motion state of the bounce device, and the motion state includes the motion speed and motion direction of the bounce device.

[0092] The motion process of the bounce device is roughly as follows. First, after taking off, it rises against gravity. After reaching the highest point, the bounce device flips and freely falls back to the ground under the action of gravity.

[0093] In order to enable the high-definition camera 14 to effectively capture the ground picture or video directly below, the high-definition camera 14 is preferably used for shooting during the rising process of the bounce device. This is because during the descending process, the shooting direction of the high-definition camera 14 faces upward. Of course, for some special environmental situations, shooting can also be carried out when the shooting direction of the high-definition camera 14 faces upward, such as the depth of a canyon where the bounce device cannot jump to the top. At this time, the shooting range is wider, and it can capture the height environment that cannot be captured when shooting downward.

[0094] This embodiment mainly describes the general situation where the bounce height exceeds the highest point of the nearby terrain.

[0095] During operation, when the photographing device jumps up, the speed sensor 13 detects the motion state of the photographing device. As long as the motion speed direction of the photographing device faces upward, the high-definition camera 14 can be activated to shoot downward. Since the elastic frame 2 spreads outward, the elastic frame 2 will not affect the shooting work of the high-definition camera 14.

[0096] Such as Figure 7As shown, in another embodiment, a data transmission device connected to the microprocessor 11 is added. In this way, after the high-definition camera 14 finishes shooting, it can directly transmit the captured data during the in-air movement process, avoiding the possible damage of the data during landing and recovery.

[0097] For the above-mentioned photographing device, this embodiment provides a photographing control method for controlling the above-mentioned photographing device to take pictures. The photographing control method is as Figure 8 、 Figure 9 shown, and specifically includes:

[0098] P1. Receive a bounce signal command remotely sent through a signal receiving device

[0099] The bounce signal command can be a simple jump trigger signal or a signal containing other control parameters, such as bounce time, bounce height, or bounce direction, etc.

[0100] P2. Control the retracting and releasing device to simultaneously release the free end 32 of the pre-fixed tension belt 3 according to the bounce signal command

[0101] For different locking devices, there can be different operation processes:

[0102] If the locking device adopts the above first situation, it is necessary to set the bounce height of the bouncing device before receiving the bounce signal command. Specifically as follows:

[0103] P211. Determine the elastic potential energy that needs to be accumulated when the bouncing device initially bounces according to the bounce height reached by the bouncing device;

[0104] P212. Determine the elastic potential energy that each elastic frame needs to accumulate according to the elastic potential energy that needs to be accumulated;

[0105] P213. Adjust the degree of bending of the elastic frame based on the elastic potential energy that each elastic frame needs to accumulate, wherein the bending of the elastic frame 2 is adjusted by tightening the tension belt.

[0106] It can be seen that the above operation process determines the height that the photographing device can jump before sending the bounce signal command, which is more suitable for some environments with relatively small undulations in terrain height.

[0107] If the locking device adopts the above second situation, it is not necessary to set the bounce height of the photographing device before receiving the bounce signal command, but to adjust it through a later command. At this time, the bounce signal command contains at least the bounce height parameter that the photographing device needs to jump.

[0108] As Figure 10 shown, the algorithm of the microprocessor 11 is as follows:

[0109] P221. Determine the elastic potential energy that needs to be accumulated during the initial bounce of the bouncing device based on the bounce height parameter;

[0110] P222. Determine the elastic potential energy that each elastic frame needs to accumulate based on the elastic potential energy that needs to be accumulated;

[0111] P223. Control the degree of bending of the elastic frame based on the elastic potential energy that each elastic frame needs to accumulate, where the bending of the elastic frame is adjusted by tightening the tension belt;

[0112] By using the above method, after the photographing device is installed, a bounce signal command containing the bounce height parameter can be remotely sent to it. After the photographing device executes the corresponding algorithm, it jumps and then takes pictures.

[0113] P3. During the rising process of the bouncing device, control the high-definition camera 14 to take pictures.

[0114] When the bouncing device jumps up, the speed sensor 13 detects the motion state of the photographing device. As long as the speed direction of the photographing device is upward, the high-definition camera 14 can be started to take pictures downward.

[0115] Considering that the high-definition camera 14 is prone to blurring during high-speed shooting, it can be set that the high-definition camera 14 is only started to take pictures when the motion speed is lower than the first preset speed.

[0116] Similarly, in order to avoid the photographing device from flipping when it reaches the highest point, which affects the shooting quality, it can be set that the high-definition camera 14 is turned off and the shooting is stopped when the motion speed is lower than the second preset speed.

[0117] For the photographing device equipped with a data sending device, after the high-definition camera 14 is turned off, the data taken by the high-definition camera 14 can be sent to the image processing terminal through the data sending device.

[0118] During the shooting process, it is preferably to continuously take 10 - 20 pictures. In this way, the image processing terminal can use the multi-view geometry algorithm to reconstruct the three-dimensional map of the environment where the photographing device is located based on these pictures. Through the three-dimensional map, information such as the terrain and landform, obstacle distribution, deep pit location, and cave entrance of this place can be seen more intuitively.

