Intelligent visual tracking cradle head capable of realizing adaptive target motion tracking

Abstract

The objective of the invention is to provide the intelligent visual tracking holder adaptive to target motion tracking, large-range and rapid coarse tracking is carried out through the spherical mechanism, the motion vacancy at the initial stage of target capture is effectively filled, and on this basis, the target motion tracking efficiency is improved. A high-precision parallel mechanism integrated in the middle and a linear motor driving system are responsible for fine tracking and dynamic compensation of millisecond response, and the two stages of systems are scheduled in a unified mode through an adaptive prediction algorithm, so that seamless connection from wide-area search to high-precision stable tracking is achieved. Finally, the full-automatic target tracking efficiency with ultrahigh acceleration, no blind area and high precision is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of visual tracking and monitoring, more particularly to an intelligent visual tracking gimbal for adaptive target motion tracking. BACKGROUND

[0002] With the rapid development of modern industry, many applications have been implemented in the field of visual tracking, combining existing technologies and techniques for motion recognition capture and prediction direction.

[0003] For example: CN119756221A, a tracking scanning measurement system and platform, discloses a tracking scanning measurement system and platform, which includes a two-dimensional angle measurement driving device, a contact laser tracker, a non-contact laser scanner, and a control device. The control device is connected with the contact laser tracker, the non-contact laser scanner, and the two-dimensional angle measurement driving device, and is used to track the set tracking cooperation target in real time by controlling the two-dimensional angle measurement driving device to drive the laser tracker in tracking coordinate measurement mode. The coordinates of the contact point between the tracking cooperation target and the measured surface are obtained by combining two-dimensional angle measurement with laser interference ranging data. In scanning measurement mode, the non-contact laser scanner is driven by the two-dimensional angle measurement driving device to scan the measured surface, and the scanning point cloud data of the measured surface is obtained by combining two-dimensional angle measurement with absolute ranging data. The present application can realize high-precision tracking coordinate measurement and high-efficiency scanning measurement with one instrument, significantly improving detection efficiency. The high-precision tracking measurement device described in the invention belongs to single-loop tracking monitoring, and is suitable for single scene.

[0004] For example: CN119687829A, a tracking scanning measurement integrated system, tracking scanning measurement method and platform, discloses a tracking scanning measurement integrated system, tracking scanning measurement method and platform. In tracking measurement mode, the control device controls the laser emitter to emit ranging laser to the contact laser tracking device, and controls the two-dimensional angle measurement driving device and the laser ranging device to drive the contact laser tracking device to track the set tracking cooperation target in real time according to the light ranging signal feedback by the contact laser tracking device, so as to obtain the coordinate data of the contact point between the tracking cooperation target and the measured surface. In scanning measurement mode, the control device controls the laser emitter to emit ranging laser to the non-contact laser scanning device, and controls the two-dimensional angle measurement driving device and the laser ranging device to drive the non-contact laser scanning device to scan the measured surface according to the light ranging signal feedback by the non-contact laser scanning device, so as to obtain the scanning point cloud data. The present application can realize high-precision tracking coordinate measurement and high-efficiency scanning measurement with one instrument, significantly improving detection efficiency. The high-precision tracking measurement device described in the invention belongs to single-loop tracking monitoring, and is suitable for single scene. SUMMARY

[0005] The application aims to provide an intelligent visual tracking gimbal for adaptive target motion tracking, which can realize wide-range and fast rough tracking through a spherical mechanism, effectively fill the motion vacancy in the initial target capturing stage, and on this basis, a high-precision parallel mechanism integrated in the middle and a linear motor driving system are responsible for millisecond-level response for fine tracking and dynamic compensation, two-stage systems are uniformly scheduled through an adaptive prediction algorithm, seamless connection from wide-area search to high-precision stable tracking is realized, and finally, the super-high acceleration, no blind area and high-precision full-automatic target tracking performance are achieved.

[0006] The application achieves the above-mentioned purpose through the following technical solutions.

[0007] The application provides an intelligent visual tracking gimbal for adaptive target motion tracking, which is characterized by comprising a support assembly, a first driving device and a second driving device.

