Automatic tracking robot and electromagnetic gun device

Abstract

The invention provides an automatic tracking robot and an electromagnetic gun device, and belongs to the technical field of robots. The automatic tracking robot comprises a vehicle frame base body, a vehicle body, a movable unit, an automatic tracking unit and a hiding unit. The vehicle frame base body comprises a vehicle plate and wheels. The trolley body surrounds the top of the trolley plate, and a movable opening is formed in the top of the trolley body; a body of the movable unit is located in the vehicle body, the bottom of the movable unit is connected to the top of the vehicle plate, and the top of the movable unit extends out of the top of the vehicle body through the movable opening. The automatic tracking unit comprises an infrared induction module and a visual tracking module, the infrared induction module is connected to the outer side face of the vehicle body, and the visual tracking module is connected to the top of the movable unit; the hidden unit comprises an interference unit and a shielding layer, the interference unit is connected to the bottom of the vehicle plate, and the shielding layer covers the surface of the vehicle body. The electromagnetic gun device comprises an electromagnetic gun body assembly and the automatic tracking robot, and has the characteristics that the visual tracking module is convenient to move, the tracking precision is high, and the concealment performance is good.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to an automatic tracking robot and an electromagnetic gun device. Background Art

[0002] With the development of artificial intelligence technology, tracking robots are increasingly being used in various fields. Referring to existing technologies such as CN117733837A and CN111498132A, current tracking robots often use fixed sensors, making it difficult to adjust the tracking position according to the environment. They are susceptible to interference in complex environments, reducing tracking accuracy. Furthermore, tracking robots typically lack shielding modules, making them difficult to conceal, which limits their application areas. Summary of the Invention

[0003] The purpose of this application is to provide an automatic tracking robot and an electromagnetic gun device, which have the characteristics of easy movement of the visual tracking module, high tracking accuracy and good concealment performance.

[0004] The embodiment of the present application is implemented as follows: In a first aspect, an embodiment of the present application provides an automatic tracking robot, comprising: A vehicle frame base, the vehicle frame base including a vehicle plate and wheels connected to the bottom of the vehicle plate; The vehicle body is arranged around the top of the vehicle plate, and a movable opening is opened on the top of the vehicle body; The movable unit has a main body located inside the vehicle body, a bottom portion of the movable unit connected to the top of the vehicle panel, and a top portion of the movable unit extending out of the top of the vehicle body through a movable opening; Automatic tracking unit, which includes an infrared sensing module and a visual tracking module. The infrared sensing module is connected to the outer side of the vehicle body, and the visual tracking module is connected to the top of the movable unit. Hidden unit, the hidden unit includes a jammer and a shielding layer, the jammer is connected to the bottom of the vehicle panel, and the shielding layer covers the surface of the vehicle body.

[0005] In some embodiments, the movable unit includes a pan-tilt assembly, which includes a pan-tilt assembly, a horizontal servo, and a pitch servo connected in sequence. The pan-tilt assembly is connected to the top of the vehicle plate, and the visual tracking module is connected to the top of the pitch servo.

[0006] In some embodiments, the movable unit also includes a lifting assembly, which includes a fixed plate, a first telescopic plate and a telescopic drive device, the fixed plate is connected to the top of the horizontal servo, the first telescopic plate is connected between the fixed plate and the pitch servo, and the telescopic drive device is connected to the fixed plate and is transmission-connected to the first telescopic plate.

[0007] In some embodiments, the lifting assembly further includes a second telescopic plate, the first telescopic plate and the pitch servo are connected via the second telescopic plate, and the telescopic drive device is transmission-connected to the second telescopic plate.

[0008] In some embodiments, the frame base further includes a shock-absorbing plate and a shock-absorbing spring, one end of the shock-absorbing plate is rotatably connected to the vehicle plate, the shock-absorbing spring is connected between the other end of the shock-absorbing plate and the vehicle plate, and the wheel and the vehicle plate are connected through the shock-absorbing plate.

[0009] In some embodiments, the wheels are omnidirectional wheels.

[0010] In a second aspect, an embodiment of the present application provides an electromagnetic gun device, comprising an electromagnetic gun body assembly and an automatic tracking robot as in the above embodiment, wherein the electromagnetic gun body assembly comprises an electromagnetic gun head and a barrel, wherein the electromagnetic gun head is connected to the top of the movable unit, and the barrel is connected to the side of the electromagnetic gun head.

