Autonomous tracking type robot

Abstract

The utility model relates to the technical field of robots, in particular to an autonomous tracking type robot which comprises a frame, the frame is of a U-shaped structure and arranged on the upper side of a driving mechanism, a top plate is fixedly arranged at the top of the frame, a top layer mechanism is arranged on the upper side of the top plate, a tracking follow-up mechanism is arranged on the upper side of the top layer mechanism, and a back plate is installed at the left end of the frame through bolts. A display mechanism is arranged on the right side in the frame, an embedded system module is arranged on the left side of the display mechanism, and a single-chip microcomputer is installed on the upper side of the embedded system module through a fixing platform. According to the utility model, a simple physical linkage mechanism and basic control logic are utilized to improve the motion coordination ability of the camera and the display screen, the target can be autonomously tracked, the operation simplicity can be improved, the high precision and low delay of motion can be ensured, and the interaction experience of a user can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to an autonomous tracking robot. Background Art

[0002] With the continuous advancement of science and technology, robots are increasingly used in various fields. However, existing robot vision systems often find it difficult to maintain high-speed and high-precision camera tracking without the support of complex software, especially when the images captured by the camera are fed back in real time on a synchronous display screen. The reaction speed of such systems is often insufficient. In addition, current robot systems may have errors in repetitive motion, resulting in inconsistent image quality and poor synchronization in high-dynamic scenes, which affects the ability to capture critical moments. At the same time, the hardware-level linkage and synchronization control design are complex, requiring precision mechanical components and precise time control, which means high costs and technical challenges. Synchronous control also requires precise sensing and feedback mechanisms, which usually involve advanced sensors and control algorithms, increasing the complexity of the system. Moreover, when tracking a target, the robot often requires manual control or a preset tracking path, and cannot achieve autonomous tracking, which not only limits the scope of application of the robot, but also increases the difficulty and cost of operation. Therefore, developing a robot that can autonomously track targets using a physical linkage mechanism, effectively reduce costs, simplify the system, and maintain high performance is of great significance to improving the intelligence level and application of robots. Utility Model Content

[0003] In view of the existing deficiencies, the utility model provides an autonomous tracking robot which solves the problems raised by the above-mentioned background technology. The utility model utilizes a simple physical linkage mechanism and basic control logic to improve the coordinated movement ability of the camera and the display screen. It can autonomously track the target and can ensure high precision and low latency of the movement while improving the ease of operation, thereby enhancing the user's interactive experience.

[0004] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0005] An autonomous tracking robot comprises a frame, wherein the frame is in a U-shaped structure and is arranged on the upper side of a driving mechanism, a top plate is fixedly provided on the top of the frame, a top-level mechanism is provided on the upper side of the top plate, a tracking follower mechanism is provided on the upper side of the top-level mechanism, a back plate is installed at the left end of the frame by bolts, a display mechanism is provided on the right side of the frame, an embedded system module is provided on the left side of the display mechanism, and a single-chip microcomputer is installed on the upper side of the embedded system module through a fixed platform.

[0006] Furthermore, the driving mechanism includes a frame, a chassis, a lithium battery, a battery compartment, a DC brushless motor and omnidirectional wheels. The chassis is arranged on the lower side of the frame, and frames are fixed on the front and rear sides of the chassis. Two sets of omnidirectional wheels are installed on each set of the frames. The omnidirectional wheels are driven by a DC brushless motor. A battery compartment is arranged on the upper side of the chassis, and a lithium battery is installed inside the battery compartment. The lithium battery is electrically connected to the DC brushless motor through a cable.

[0007] Furthermore, the tracking follow-up mechanism includes a telescopic clamp, a camera, a No. 1 servo, a No. 2 servo and a fixed seat, the fixed seat is installed on the top mechanism by screws, the No. 2 servo for vertical rotation is equipped inside the fixed seat, the No. 1 servo for horizontal rotation is fixed on the upper side of the No. 2 servo, an adjustable telescopic clamp is fixed on the output end of the No. 1 servo, and the camera is clamped on the front side of the telescopic clamp.

[0008] Furthermore, the top-level structure includes an antenna, a protective box, a laser radar, an IMU module and a servo fixing position. The protective box is fixedly installed on the top plate, an antenna is arranged on the left side of the protective box, an IMU module is arranged inside the protective box, a laser radar is arranged on the top plate on the front side of the protective box, and a servo fixing position is arranged in the protective box on the left side of the laser radar for installing a servo to drive the laser radar.