[0008] As further optimization of the technical solution, the application provides an intelligent visual tracking gimbal for adaptive target motion tracking, wherein the support assembly comprises a support bottom plate and a triangular constraint bottom plate, and the support bottom plate is fixedly connected with the triangular constraint bottom plate.

[0009] As further optimization of the technical solution, the application provides an intelligent visual tracking gimbal for adaptive target motion tracking, wherein the first driving device comprises a connecting flange A, a universal joint A, a connecting flange B, a fixed plate A, a linear motor, a high-precision grating ruler, a grating ruler connecting block, a grating ruler connecting support, a connecting screw, a universal joint B and a connecting flange C, the connecting flange A is rotationally connected with the universal joint A, the universal joint A is rotationally connected with the connecting flange B, the connecting flange B is fixedly connected with the fixed plate A, the fixed plate A is fixedly connected with the linear motor, the high-precision grating ruler is fixedly connected with the linear motor, the high-precision grating ruler is fixedly connected with the grating ruler connecting block, the grating ruler connecting block is fixedly connected with the grating ruler connecting support, the grating ruler connecting support is fixedly connected with the output shaft of the linear motor, the output shaft of the linear motor is meshingly connected with the connecting screw, the connecting screw is rotationally connected with the universal joint B, and the universal joint B is rotationally connected with the connecting flange C.

[0010] As a further optimization of this technical solution, the present invention provides an intelligent visual tracking gimbal for adaptive target motion tracking. The second driving device includes a driving device connecting top ring, a fixing component A, a connecting plate, a micro IMU, a heat sink, a fixing component B, a mounting bracket, a spherical rear bracket, a positioning bracket A, a fixing component C, a gear A, a positioning shaft A, a positioning shaft B, a positioning bracket B, a motor bracket A, a motor A, a fixing component D, a gear B, a motor bracket B, a motor B, a fixing component E, a gear C, a gear D, a positioning shaft C, a positioning shaft D, a positioning shaft E, a hemispherical driving cover, an adjustment plate, and a recognition module. The driving device connecting top ring is fixedly connected to the connecting plate via fixing component A, the connecting plate is fixedly connected to the mounting bracket, the micro IMU is fixedly connected to the mounting bracket, the heat sink is fixedly connected to the connecting plate via fixing component B, and both the mounting bracket and the positioning bracket A are fixedly connected to the spherical rear bracket. The rear bracket is fixedly connected. Motor bracket A and motor bracket B are both fixedly connected to positioning bracket B. Motor A is fixedly connected to motor bracket A through fixing part D. The output shaft of motor A is fixedly connected to gear B. Gear B meshes with gear A. Gear A is fixedly connected to positioning bracket A through fixing part C. Positioning shaft A and positioning shaft B are both fixedly connected to positioning bracket B. Positioning shaft A and positioning shaft B are rotatably connected to positioning bracket A. Motor B is fixedly connected to motor bracket B through fixing part E. The output shaft of motor B is fixedly connected to gear C. Gear C meshes with gear D. Gear D is fixedly connected to positioning shaft C and positioning shaft D. Positioning shaft C and positioning shaft E are rotatably connected to positioning bracket B. Positioning shaft C, positioning shaft D, and positioning shaft E are all fixedly connected to hemispherical drive cover plate. Hemispherical drive cover plate is fixedly connected to adjustment plate. Adjustment plate is fixedly connected to recognition module.

[0011] The present invention discloses an intelligent visual tracking gimbal for adaptive target motion tracking, which has the following advantages: 1. It performs large-scale and rapid coarse tracking through a spherical mechanism, effectively filling the motion gap in the initial stage of target acquisition. On this basis, the high-precision parallel mechanism and linear motor drive system integrated in the middle are responsible for fine tracking and dynamic compensation with millisecond-level response; 2. The two-level system is uniformly scheduled through an adaptive prediction algorithm, realizing a seamless connection from wide-area search to high-precision stable tracking, and ultimately achieving fully automatic target tracking performance with ultra-high acceleration, no blind spots, and high precision. Attached Figure Description

[0012] The present invention will now be described in further detail with reference to the accompanying drawings and specific implementation methods.