[0119] The image processing terminal can be carried on a satellite or a ground base station. After being processed by the image processing terminal, the processed three-dimensional terrain data can be sent to the staff.

[0120] The photographing device provided by the above embodiment is very suitable for astronauts to obtain the three-dimensional map of a strange environment, such as rocky planets like the moon and Mars. Of course, it can also be used on the earth.

[0121] Especially when used on the Moon where the gravitational environment is relatively low, the photographing device can jump to a higher altitude and can capture terrain and landform pictures with a wider angle.

[0122] The above has introduced this application in detail. The description of specific embodiments is only used to help understand the method and its core idea of this application. It should be noted that for those of ordinary skill in the art of this technology, without departing from the principle of this application, several improvements and modifications can still be made to this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

Claims

1. A bouncing device, characterized in that, Comprising: A base; A number of elastic frames, one end of the number of elastic frames is uniformly fixed on the peripheral sides of the base, and the other end forms an outwardly curved and protruding arcuate structure and uniformly extends below the base to form an approximately elliptical sphere; A number of tension belts, each elastic frame is provided with at least one tension belt of the same number, one end of the tension belt is a fixed end, and the other end is a free end, wherein the fixed end is fixed on the elastic frame and the free end is detachably fixed on the base; And A retracting and releasing device, which is located on the base, and the retracting and releasing device is used to retract the free end of the tension belt and release the free end of the tension belt according to a bounce command signal; The retracting and releasing device includes: A microprocessor; A signal receiving device connected to the microprocessor for receiving a bounce command signal; A locking device connected to the microprocessor. In the initial state, the locking device locks the free end of the tension belt. When the signal receiving device receives a bounce command signal, the microprocessor controls the locking device to release the free end of the tension belt; An anti-drop and energy-absorbing body, which is arranged directly above the base.

2. The bouncing device according to claim 1, characterized in that, The locking device includes: A telescopic rod that can be telescoped, and the free end of the tension belt is sleeved on the telescopic rod; When the telescopic rod retracts, the free end of the tension belt is released.

3. The bouncing device according to claim 1 or 2, characterized in that, The elastic frame belongs to a memory material. When the retracting and releasing device releases the free end of the tension belt, the elastic frame returns to the state of bending inward.

4. The bouncing device according to claim 3, wherein, Each of the elastic frames is provided with three tension belts. The fixed ends of the tension belts of the same elastic frame are dispersedly fixed on the elastic frame, and the three positions for fixing the fixed ends of the tension belts on each elastic frame are the same.

5. A photographing device, comprising the bouncing device according to any one of claims 1-4, characterized in that, It further includes: A high-definition camera connected to the microprocessor, which is arranged on the base, and the shooting direction of the high-definition camera is directly below the base; A speed sensor connected to the microprocessor for detecting the motion state of the bouncing device, and the motion state includes motion speed and motion direction; A data sending device connected to the microprocessor, which is used to send out the data shot by the high-definition camera.

6. A photographing control method for controlling the photographing device according to claim 5 to perform photographing, characterized in that, The photographing control method includes: Receiving a bounce signal command; Controlling the retracting and releasing device to simultaneously release the free ends of the pre-fixed tension belts according to the bounce signal command; Controlling the high-definition camera to take pictures during the rising process of the bouncing device.

7. The photographing control method according to claim 6, wherein The bounce signal command includes a bounce height parameter that the bouncing device needs to reach. Controlling the retracting and releasing device to simultaneously release the free ends of the pre-fixed tension belts according to the bounce signal command specifically includes: Determining the elastic potential energy that needs to be accumulated when the bouncing device initially bounces according to the bounce height parameter; Determining the elastic potential energy that each elastic frame needs to accumulate according to the elastic potential energy that needs to be accumulated; Controlling the bending degree of the elastic frame based on the elastic potential energy that each elastic frame needs to accumulate, wherein the bending of the elastic frame is adjusted by retracting the tension belt.

8. The photographing control method according to claim 6, wherein Before receiving the bounce signal command includes: Determining the elastic potential energy that needs to be accumulated when the bouncing device initially bounces according to the bounce height reached by the bouncing device; Determining the elastic potential energy that each elastic frame needs to accumulate according to the elastic potential energy that needs to be accumulated; Adjusting the bending degree of the elastic frame based on the elastic potential energy that each elastic frame needs to accumulate, wherein the bending of the elastic frame is adjusted by retracting the tension belt.

9. The photographing control method according to any one of claims 6-8, characterized in that During the rising process of the bouncing device, control the high-definition camera to take pictures, specifically including: When the speed sensor detects that the speed of the bouncing device is upward and lower than the first preset speed, turn on the high-definition camera to take pictures; When the speed sensor detects that the speed of the bouncing device is upward and lower than the second preset speed, turn off the high-definition camera; After the high-definition camera is turned off, send the captured data to the image processing terminal through the data sending device.

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