[0009] Furthermore, the display mechanism includes a telescopic adjustment component, a screen bracket, a display screen, a No. 3 servo, a connecting bracket and a No. 4 servo, the screen bracket is arranged on the right side inside the frame, the display screen is arranged at intervals on the right side of the screen bracket, the front and rear sides of the back side of the screen bracket are respectively connected to the frame through a telescopic adjustment component, the back side of the screen bracket is equipped with a No. 4 servo, the No. 3 servo is arranged on the upper side of the No. 4 servo and is fixedly connected to the output end of the No. 4 servo, the output end of the No. 3 servo is fixedly connected to a connecting bracket, and the connecting bracket is connected to the display screen.

[0010] Furthermore, the telescopic adjustment assembly is composed of guide rails, sliders, cross-type connecting rods, articulated bottom supports and hinged heads. The guide rails are provided with two groups, one group is assembled at the back edge of the screen bracket, and the bottom of the other group is fixedly connected to the frame through a hinged bottom support. Both groups of the guide rails are equipped with sliders, and cross-type connecting rods are provided between the two groups of guide rails. The upper ends of the cross-type connecting rods are respectively rotatably connected to the two groups of sliders, and one side of the lower ends is rotatably connected to the articulated bottom support, and the other side is rotatably connected to the screen bracket through a hinged head.

[0011] Furthermore, the embedded system module adopts Jetson AGX Xavier, and the single-chip microcomputer model is STM32F104RCT6.

[0012] Furthermore, a partition is vertically installed inside the frame, and the partition separates the display mechanism from the embedded system module.

[0013] Furthermore, the frame, top plate and back plate are provided with a plurality of through holes and through slots. The through holes are used for heat dissipation of internal components and installation of expansion components, and the through slots are used for connection between components.

[0014] Furthermore, fan-shaped platforms with porous structures are provided on both the front and rear sides of the frame.

[0015] Compared with the prior art, the utility model has the following beneficial effects:

[0016] 1. The utility model utilizes a simple physical linkage mechanism and basic control logic to improve the coordinated movement capabilities of the camera and display screen, can autonomously track targets, and can ensure high precision and low latency of movement while improving ease of operation, thereby enhancing the user's interactive experience, effectively reducing costs, simplifying the system, and maintaining high performance.

[0017] 2. The utility model adopts an integrated two-dimensional servo gimbal structure, which not only supports all-round rotation up, down, left and right, but also can be flexibly adjusted according to different camera sizes, increasing the compatibility with cameras, providing higher adaptability and ease of use. At the same time, by controlling the position adjustment of the display screen through two sets of servos, the synchronous movement of the display screen and the camera can be achieved. This physical synchronization mechanism simplifies the process of complex software intervention required by the original robot system, improves the response speed and reliability, and realizes the high flexibility and linkage of the camera and display screen units.

[0018] 3. The utility model replaces part of the software processing process with a simplified physical mechanism, which significantly reduces the dependence on high-performance processors and reduces delays, thereby reducing costs and system complexity.

[0019] 4. The embedded system module uses Jetson AGX Xavier. As a powerful artificial intelligence computing platform, Jetson AGX Xavier processes image data from the camera and outputs control signals to the microcontroller and servo. The microcontroller model is STM32F104RCT6. STM32F104RCT6 is used as the control unit, which is located in the middle of the robot. Through electrical connection, it receives signals from upper and lower devices and performs corresponding control. The combination of JetsonAGX Xavier and STM32F104RCT6 can achieve efficient operation and flexible control of embedded systems. Jetson AGX Xavier is responsible for processing complex computing tasks such as deep learning and image processing, while STM32F104RCT6 is responsible for controlling peripherals and performing real-time tasks. This combination can give full play to the advantages of both and improve the overall performance of the embedded system. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0021] Figure 2 This is a schematic structural diagram of the utility model from another angle.

[0022] Figure 3 It is a front view of the utility model.

[0023] Figure 4 It is a structural schematic diagram of the tracking follower mechanism in the utility model.

[0024] Figure 5 This is a schematic structural diagram of the tracking follower mechanism in the utility model from another angle.

[0025] Figure 6 It is a structural schematic diagram of the top-level mechanism in the utility model.

[0026] Figure 7 It is a schematic diagram of the internal structure of the protection box in the utility model.

[0027] Figure 8 It is a schematic diagram of the internal structure of the frame in the utility model.

[0028] Fig. 9 It is a structural schematic diagram of the display mechanism in the utility model.

[0029] Fig.10 It is a schematic structural diagram of the display mechanism in the utility model from another angle.