[0013] Figure 1 This is a schematic diagram of the overall structure of the present invention. Figure 1 ;

[0014] Figure 2 This is a schematic diagram of the support assembly structure of the present invention. Figure 1 ;

[0015] Figure 3 This is a schematic diagram of the first driving device structure of the present invention. Figure 1 ;

[0016] Figure 4 This is a schematic diagram of the second driving device structure of the present invention. Figure 1 ;

[0017] Figure 5 This is a schematic diagram of the second driving device structure of the present invention. Figure 2 ;

[0018] Figure 6 This is a schematic diagram of the second driving device structure of the present invention. Figure 3 ;

[0019] Figure 7 This is a schematic diagram of the second driving device structure of the present invention. Figure 4 ;

[0020] Figure 8 This is a schematic diagram of the second driving device structure of the present invention. Figure 5 ;

[0021] Figure 9 This is a schematic diagram of the second driving device structure of the present invention. Figure 6 ;

[0022] In the diagram: Support assembly 1; Support base plate 101; Triangular constraint base plate 102; First drive device 2; Connecting flange A201; Universal joint A202; Connecting flange B203; Fixing plate A204; Linear motor 205; High-precision grating ruler 206; Grating ruler connecting block 207; Grating ruler connecting bracket 208; Connecting screw 209; Universal joint B210; Connecting flange C211; Second drive device 3; Drive device connecting top ring 301; Fixing component A302; Connecting plate 303; Miniature IMU 304; Heat sink 305; Fixing component B3 06; Mounting bracket 307; Spherical rear bracket 308; Positioning bracket A309; Fixing component C310; Gear A311; Positioning shaft A312; Positioning shaft B313; Positioning bracket B314; Motor bracket A315; Motor A316; Fixing component D317; Gear B318; Motor bracket B319; Motor B320; Fixing component E321; Gear C322; Gear D323; Positioning shaft C324; Positioning shaft D325; Positioning shaft E326; Hemispherical drive cover plate 327; Adjustment plate 328; Identification module 329. Specific Implementation

[0023] The present invention will now be described in further detail with reference to the accompanying drawings. Specific Implementation Example 1:

[0025] The following is combined Figures 1-9This embodiment describes an intelligent visual tracking gimbal for adaptive target motion tracking, comprising a support assembly 1, a first driving device 2, and a second driving device 3, wherein the first driving device 2 and the second driving device 3 are both connected to the support assembly 1. Specific Implementation Example 2:

[0027] The following is combined Figures 1-9 This embodiment further describes Example 1. The support assembly 1 includes a support base plate 101 and a triangular constraint base plate 102, wherein the support base plate 101 and the triangular constraint base plate 102 are fixedly connected. Specific Implementation Example 3:

[0029] The following is combined Figures 1-9 This embodiment further describes Example 1. The first driving device 2 includes a connecting flange A201, a universal joint A202, a connecting flange B203, a fixing plate A204, a linear motor 205, a high-precision grating ruler 206, a grating ruler connecting block 207, a grating ruler connecting bracket 208, a connecting screw 209, a universal joint B210, and a connecting flange C211. Connecting flange A201 is rotatably connected to universal joint A202, universal joint A202 is rotatably connected to connecting flange B203, and connecting flange B203 is rotatably connected to the fixing plate C211. Plate A204 is fixedly connected, and plate A204 is fixedly connected to linear motor 205. High-precision grating ruler 206 is fixedly connected to linear motor 205. High-precision grating ruler 206 is fixedly connected to grating ruler connecting block 207. Grating ruler connecting block 207 is fixedly connected to grating ruler connecting bracket 208. Grating ruler connecting bracket 208 is fixedly connected to the output shaft of linear motor 205. The output shaft of linear motor 205 is engaged with connecting screw 209. Connecting screw 209 is rotatably connected to universal joint B210. Universal joint B210 is rotatably connected to connecting flange C211. Specific Implementation Example 4:

