A self-stabilizing holder AI camera and fuselage integrated device and method for a quadruped robot
By using a multi-level parallel support mechanism and a linkage control mechanism, the vibration of the quadruped robot is monitored and processed, which solves the problem of camera image jitter and achieves high-precision image acquisition and improved equipment stability.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SUZHOU HAOYU INTELLIGENT TECH CO LTD
- Filing Date
- 2026-04-03
- Publication Date
- 2026-05-29
AI Technical Summary
Existing quadruped robots combined with gimbals are prone to camera shake and blurring when subjected to severe impacts or complex vibrations, affecting shooting accuracy.
It adopts a multi-level parallel support mechanism and linkage control mechanism, including a primary force component, a secondary force component and a linkage control mechanism. By monitoring the robot's vibration frequency and amplitude, it automatically absorbs or suppresses vibrations of different frequencies and amplitudes. In conjunction with an AI camera, it performs reverse compensation motion to achieve filtering of high-frequency micro-vibrations and low-frequency large-amplitude swaying.
It effectively reduces camera image shake, improves shooting quality and accuracy, ensures high-precision image acquisition in complex vibration environments, extends equipment lifespan, and reduces maintenance costs.
Smart Images
Figure CN122107246A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of intelligent robot technology, specifically to a self-stabilizing gimbal AI camera and body integration device and method for quadruped robots. Background Technology
[0002] Quadruped robots, due to their flexible movement capabilities, are widely used in dynamic scenarios such as inspection, search and rescue, and special operations. The cameras they carry serve as the core of visual perception, and the stability and clarity of image acquisition are extremely important. Correspondingly, the integrated vibration reduction technology of the self-stabilizing gimbal and the body has become a research focus in this field.
[0003] Existing quadruped robot gimbal-mounted devices often employ simple mechanical shock absorption designs, which can only filter some high-frequency vibrations. When faced with the severe impacts generated by the quadruped robot running or jumping, or when subjected to more complex vibration frequencies, the performance of the camera mounted on the gimbal will be reduced. Furthermore, the rigid connection between the gimbal and the quadruped robot can easily cause camera shake, resulting in "rolling shutter effect" or blurry images, affecting the accuracy of the captured footage.
[0004] Based on this, the present invention designs a self-stabilizing gimbal AI camera and body integration device and method for quadruped robots to solve the above problems. Summary of the Invention
[0005] In view of the above-mentioned shortcomings of the existing technology, the present invention provides a self-stabilizing gimbal AI camera and body integration device and method for quadruped robots.
[0006] To achieve the above objectives, the present invention provides the following technical solution: A self-stabilizing gimbal AI camera and body integration device for quadruped robots includes a quadruped robot body, as well as a multi-level parallel support mechanism, a linkage control mechanism and an AI camera; A multi-stage parallel support mechanism for filtering high-frequency micro-vibrations of the lifting device is installed on the upper part of the quadruped robot body. The multi-level parallel support mechanism includes a primary force component and a secondary force component; the primary force component is installed on the upper part of the quadruped robot body; the secondary force component is connected to the primary force component. The linkage control mechanism used to enhance the device's ability to filter low-frequency, large-amplitude oscillations is connected to the primary force component and the secondary force component. The AI camera is connected to the linkage control mechanism; Furthermore, the primary force-shaping components include a body mounting plate, vertical shock-absorbing balls, and a balancing shock-absorbing plate; the body mounting plate can be detachably installed on the upper part of the quadruped robot body; Multiple vertical damping balls are arranged in a circular