[0011] In some embodiments, the barrel is telescopically disposed on a side of the electromagnetic gun head.

[0012] In some embodiments, the barrel has an outer layer, a middle layer and an inner layer distributed from the inside to the outside, the outer layer is a carbon fiber composite material, the middle layer is a titanium alloy bellows, and the inner layer is a high-strength steel lining.

[0013] In some embodiments, the visual tracking module is connected to the top of the movable unit through an electromagnetic gun head, and the visual tracking module is located on the top of the electromagnetic gun head.

[0014] The automatic tracking robot and electromagnetic gun device provided in the embodiments of the present application have the following beneficial effects: The vehicle frame is equipped with wheels for ease of mobility, facilitating more efficient target tracking. The automatic tracking unit incorporates an infrared sensor module and a visual tracking module, which work together to reduce environmental impacts on tracking. The visual tracking module can be adjusted in position by the active unit, further enhancing visual tracking and improving overall tracking accuracy. Furthermore, a concealment unit, equipped with jammers and shielding layers, provides enhanced concealment. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0016] Figure 1A schematic diagram of the structure of an automatic tracking robot provided in an embodiment of the present application; Figure 2 A schematic diagram of a local structure of an automatic tracking robot provided in an embodiment of the present application at one viewing angle; Figure 3 A schematic diagram of a local structure of an automatic tracking robot provided in an embodiment of the present application from another perspective; Figure 4 A schematic structural diagram of an electromagnetic gun device provided in an embodiment of the present application; Figure 5 A schematic diagram of the local structure of an electromagnetic gun device provided in an embodiment of the present application at one viewing angle.

[0017] icon: 100-Automatic tracking robot; 110 - frame base; 111 - vehicle plate; 112 - wheel; 113 - shock-absorbing plate; 114 - shock-absorbing spring; 120-body; 121-movable opening; 130-pan / tilt assembly; 131-pan / tilt; 132-horizontal servo; 133-pitch servo; 140 - lifting assembly; 141 - fixed plate; 142 - first telescopic plate; 143 - second telescopic plate; 144 - telescopic drive device; 150-Automatic tracking unit; 151-Infrared sensing module; 152-Visual tracking module; 161-interrupter; 162-shielding layer; 200-Electromagnetic gun device; 210-Electromagnetic gun body assembly; 211-Electromagnetic gun head; 212-Barrel. DETAILED DESCRIPTION

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0019] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for protection, but merely represents selected embodiments of the present application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the present application without creative work are within the scope of protection of the present application.

[0020] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0021] In the description of this application, it should be noted that the terms "center", "up", "down", "vertical", "horizontal", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the product of the application is usually placed when in use. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on this application.

[0022] Furthermore, the terms “first,” “second,” “third,” etc., are merely used for distinguishing descriptions and are not to be understood as indicating or implying relative importance.

[0023] Furthermore, the terms “vertical”, “parallel”, etc. do not mean that the components are required to be absolutely vertical or parallel, but may be slightly tilted.

[0024] It should also be noted that, in the description of this application, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to direct connections, indirect connections through an intermediate medium, or internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0025] The technical solution of this application will be exemplarily described below through some embodiments.

[0026] See also Figures 1 to 3 In the first aspect, the embodiment of the present application provides an automatic tracking robot 100, which has no limitation on application fields, such as but not limited to unmanned driving, image processing, tracking and positioning, and other fields.

[0027] The automatic tracking robot 100 includes a frame base 110 , a body 120 , a movable unit, an automatic tracking unit 150 , and a concealed unit.

[0028] See also Figure 2 and Figure 3 The frame base 110 includes a vehicle plate 111 and wheels 112 connected to the bottom of the vehicle plate 111 .

[0029] In the automatic tracking robot 100 provided in the present application, by configuring a frame base 110 with wheels 112, it is easy to move and is conducive to more efficient tracking of the target.

[0030] The vehicle body 120 is disposed around the top of the vehicle plate 111 , and a movable opening 121 is defined at the top of the vehicle body 120 .

[0031] The main body of the movable unit is located inside the vehicle body 120 , the bottom of the movable unit is connected to the top of the vehicle plate 111 , and the top of the movable unit extends out of the top of the vehicle body 120 through the movable opening 121 .