[0031] 1. The following is combined with Figures 1-9This embodiment further describes Example 1. The second driving device 3 includes a driving device connecting top ring 301, a fixing member A302, a connecting plate 303, a miniature IMU 304, a heat sink 305, a fixing member B306, a mounting bracket 307, a spherical rear bracket 308, a positioning bracket A309, a fixing member C310, a gear A311, a positioning shaft A312, a positioning shaft B313, a positioning bracket B314, a motor bracket A315, a motor A316, a fixing member D317, a gear B318, a motor bracket B319, and a motor B320. The components include: a fixing component E321, gear C322, gear D323, positioning shaft C324, positioning shaft D325, positioning shaft E326, a hemispherical drive cover plate 327, an adjusting plate 328, and an identification module 329. The drive unit connecting top ring 301 is fixedly connected to the connecting plate 303 via a fixing component A302. The connecting plate 303 is fixedly connected to the mounting bracket 307. The micro IMU 304 is fixedly connected to the mounting bracket 307. The heat sink 305 is fixedly connected to the connecting plate 303 via a fixing component B306. The mounting bracket 307 and the positioning bracket A309 are both connected to the spherical rear bracket 307. 8. Fixed connections: Motor brackets A315 and B319 are both fixedly connected to positioning bracket B314. Motor A316 is fixedly connected to motor bracket A315 via fastener D317. The output shaft of motor A316 is fixedly connected to gear B318. Gear B318 meshes with gear A311. Gear A311 is fixedly connected to positioning bracket A309 via fastener C310. Positioning shafts A312 and B313 are both fixedly connected to positioning bracket B314. Positioning shafts A312 and B313 are rotatably connected to positioning bracket A309. Motor B32... The motor B320 is fixedly connected to the motor bracket B319 via fastener E321. The output shaft of the motor B320 is fixedly connected to the gear C322. The gear C322 meshes with the gear D323. The gear D323 is fixedly connected to the positioning shafts C324 and D325. The positioning shafts C324 and E326 are rotatably connected to the positioning bracket B314. The positioning shafts C324, D325, and E326 are fixedly connected to the hemispherical drive cover 327. The hemispherical drive cover 327 is fixedly connected to the adjusting plate 328. The adjusting plate 328 is fixedly connected to the identification module 329.