array on the upper end of the fuselage mounting plate; and the upper and lower ends of the vertical damping balls are fixedly connected to the lower end of the balance damping plate and the upper end of the fuselage mounting plate, respectively; the balance damping plate is connected to the secondary force component; Furthermore, the vertical damping ball is narrow in the middle and wide on both sides; multiple damping grooves are formed in the middle of the vertical damping ball along the height direction; Furthermore, the secondary force-shaping components include a gimbal mounting plate, a diagonal damping component, and a buffer support component; multiple sets of buffer support components are installed in a rectangular array between the balance damping plate and the gimbal mounting plate; two sets of diagonal damping components are distributed diagonally between the balance damping plate and the gimbal mounting plate. Furthermore, the inclined damping assembly includes support rods and inclined damping balls; support rods are fixedly installed at the upper end of the balance damping plate and the lower end of the gimbal mounting plate; the upper and lower ends of the inclined damping balls are fixedly connected to the upper and lower support rods respectively. Furthermore, the tilted shock-absorbing ball is tilted; Furthermore, the buffer support assembly includes a limiting cylinder and a torsion spring; the upper end of the balance damping plate and the lower end of the gimbal mounting plate are both fixedly installed with limiting cylinders; the upper and lower ends of the torsion spring are fixedly connected to the upper and lower limiting cylinders. The balance damping plate and the gimbal mounting plate are connected to the linkage control mechanism; Furthermore, the linkage control mechanism includes an IMU sensor, an MCU central control board, an MCU central control board power supply, a servo gimbal, and a servo power supply; the IMU sensor is fixedly installed at the lower end of the gimbal mounting plate; and the installation position of the IMU sensor is close to the center of mass of the servo gimbal. The MCU central control board and MCU central control board power supply are fixedly installed at the lower end of the balance damping plate; The servo gimbal is fixedly mounted on the upper end of the balance damping plate; the servo power supply is fixedly mounted on the outer shell of the servo gimbal. The MCU central control board power supply is electrically connected to the MCU central control board; The MCU central control board communicates with the IMU sensor; The MCU central control board is connected to the servo motor gimbal for communication; the servo motor power supply is connected to the servo motor gimbal for electrical connection. The AI camera can be detachably mounted on the movable end of the servo gimbal; To better achieve the objectives of this invention, the present invention also provides a method for using a self-stabilizing gimbal AI camera integrated with the body of a quadruped robot, comprising the following steps: Step 1: When the device is working normally, the linkage control mechanism can monitor the acceleration, angular velocity and direction of the quadruped robot body during the movement process, and calculate the current body posture and position change of the AI camera through the algorithm, and determine the vibration frequency and amplitude generated by the current quadruped robot body. Step 2: If the data detected by the linkage control mechanism is high-frequency micro-vibration, the first-level force component will automatically absorb the vertical impact and high-frequency vibration generated by the quadruped robot body when going up or down stairs or landing; Step 3: If the data detected by the linkage control mechanism is low-frequency large-amplitude vibration, the secondary force component will automatically suppress the horizontal swaying and torsional torque generated during the movement of the quadruped robot body; Step 4: If neither the primary force component nor the secondary force component can eliminate the low-frequency, large-amplitude displacement generated during the operation of the quadruped robot through its own mechanical structure, the linkage control mechanism will control the AI camera to perform reverse compensation motion through the algorithm, thereby achieving microsecond-level attitude correction of the AI camera.