[0032] The automatic tracking unit 150 includes an infrared sensor module 151 and a visual tracking module 152. The infrared sensor module 151 is connected to the outer side of the vehicle body 120, and the visual tracking module 152 is connected to the top of the movable unit. The visual tracking module 152 can be connected directly or indirectly to the top of the movable unit.

[0033] In the automatic tracking robot 100 provided in the present application, an infrared sensing module 151 and a visual tracking module 152 are configured to cooperate with each other, which can reduce the impact of the environment on tracking; wherein, the visual tracking module 152 can adjust its position by being driven by the active unit, which is also conducive to better visual tracking, so that the overall tracking accuracy of the automatic tracking unit 150 is higher.

[0034] See also Figure 1 and Figure 3 The hidden unit includes a disrupter 161 and a shielding layer 162. The disrupter 161 is connected to the bottom of the vehicle panel 111, and the shielding layer 162 covers the surface of the vehicle body 120. The shielding layer 162 is attached to the surface of the vehicle body 120 by, for example, but not limited to, spraying, roller brushing, or pasting.

[0035] In the automatic tracking robot 100 provided in the present application, a concealed unit is configured for shielding; wherein, an interferer 161 and a shielding layer 162 are configured to cooperate with each other, the interferer 161 is used to interfere with electromagnetic signals, and the shielding layer 162 is used to shield the detection of external electromagnetic waves, so that the device as a whole has better concealment performance.

[0036] It should be noted that in the embodiments of the present application, the top of the movable unit can also be connected to a working structure other than the visual tracking module 152 as needed, allowing the automatic tracking robot 100 to have other operating functions. In addition, the movable unit can be configured with a corresponding movable structure according to the required movement of the working structure connected to its top, and the movement can be, for example, but not limited to, one or more of translation, rotation, lifting, and pitching.

[0037] See also Figure 2In some embodiments, the movable unit includes a pan-tilt assembly 130, which includes a pan-tilt assembly 130 including a pan-tilt assembly 131, a horizontal servo 132, and a pitch servo 133 connected in sequence. The pan-tilt assembly 131 is connected to the top of the vehicle plate 111, and the visual tracking module 152 is connected to the top of the pitch servo 133.

[0038] Among them, the horizontal servo 132 controls the left and right rotation, adjusting the horizontal angle of the working structure such as the visual tracking module 152 connected to the top of the movable unit; the pitch servo 133 drives the up and down pitch, adjusting the pitch tilt angle of the working structure such as the visual tracking module 152 connected to the top of the movable unit.

[0039] Furthermore, the movable unit also includes a lifting assembly 140, which includes a fixed plate 141, a first telescopic plate 142 and a telescopic drive device 144. The fixed plate 141 is connected to the top of the horizontal servo 132, the first telescopic plate 142 is connected between the fixed plate 141 and the pitch servo 133, and the telescopic drive device 144 is connected to the fixed plate 141 and is in transmission connection with the first telescopic plate 142.

[0040] The telescopic drive device 144 drives the first telescopic plate 142 to extend and retract, driving the pitch servo 133 to rise and fall, thereby adjusting the height of the visual tracking module 152 and other working structures connected to the top of the movable unit. While in operation, the visual tracking module 152 and other working structures connected to the top of the movable unit can be easily adjusted to a suitable height using the lifting assembly 140. Furthermore, after the work is complete, the visual tracking module 152 and other working structures connected to the top of the movable unit can be lowered using the lifting assembly 140 so that they can be stored and hidden within the vehicle body 120.

[0041] Furthermore, the lifting assembly 140 also includes a second telescopic plate 143, and the first telescopic plate 142 and the pitch servo 133 are connected through the second telescopic plate 143, that is, the fixed plate 141, the first telescopic plate 142, the second telescopic plate 143 and the pitch servo are connected in sequence; the telescopic drive device 144 is connected to the second telescopic plate 143 in transmission.

[0042] The cooperation between the first telescopic plate 142 and the second telescopic plate 143 enables two-level telescopic adjustment, so that the lifting and lowering adjustment range of the lifting assembly 140 is wider.

[0043] It is understood that the second telescopic plate 143 can be linked to the first telescopic plate 142, so that when the telescopic drive device 144 drives the first telescopic plate 142 to rise and fall, the second telescopic plate 143 is also driven to rise and fall, thereby realizing a transmission connection between the telescopic drive device 144 and the second telescopic plate 143. The second telescopic plate 143 can also move independently of the first telescopic plate 142, for example, by configuring different telescopic drive devices 144 to drive the rise and fall of the first telescopic plate 142 and the second telescopic plate 143 respectively.