[0032] The present invention discloses an intelligent visual tracking gimbal for adaptive target motion tracking. Its working principle is as follows: In the initial state, the system powers on and performs a self-test. The main controller, integrated within the static platform support base plate 101, powers on and sequentially detects the working status and communication links of the two servo motors A316 and B320 in the spherical mechanism of the second drive device 3, the three linear motors 205 in the parallel mechanism of the first drive device 2, the recognition module 329, the micro IMU 304, and the high-precision grating ruler 206. The main controller, acting as the system brain, executes the initialization program and self-test process. Each sensor and actuator returns its own status code, confirming that the system is in a healthy state. The recognition module 329 is an assembly of the visual sensing modules. As a wide-area search, it continuously acquires video streams through a global visual camera and sends the image data to the built-in AI processing unit, such as Jetson. Orin runs deep learning object detection algorithms such as YOLO to analyze the video stream frame by frame, searching for targets in real time. In the initial tracking stage, the AI ​​algorithm identifies potential targets in the global vision camera's view and outputs their rough two-dimensional pixel coordinates in the image coordinate system. The AI ​​processing unit completes the target recognition and classification and calculates its initial position. Based on the target's pixel coordinates, the main controller calculates its azimuth and pitch angles in the spherical coordinate system, and then generates motion commands to drive the second drive device 3. The azimuth servo motor B320 and the pitch servo motor A316 rotate. When motor A316 starts, its output shaft drives gear B318 to rotate. As gear B318 rotates, it meshes with gear A311. Since gear A311 is fixed to the positioning bracket A309 by fixing component C310, when gear B318 rotates, it is affected by its static force and rotates along gear A311. During rotation, the positioning bracket B314 is driven along the positioning axis A through motor bracket A315, motor A316, and fixing component D317. 312. When positioning shaft B313 rotates, positioning bracket B314 rotates, causing hemispherical drive cover 327, adjusting plate 328, and identification module 329 to rotate accordingly, completing the pitch motion. When motor B320 starts, its output shaft drives gear C322 to rotate, gear C322 drives gear D323 to rotate, and gear D323 drives positioning shaft C324 to rotate along positioning bracket B314. When gear D323 rotates, it drives hemispherical drive cover 327 to rotate through positioning shaft C324 and positioning shaft D325. The moving cover plate 327 drives the adjusting plate 328 and the recognition module 329 to move left and right. The spherical mechanism in the second drive device 3 serves as a primary coarse tracking system, responsible for large-scale and rapid directional adjustments. Its purpose is to move the target roughly to the center of the field of view in the shortest possible time and bring it into the narrow field of view (FOV) range of the precision vision camera installed in the recognition module 329 on the moving platform. The gear set provides high torque transmission to ensure the stable movement of the gimbal under load. When the target enters the field of view of the precision vision camera, the system performs "target handover".A precision vision camera captures target images at higher resolution and provides sub-pixel-level accurate positioning information. Serving as the "eyes" of the secondary precision tracking system, it provides extremely high-precision target coordinates and feature information, laying the foundation for subsequent prediction and precision tracking. Running in the AI ​​processing unit, it receives high-precision, high-frequency target position sequences from the precision vision camera and integrates them with data from the motion platform's micro IMU304 for timestamp alignment and motion denoising. The algorithm, using Kalman filtering or a neural network model, estimates the target's real-time velocity, acceleration, and even jerk, and predicts its trajectory for the next 100-200ms. The micro IMU304 provides high-frequency body inertial data to compensate for disturbances caused by the gimbal's own motion, improving prediction accuracy. The main controller converts the predicted future spatial coordinates of the target into the six-degree-of-freedom pose (X, Y, Z, Roll, Pitch, Yaw) required by the parallel mechanism's motion platform. Then, through the real-time inverse kinematics algorithm of the parallel mechanism, it calculates the precise length displacement required by the three linear motors. The main controller executes complex mathematical operations... In the operation, the linear motor 205, acting as the "muscle" of the secondary precision tracking system, receives commands and, with its millisecond-level response and micron-level positioning accuracy, directly drives the extension and retraction of the branch chain, enabling the entire moving platform and its load to achieve ultra-high acceleration precision movement, accurately moving to the predicted point "in advance." The high-precision grating ruler 206 built into each linear motor 205 provides real-time feedback on the actual displacement of the motor, forming an inner position closed loop. The micro IMU 304 monitors the actual acceleration and angular velocity of the moving platform in real time and compares them with the command values ​​given by the prediction algorithm, forming an outer attitude closed loop. Any deviation will be detected and corrected immediately, such as wind disturbance and vibration. The high-precision grating ruler 206 provides direct, delay-free absolute position feedback of the linear motor movement, ensuring execution accuracy. The micro IMU 304 provides the most realistic feedback on the body's motion state, used to suppress high-frequency jitter and achieve smooth and stable tracking. The precision vision camera in the recognition module 329 continuously provides target feedback. The prediction algorithm continuously updates and optimizes its prediction model online based on the tracking error, forming an adaptive closed loop of "observation-prediction-execution-feedback-correction." The spherical mechanism moves slowly during this period to ensure the target does not exceed its mechanical limits; the parallel mechanism is responsible for all the fast, high-frequency, and high-precision jitter compensation and tracking tasks. If the target is suddenly occluded or performs extreme maneuvers, the precision vision camera will lose the target. After the system fails to detect the target for several consecutive frames, it determines that the target has been lost and immediately initiates a reacquisition strategy. The prediction algorithm extrapolates the target motion vector at the last moment to generate the most probable search area. The spherical mechanism first drives the global vision camera to turn to this area for a large-scale search. Once the target is rediscovered, the workflow of the second drive device 3 is immediately repeated, starting a new round of "coarse tracking-fine tracking" process.

[0033] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the examples given above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present invention are also within the protection scope of the present invention.

Claims

1. An intelligent visual tracking gimbal for adaptive target motion tracking, characterized in that: It includes a support assembly (1), a first drive device (2), and a second drive device (3), both of which are connected to the support assembly (1).