[0007] Compared with the prior art, the beneficial effects of this invention are as follows: 1. When the device is working normally, the linkage control mechanism can monitor the acceleration, angular velocity and direction of the quadruped robot body during the movement process, and calculate the current body posture and position change of the AI camera through the algorithm, and determine the vibration frequency and amplitude generated by the current quadruped robot body; thereby ensuring that the subsequent first-level force component, second-level force component and linkage control mechanism can classify and reduce the vibration generated by the quadruped robot body; 2. If the linkage control mechanism detects high-frequency micro-vibrations, the primary force component will automatically absorb the vertical impact and high-frequency vibrations generated by the quadruped robot when moving up or down stairs or landing, thereby reducing the probability of the AI camera producing a "jelly effect" during operation, preventing the AI camera's footage from jumping up and down, and improving the AI camera's shooting quality. If the linkage control mechanism detects low-frequency large-amplitude vibrations, the secondary force component will automatically suppress the horizontal swaying and torsional torque generated by the quadruped robot during movement, reducing the impact of the quadruped robot's motion inertia during starting or braking on the AI camera's shooting, thereby preventing the AI camera from shaking and causing image loss, further improving the AI camera's shooting quality. By linking the primary and secondary force components, the stiffness is decoupled, ensuring the structural strength of the device while reducing the overall stiffness of the device, improving the device's ability to filter instantaneous impacts and complex vibration frequencies, thus ensuring that the AI camera's footage does not shake violently, meeting the device's requirement for high-precision image acquisition, and improving the device's practicality. 3. When neither the primary nor secondary force components can eliminate the low-frequency, large-amplitude displacement generated during the operation of the quadruped robot through their own mechanical structures, the linkage control mechanism will control the AI camera to perform reverse compensation motion through algorithms. This achieves microsecond-level attitude correction of the AI camera, ensuring that the linkage control mechanism can dynamically adjust the attitude of the AI camera according to the vibration frequency and amplitude currently generated by the quadruped robot, further improving the device's filtering capability for complex vibration frequencies. Furthermore, since the linkage control mechanism is installed on the primary and secondary force components, it can also use the weight of its own components as a counterweight for the primary and secondary force components, thereby optimizing the center of mass position of the primary and secondary force components and further improving the device's anti-interference capability. Attached Figure Description
[0008] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.
[0009] Figure 1 This is a perspective view of a self-stabilizing gimbal AI camera and body integration device for a quadruped robot according to the present invention; Figure 2 This is a front view of a self-stabilizing gimbal AI camera and body integration device for a quadruped robot according to the present invention; Figure 3 This is a right view of a self-stabilizing gimbal AI camera and body integration device for a quadruped robot according to the present invention; Figure 4 Three-dimensional multi-level parallel support mechanism and linkage control mechanism Figure 1 ; Figure 5 Three-dimensional multi-level parallel support mechanism and linkage control mechanism Figure 2 ; Figure 6 A three-dimensional view of a vertical shock-absorbing sphere with a portion cut away; Figure 7 A partial 3D view of a multi-stage parallel support mechanism; Figure 8 This is a schematic diagram of the linkage control mechanism.
[0010] The labels in the diagram represent: 1. Quadruped robot body; 2. Multi-level parallel support mechanism; 21. Body mounting plate; 22. Vertical shock-absorbing ball; 221. Vibration damping groove; 23. Balance shock-absorbing plate; 24. Gimbal mounting plate; 25. Support rod; 26. Tilt shock-absorbing ball; 27. Limiting cylinder; 28. Torsional compression spring; 3. Linkage control mechanism; 31. IMU sensor; 32. MCU central control board; 33. MCU central control board power supply; 34. Servo gimbal; 35. Servo power supply; 4. AI camera. Detailed Implementation
[0011] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.
[0012] The terms "left," "right," "front," "back," "up," and "down" used in the following description refer to the orientation from the perspective of the front view.