[0044] For example, when different telescopic drive devices 144 are configured to respectively drive the lifting and lowering of the first and second telescopic plates 142, 143, the first and second telescopic plates 142, 143 have different adjustment accuracies. One of the telescopic plates is used to achieve coarse adjustment of the lift, while the other is used to achieve fine adjustment of the lift, thereby providing more flexible adjustment methods. Coarse adjustment facilitates quick adjustment to a rough range, for example, for switching between operating and non-operating states. Fine adjustment offers higher adjustment accuracy, for example, for high-precision fine adjustment of the lift in the operating state.

[0045] It should be noted that in the embodiments of the present application, the structure of the frame base 110 can be conventionally configured. Optionally, the wheels 112 are omnidirectional wheels, allowing for greater freedom and flexibility in the movement of the frame base 110. The omnidirectional wheels can be Mecanum wheels, omnidirectional wheels, or steering wheels. As an example, the wheels 112 are Mecanum wheels.

[0046] It is understood that in the embodiment of the present application, in addition to the vehicle plate 111 and the wheels 112, other functional structures can be configured in the frame base 110 as needed. Optionally, the frame base 110 is also configured with a shock-absorbing structure to improve the movement stability of the frame base 110.

[0047] See also Figure 2 and Figure 3 Exemplarily, the vehicle frame base 110 further includes a shock-absorbing plate 113 and a shock-absorbing spring 114. One end of the shock-absorbing plate 113 is rotatably connected to the vehicle plate 111, and the shock-absorbing spring 114 is connected between the other end of the shock-absorbing plate 113 and the vehicle plate 111. The wheel 112 is connected to the vehicle plate 111 via the shock-absorbing plate 113. A hub motor is mounted on the shock-absorbing plate 113, which is in transmission connection with the wheel 112. The wheel 112 is in transmission connection with the shock-absorbing plate 113 via the hub motor, thereby achieving an indirect connection with the vehicle plate 111.

[0048] See also Figure 4 and Figure 5On the second aspect, an embodiment of the present application provides an electromagnetic gun device 200, including an electromagnetic gun body assembly 210 and an automatic tracking robot 100 as described in the above embodiment, wherein the electromagnetic gun body assembly 210 includes an electromagnetic gun head 211 and a barrel 212, wherein the electromagnetic gun head 211 is connected to the top of the movable unit, and the barrel 212 is connected to the side of the electromagnetic gun head 211.

[0049] The electromagnetic gun device 200 provided in the present application realizes flexible movement, efficient, accurate and covert tracking through the automatic tracking robot 100, which is conducive to accurately tracking and striking designated targets.

[0050] In embodiments where the automatic tracking robot 100 is equipped with a pan / tilt assembly 130, the horizontal and elevation angles of the cannon barrel 212 can be easily adjusted. In embodiments where the automatic tracking robot 100 is equipped with a lifting assembly 140, the height of the cannon barrel 212 can be easily adjusted, facilitating more precise strikes on designated targets. Furthermore, after a task is completed, lowering the electromagnetic gun assembly 210 using the lifting assembly 140 facilitates its storage and concealment within the vehicle body 120, enhancing the overall concealment of the electromagnetic gun device 200 and facilitating its flexible movement.

[0051] In some embodiments, the barrel 212 is retractably disposed on the side of the electromagnetic gun head 211 , which facilitates more convenient storage and concealment of the electromagnetic gun body assembly 210 inside the vehicle body 120 after the work is completed.

[0052] In some embodiments, the barrel 212 comprises an outer layer, a middle layer, and an inner layer, arranged from the inside out. The outer layer is made of a carbon fiber composite material to prevent shell deformation and reduce weight; the middle layer is a compressible titanium alloy bellows, which serves as a carrier for the electromagnetic coil; and the inner layer is a high-strength steel liner, which serves as a projectile guide and is resistant to high-temperature friction.

[0053] It can be understood that in the embodiment of the present application, the visual tracking module 152 can be distributed side by side with the electromagnetic gun body assembly 210 and respectively connected to the top of the movable unit, and the visual tracking module 152 can also be connected to the electromagnetic gun body assembly 210 and thus indirectly connected to the top of the movable unit.