2. The intelligent visual tracking gimbal for adaptive target motion tracking according to claim 1, characterized in that: The support assembly (1) includes a support base plate (101) and a triangular constraint base plate (102), wherein the support base plate (101) and the triangular constraint base plate (102) are fixedly connected.

3. The intelligent visual tracking gimbal for adaptive target motion tracking according to claim 1, characterized in that: The first driving device (2) includes a connecting flange A (201), a universal joint A (202), a connecting flange B (203), a fixing plate A (204), a linear motor (205), a high-precision grating ruler (206), a grating ruler connecting block (207), a grating ruler connecting bracket (208), a connecting screw (209), a universal joint B (210), and a connecting flange C (211). The connecting flange A (201) is rotatably connected to the universal joint A (202), the universal joint A (202) is rotatably connected to the connecting flange B (203), and the connecting flange B (203) is fixedly connected to the fixing plate A (204). Fixed plate A (204) is fixedly connected to linear motor (205), high-precision grating ruler (206) is fixedly connected to linear motor (205), high-precision grating ruler (206) is fixedly connected to grating ruler connecting block (207), grating ruler connecting block (207) is fixedly connected to grating ruler connecting bracket (208), grating ruler connecting bracket (208) is fixedly connected to the output shaft of linear motor (205), the output shaft of linear motor (205) is meshed with connecting screw (209), connecting screw (209) is rotatably connected to universal joint B (210), and universal joint B (210) is rotatably connected to connecting flange C (211).

4. The intelligent visual tracking gimbal for adaptive target motion tracking according to claim 1, characterized in that: The second drive device (3) includes a drive device connecting top ring (301), a fixing member A (302), a connecting plate (303), a miniature IMU (304), a heat sink (305), a fixing member B (306), a mounting bracket (307), a spherical rear bracket (308), a positioning bracket A (309), a fixing member C (310), a gear A (311), a positioning shaft A (312), a positioning shaft B (313), a positioning bracket B (314), a motor bracket A (315), a motor A (316), a fixing member D (317), a gear B (318), a motor bracket B (319), a motor B (320), a fixing member E (321), and a gear C (322). The components include gear D (323), positioning shaft C (324), positioning shaft D (325), positioning shaft E (326), hemispherical drive cover plate (327), adjustment plate (328), and identification module (329). The drive unit connecting top ring (301) is fixedly connected to the connecting plate (303) via fixing piece A (302). The connecting plate (303) is fixedly connected to the mounting bracket (307). The micro IMU (304) is fixedly connected to the mounting bracket (307). The heat sink (305) is fixedly connected to the connecting plate (303) via fixing piece B (306). The mounting bracket (307) and positioning bracket A (309) are both fixedly connected to the spherical rear bracket (308). The motor support... Frame A (315) and motor bracket B (319) are both fixedly connected to positioning bracket B (314). Motor A (316) is fixedly connected to motor bracket A (315) through fixing part D (317). The output shaft of motor A (316) is fixedly connected to gear B (318). Gear B (318) meshes with gear A (311). Gear A (311) is fixedly connected to positioning bracket A (309) through fixing part C (310). Positioning shaft A (312) and positioning shaft B (313) are both fixedly connected to positioning bracket B (314). Positioning shaft A (312) and positioning shaft B (313) are rotatably connected to positioning bracket A (309). Motor B (320) is fixedly connected to positioning bracket B (309) through fixing part D (317). Part E (321) is fixedly connected to motor bracket B (319). The output shaft of motor B (320) is fixedly connected to gear C (322). Gear C (322) meshes with gear D (323). Gear D (323) is fixedly connected to positioning shaft C (324) and positioning shaft D (325). Positioning shaft C (324) and positioning shaft E (326) are rotatably connected to positioning bracket B (314). Positioning shaft C (324), positioning shaft D (325), and positioning shaft E (326) are all fixedly connected to hemispherical drive cover plate (327). Hemispherical drive cover plate (327) is fixedly connected to adjustment plate (328). Adjustment plate (328) is fixedly connected to identification module (329).

Images