[0013] Example 1: In some embodiments, please refer to the accompanying drawings. Figures 1-8 A self-stabilizing gimbal AI camera and body integration device for quadruped robots includes a quadruped robot body 1, and also includes a multi-level parallel support mechanism 2, a linkage control mechanism 3 and an AI camera 4. A multi-stage parallel support mechanism 2, used to enhance the high-frequency micro-vibration filtering capability of the lifting device, is installed on the upper end of the quadruped robot body 1. The multi-level parallel support mechanism 2 includes a primary force component and a secondary force component; the primary force component is installed on the upper end of the quadruped robot body 1; the secondary force component is connected to the primary force component; The linkage control mechanism 3, used to enhance the device's ability to filter low-frequency, large-amplitude oscillations, is connected to the primary force component and the secondary force component. AI camera 4 is connected to linkage control mechanism 3; In this invention, when the device is working normally, the linkage control mechanism 3 can monitor the acceleration, angular velocity and direction of the quadruped robot body 1 during the movement process, and calculate the current body posture and position change of the AI camera 4 through the algorithm, and determine the vibration frequency and amplitude generated by the quadruped robot body 1; thereby ensuring that the subsequent first-level force component, second-level force component and linkage control mechanism 3 can classify and reduce the vibration generated by the quadruped robot body 1. If the data detected by the linkage control mechanism 3 is high-frequency micro-vibration, the first-level force component will automatically absorb the vertical (Z-axis) impact and high-frequency vibration generated by the quadruped robot body 1 when going up and down stairs or landing, thereby reducing the probability of the AI camera 4 producing "jelly effect" during operation, avoiding the vertical jumping of the image captured by the AI camera 4, and improving the shooting quality of the AI camera 4. If the data detected by the linkage control mechanism 3 is low-frequency large-amplitude vibration, the secondary force component will automatically suppress the horizontal (X-axis or Y-axis) sway and torsional torque generated during the movement of the quadruped robot body 1, reduce the impact of the motion inertia generated by the quadruped robot body 1 when starting or braking on the shooting of the AI camera 4, thereby avoiding the loss of the image caused by the shaking of the AI camera 4, and further improving the shooting quality of the AI camera 4. By decoupling the stiffness through the coordinated operation of the primary and secondary force components, the overall stiffness of the device is reduced while ensuring the structural strength of the device. This improves the device's ability to filter instantaneous impact forces and complex vibration frequencies, thereby ensuring that the footage captured by the AI camera 4 will not experience severe shaking. This meets the device's requirement for high-precision image acquisition and enhances the device's practicality. When neither the primary force component nor the secondary force component can eliminate the low-frequency large-amplitude displacement generated during the operation of the quadruped robot body 1 through its own mechanical structure, the linkage control mechanism 3 will control the AI camera 4 to perform reverse compensation movement through the algorithm, thereby achieving microsecond-level posture correction of the AI camera 4. This ensures that the linkage control mechanism 3 can dynamically adjust the posture of the AI camera 4 according to the vibration frequency and amplitude currently generated by the quadruped robot body 1, further improving the device's ability to filter complex vibration frequencies. Furthermore, since the linkage control mechanism 3 is installed on the primary force component and the secondary force component, it can also use the weight of its own component as a counterweight for the primary force component and the secondary force component, thereby optimizing the center of mass position of the primary force component and the secondary force component and further improving the anti-interference capability of the device.
[0014] The primary force component includes a body mounting plate 21, a vertical shock-absorbing ball 22, and a balancing shock-absorbing plate 23; the body mounting plate 21 is detachably mounted on the upper end of the quadruped robot body 1; Multiple vertical damping balls 22 are arranged in a circular array on the upper end of the fuselage mounting plate 21; and the upper and lower ends of the vertical damping balls 22 are fixedly connected to the lower end of the balance damping plate 23 and the upper end of the fuselage mounting plate 21, respectively. The vertical damping ball 22 is narrow in the middle and wider on the top and bottom sides; multiple damping grooves 221 are provided in the middle of the vertical damping ball 22 along the height direction; The vertical shock-absorbing ball 22 is made of high-elasticity silicone or high-damping rubber. The balancing damping plate 23 is connected to the secondary force component assembly; The secondary force component includes a gimbal mounting plate 24, a diagonal damping component, and a buffer support component; multiple sets of buffer support components are installed in a rectangular array between the balance damping plate 23 and the gimbal mounting plate 24; two sets of diagonal damping components are distributed diagonally between the balance damping plate 23 and the gimbal mounting plate 24. The inclined damping assembly includes a support rod 25 and an inclined damping ball 26; the upper end of the balance damping plate 23 and the lower end of the gimbal mounting plate 24 are both fixedly installed with the support rod 25; the upper and lower ends of the inclined damping ball 26 are respectively fixedly connected to the upper and lower support rods 25. The tilted shock-absorbing