[0054] As an example, the visual tracking module 152 is connected to the top of the movable unit through the electromagnetic gun head 211 , and the visual tracking module 152 is located on the top of the electromagnetic gun head 211 .

[0055] Based on the electromagnetic gun device 200 provided in the embodiment of the present application, its control method is exemplarily as follows: The target position is detected by the infrared sensing module 151 and the visual tracking module 152 .

[0056] Models and algorithms are used to identify and predict targets and generate control instructions. In some specific examples, a Kalman filter model can be established to track and predict targets, and then dynamic control instructions of PID can be obtained through calculation.

[0057] According to the control instruction, the movable unit is activated or the frame base 110 is moved to lock the target and strike.

[0058] Optionally, when the infrared sensing module 151 does not sense a target, the electromagnetic gun body assembly 210 is lowered and hidden inside the vehicle body 120, making the movement of the electromagnetic gun device 200 more flexible and concealed, while reducing energy loss to a certain extent.

[0059] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. An automatic tracking robot, characterized in that: include: A frame base, the frame base comprising a vehicle plate and wheels connected to the bottom of the vehicle plate; A vehicle body, the vehicle body being arranged around the top of the vehicle plate, and the top of the vehicle body being provided with a movable opening; a movable unit, wherein the main body of the movable unit is located inside the vehicle body, the bottom of the movable unit is connected to the top of the vehicle plate, and the top of the movable unit extends out of the top of the vehicle body through the movable opening; An automatic tracking unit, comprising an infrared sensing module and a visual tracking module, wherein the infrared sensing module is connected to the outer side of the vehicle body, and the visual tracking module is connected to the top of the movable unit; The hidden unit includes an interferer and a shielding layer, wherein the interferer is connected to the bottom of the vehicle panel and the shielding layer covers the surface of the vehicle body.

2. The automatic tracking robot according to claim 1, characterized in that: The movable unit includes a pan-tilt assembly, which includes a pan-tilt assembly, a horizontal servo and a pitch servo connected in sequence. The pan-tilt assembly is connected to the top of the vehicle plate, and the visual tracking module is connected to the top of the pitch servo.

3. The automatic tracking robot according to claim 2, characterized in that: The movable unit also includes a lifting assembly, which includes a fixed plate, a first telescopic plate and a telescopic drive device. The fixed plate is connected to the top of the horizontal servo, the first telescopic plate is connected between the fixed plate and the pitch servo, and the telescopic drive device is connected to the fixed plate and is in transmission connection with the first telescopic plate.

4. The automatic tracking robot according to claim 3, characterized in that: The lifting assembly further includes a second telescopic plate, the first telescopic plate and the pitch servo are connected via the second telescopic plate, and the telescopic drive device is in transmission connection with the second telescopic plate.

5. The automatic tracking robot according to any one of claims 1 to 4, characterized in that: The frame base also includes a shock-absorbing plate and a shock-absorbing spring. One end of the shock-absorbing plate is rotatably connected to the vehicle plate. The shock-absorbing spring is connected between the other end of the shock-absorbing plate and the vehicle plate. The wheel and the vehicle plate are connected through the shock-absorbing plate.

6. The automatic tracking robot according to any one of claims 1 to 4, characterized in that: The wheels are omnidirectional movable wheels.

7. An electromagnetic gun device, characterized in that: It comprises an electromagnetic gun body assembly and an automatic tracking robot as claimed in any one of claims 1 to 6, wherein the electromagnetic gun body assembly comprises an electromagnetic gun head and a barrel, the electromagnetic gun head is connected to the top of the movable unit, and the barrel is connected to the side of the electromagnetic gun head.

8. The electromagnetic gun device according to claim 7, characterized in that The gun barrel is telescopically arranged on the side of the electromagnetic gun head.

9. The electromagnetic gun device according to claim 8, characterized in that The barrel has an outer layer, a middle layer and an inner layer distributed from the inside to the outside. The outer layer is made of carbon fiber composite material, the middle layer is a titanium alloy bellows, and the inner layer is a high-strength steel lining.

10. The electromagnetic gun device according to any one of claims 7 to 9, characterized in that The visual tracking module is connected to the top of the movable unit through the electromagnetic gun head, and the visual tracking module is located on the top of the electromagnetic gun head.

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