ball 26 is tilted at a 45-degree angle. The inclined damping ball 26 also has a damping groove 221 in the middle; the inclined damping ball 26 is also made of high elastic silicone or high damping rubber. The buffer support assembly includes a limiting cylinder 27 and a torsion spring 28; the upper end of the balance damping plate 23 and the lower end of the gimbal mounting plate 24 are both fixedly installed with limiting cylinders 27; the upper and lower ends of the torsion spring 28 are fixedly connected to the upper and lower limiting cylinders 27. The balance damping plate 23 and the gimbal mounting plate 24 are connected to the linkage control mechanism 3; In this invention, when the device is working normally, the linkage control mechanism 3 can monitor the acceleration, angular velocity and direction of the quadruped robot body 1 during the movement process, and calculate the current body posture and position change of the AI camera 4 through the algorithm, and determine the vibration frequency and amplitude generated by the quadruped robot body 1. If the data detected by the linkage control mechanism 3 is high-frequency micro-vibration, since the cross-sectional size of the middle connecting part of the vertical damping ball 22 is smaller than that of the upper and lower ends, the mass of the middle part of the vertical damping ball 22 is reduced, avoiding the coupling of the natural frequency of the second mode with the frequency of the body vibration, thereby preventing the "jelly effect" from appearing in the image captured by the AI camera 4. In addition, the damping groove 221 opened in the middle of the vertical damping ball 22 will also absorb the vertical impact force transmitted by the quadruped robot body 1 itself, preventing the image captured by the AI camera 4 from jumping up and down, and improving the shooting quality of the AI camera 4. If the data detected by the linkage control mechanism 3 is low-frequency large-amplitude vibration, the tilted damping ball 26 will suppress the horizontal and torsional vibration of the quadruped robot body 1; while the torsional compression spring 28 mainly bears the gravity load and absorbs the impact energy, reducing the probability of hardware damage to the AI camera 4, thereby extending the service life of the equipment and reducing the maintenance cost of the device. By linking and coordinating the vertical damping ball 22, the tilting damping ball 26 and the torsional compression spring 28, the stiffness is decoupled. While ensuring the structural strength of the device, the overall stiffness of the device is reduced, and the device's ability to filter instantaneous impact forces and complex vibration frequencies is improved. This ensures that the images captured by the AI camera 4 will not shake violently, thus meeting the device's requirement for high-precision image acquisition and improving the device's practicality. The linkage control mechanism 3 includes an IMU sensor 31, an MCU central control board 32, an MCU central control board power supply 33, a servo gimbal 34, and a servo power supply 35; the IMU sensor 31 is fixedly installed at the lower end of the gimbal mounting plate 24; and the installation position of the IMU sensor 31 is close to the center of mass of the servo gimbal 34. The MCU central control board 32 and the MCU central control board power supply 33 are fixedly installed at the lower end of the balance damping plate 23; The servo gimbal 34 is fixedly mounted on the upper end of the balance damping plate 23; the servo power supply 35 is fixedly mounted on the outer shell of the servo gimbal 34. The MCU central control board power supply 33 is electrically connected to the MCU central control board 32; The MCU central control board 32 is connected to the IMU sensor 31 for communication. The MCU central control board 32 is communicatively connected to the servo gimbal 34; the servo power supply 35 is electrically connected to the servo gimbal 34. The AI camera 4 can be detachably mounted on the movable end of the servo gimbal 34; The MCU central control board 32 is equipped with a PID algorithm for driving the servo gimbal 34 to perform reverse compensation motion. In this invention, when the device is working normally, the IMU sensor 31 can monitor the acceleration, angular velocity and direction of the quadruped robot body 1 during the movement process, and calculate the current body posture and position change of the AI camera 4 through the algorithm, and determine the vibration frequency and amplitude generated by the current quadruped robot body 1. Furthermore, because the IMU sensor 31 is installed close to the center of mass of the gimbal mounting plate 24, it ensures that the IMU sensor 31 can acquire more accurate vibration data. If the vertical damping ball 22, the tilting damping ball 26, and the torsional compression spring 28 cannot eliminate the low-frequency large-amplitude displacement generated during the operation of the quadruped robot body 1 through their own structure, the IMU sensor 31 will send a signal to the MCU central control board 32. Subsequently, the MCU central control board 32 runs the built-in PID algorithm to drive the servo gimbal 34 to perform reverse compensation movement, and performs microsecond-level attitude correction on the AI camera 4. This ensures that the servo gimbal 34 can dynamically adjust the attitude of the AI camera 4 according to the vibration frequency and amplitude generated by the quadruped robot body 1, further improving the device's ability to filter complex vibration frequencies. Furthermore, since the MCU central control board 32 and the MCU central control board power supply 33 are installed at the lower end of the balance damping plate 23, the device can utilize the weight of the MCU central control board 32 and the MCU central control board power supply 33 as the counterweight of the first-level force component and the second-level force component, thereby optimizing the overall center of gravity position of the first-level force component and the second-level force component and further improving the anti-interference capability of the device.
[0015] Example 2: In some embodiments, such as Figures 1-8 As shown, in a preferred embodiment of the present invention, a method for using a self-stabilizing gimbal AI camera integrated with a body for a quadruped robot includes the following steps: Step 1: When the device is working normally, the linkage control mechanism 3 can monitor the acceleration, angular velocity and direction of the quadruped robot body 1 during the movement process, and calculate the current body posture and position change of the AI camera 4 through the algorithm, and determine the vibration frequency and amplitude generated by the quadruped robot body 1. Step 2: If the data detected by the linkage control mechanism 3 is high-frequency micro-vibration, the first-level force component will automatically absorb the vertical impact and high-frequency vibration generated by the quadruped robot body 1 when it goes up or down stairs or lands. Step 3: If the data detected by the linkage control mechanism 3 is low-frequency large-amplitude vibration, the secondary force component will automatically suppress the horizontal swaying and torsional torque generated during the movement of the quadruped robot body 1; Step 4: If neither the primary force component nor the secondary force component can eliminate the low-frequency large-amplitude displacement generated during the operation of the quadruped robot body 1 through its own mechanical structure, the linkage control mechanism 3 will control the AI camera 4 to perform reverse compensation motion through the algorithm, so as to achieve microsecond-level attitude correction of the AI camera 4.
[0016] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims
1. A self-stabilizing gimbal AI camera and body integration device for a quadruped robot, comprising a quadruped robot body (1), characterized in that: It also includes a multi-level parallel support mechanism (2), a linkage control mechanism (3), and an AI camera (4); A multi-stage parallel support mechanism (2) for filtering high-frequency micro-vibrations of the lifting device is installed on the upper end of the quadruped robot body (1); The multi-level parallel support mechanism (2) includes a primary force component and a secondary force component; the primary force component is installed on the upper end of the quadruped robot body (1); the secondary force component is connected to the primary force component; The linkage control mechanism (3) used to enhance the device’s ability to filter low-frequency large-amplitude shaking is connected to the primary force component and the secondary force component. The AI camera (4) is connected to the linkage control mechanism (3).
2. The self-stabilizing gimbal AI camera and body integration device for a quadruped robot according to claim 1, characterized in that, The primary force component includes a body mounting plate (21), a vertical shock-absorbing ball (22), and a balance shock-absorbing plate (23); the body mounting plate (21) is detachably mounted on the upper end of the quadruped robot body (1); Multiple vertical damping balls (22) are arranged in a circular array on the upper end of the fuselage mounting plate (21); and the upper and lower ends of the vertical damping balls (22) are fixedly connected to the lower end of the balance damping plate (23) and the upper end of the fuselage mounting plate (21), respectively; the balance damping plate (23) is connected to the secondary force component.
3. The self-stabilizing gimbal AI camera and body integration device for a quadruped robot according to claim 2, characterized in that, The vertical damping ball (22) is narrow in the middle and wide on the top and bottom sides; multiple damping grooves (221) are provided in the middle of the vertical damping ball (22) along the height direction.
4. The self-stabilizing gimbal AI camera and body integration device for a quadruped robot according to claim 3, characterized in that, The secondary force component includes a gimbal mounting plate (24), a diagonal damping component, and a buffer support component; multiple buffer support components are installed in a rectangular array between the balance damping plate (23) and the gimbal mounting plate (24); two diagonal damping components are distributed diagonally between the balance damping plate (23) and the gimbal mounting plate (24).
5. The self-stabilizing gimbal AI camera and body integration device for a quadruped robot according to claim 4, characterized in that, The inclined damping assembly includes a support rod (25) and an inclined damping ball (26); the upper end of the balance damping plate (23) and the lower end of the gimbal mounting plate (24) are both fixedly installed with support rods (25); the upper and lower ends of the inclined damping ball (26) are fixedly connected to the upper and lower support rods (25) respectively.
6. The self-stabilizing gimbal AI camera and body integration device for a quadruped robot according to claim 5, characterized in that, The tilted shock absorber ball (26) is tilted.
7. The self-stabilizing gimbal AI camera and body integration device for a quadruped robot according to claim 5, characterized in that, The buffer support assembly includes a limiting cylinder (27) and a torsion spring (28); the upper end of the balance damping plate (23) and the lower end of the gimbal mounting plate (24) are both fixedly installed with limiting cylinders (27); the upper and lower ends of the torsion spring (28) are fixedly connected to the upper and lower limiting cylinders (27); The balance damping plate (23) and the gimbal mounting plate (24) are connected to the linkage control mechanism (3).
8. The self-stabilizing gimbal AI camera and body integration device for a quadruped robot according to claim 7, characterized in that, The linkage control mechanism (3) includes an IMU sensor (31), an MCU central control board (32), an MCU central control board power supply (33), a servo gimbal (34), and a servo power supply (35); the IMU sensor (31) is fixedly installed at the lower end of the gimbal mounting plate (24); and the installation position of the IMU sensor (31) is close to the center of mass of the servo gimbal (34); The MCU central control board (32) and the MCU central control board power supply (33) are fixedly installed at the lower end of the balance damping plate (23); The servo gimbal (34) is fixedly installed on the upper end of the balance damping plate (23); the servo power supply (35) is fixedly installed on the outer shell of the servo gimbal (34); The MCU central control board power supply (33) is electrically connected to the MCU central control board (32); The MCU central control board (32) is connected to the IMU sensor (31) for communication; The MCU central control board (32) is communicatively connected to the servo gimbal (34); the servo power supply (35) is electrically connected to the servo gimbal (34); The AI camera (4) is detachably mounted on the movable end of the servo gimbal (34).
9. A method of use, utilizing the self-stabilizing gimbal AI camera and body integration device for a quadruped robot as described in claim 1, characterized in that, Includes the following steps: Step 1: When the device is working normally, the linkage control mechanism (3) can monitor the acceleration, angular velocity and direction of the quadruped robot body (1) during the movement process, and calculate the current body position and position change of the AI camera (4) through the algorithm, and determine the vibration frequency and amplitude generated by the current quadruped robot body (1); Step 2: If the data detected by the linkage control mechanism (3) is high-frequency micro-vibration, the first-level force component will automatically absorb the vertical impact and high-frequency vibration generated by the quadruped robot body (1) when going up or down stairs or landing; Step 3: If the data detected by the linkage control mechanism (3) is low-frequency large-amplitude vibration, the secondary force component will automatically suppress the horizontal swaying and torsional torque generated during the movement of the quadruped robot body (1); Step 4: If neither the primary force component nor the secondary force component can eliminate the low-frequency large displacement generated during the operation of the quadruped robot body (1) through its own mechanical structure, the linkage control mechanism (3) will control the AI camera (4) to perform reverse compensation motion through the algorithm, thereby achieving microsecond-level posture correction of the AI camera (4).