[0030] Fig.11 It is a top view of the display mechanism in the utility model.

[0031] Fig.12It is a structural schematic diagram of the driving mechanism in the utility model.

[0032] In the figure: 1. Tracking follower mechanism; 11. Telescopic gripper; 12. Camera; 13. Servo No. 1; 14. Servo No. 2; 15. Fixing seat; 2. Top mechanism; 21. Antenna; 22. Protective box; 23. LiDAR; 24. IMU module; 25. Servo fixing position; 3. Top plate; 4. Frame; 41. Fan-shaped platform; 5. Display mechanism; 51. Telescopic adjustment component; 511. Guide rail; 512. Slider; 51 3. Cross-type connecting rod; 514. Articulated bottom support; 515. Articulated head; 52. Screen bracket; 53. Display screen; 54. Servo No. 3; 55. Connecting bracket; 56. Servo No. 4; 6. Driving mechanism; 61. Frame; 62. Chassis; 63. Lithium battery; 64. Battery compartment; 65. Brushless DC motor; 66. Omnidirectional wheel; 7. Back panel; 8. Single chip microcomputer; 81. Fixed platform; 82. Partition; 9. Embedded system module. DETAILED DESCRIPTION

[0033] The following will be combined with the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0034] Example:

[0035] like Figures 1 to 12 As shown, an autonomous tracking robot includes a frame 4, which is in a U-shaped structure and is arranged on the upper side of a driving mechanism 6. A top plate 3 is fixedly provided on the top of the frame 4, a top mechanism 2 is provided on the upper side of the top plate 3, a tracking follow-up mechanism 1 is provided on the upper side of the top mechanism 2, a back plate 7 is installed at the left end of the frame 4 by bolts, a display mechanism 5 is provided on the right side of the frame 4, an embedded system module 9 is provided on the left side of the display mechanism 5, and a single-chip computer 8 is installed on the upper side of the embedded system module 9 through a fixed platform 81. This design solves the problem that the existing robot vision system is often difficult to maintain high-speed and high-precision camera 12 tracking without the support of complex software, and cannot achieve autonomous tracking, which not only limits the application scope of the robot, but also increases the difficulty and cost of operation.

[0036] The driving mechanism 6 includes a frame 61, a chassis 62, a lithium battery 63, a battery compartment 64, a DC brushless motor 65 and an omnidirectional wheel 66. The chassis 62 is arranged on the lower side of the frame 4. The chassis 62 is fixed with a frame 61 on both the front and rear sides. Two sets of omnidirectional wheels 66 are installed on each set of frames 61. The omnidirectional wheels 66 are driven by a DC brushless motor 65. A battery compartment 64 is arranged on the upper side of the chassis 62. The battery compartment 64 is equipped with a lithium battery 63. The lithium battery 63 is electrically connected to the DC brushless motor 65 through a cable. The use of a DC brushless motor 65 to drive four omnidirectional wheels 66 allows the robot car to achieve omnidirectional movement, that is, the car can move forward, backward, sideways and diagonally at any angle, which greatly enhances the maneuverability. The unique design of the omnidirectional wheel 66 allows each wheel to be independently controlled, and with precise speed adjustment, complex motion trajectories and positioning can be achieved. The lithium battery 63 provides power for the entire system and is also part of the driving mechanism 6, ensuring the long-term operation capability of the robot car.

[0037] The tracking follow-up mechanism 1 includes a telescopic clamp 11, a camera 12, a No. 1 servo 13, a No. 2 servo 14 and a fixed seat 15. The fixed seat 15 is installed on the top mechanism 2 by screws. The No. 2 servo 14 for rotating in the vertical direction is installed inside the fixed seat 15. The No. 1 servo 13 for rotating in the horizontal direction is fixed on the upper side of the No. 2 servo 14. An adjustable telescopic clamp 11 is fixed on the output end of the No. 1 servo 13. The front side of the telescopic clamp 11 clamps the camera 12. Through the tracking follow-up mechanism 1, the camera 12 thereon can be horizontally rotated 180 degrees up and down, left and right, and pitched up and down. Such a structure allows the camera 12 to capture all-round images and realize wide-angle monitoring. At the same time, the servo is controlled by the single-chip microcomputer 8, so that the camera 12 can accurately track and keep the target in the center of the field of view, greatly improving the tracking effect. And the use of an adjustable telescopic clamp 11 can install cameras 12 of different sizes and dimensions, which improves the compatibility of the equipment. When the robot needs to track a target, the single chip microcomputer 8 sends a control signal to the first servo 13 and the second servo 14 according to the position information of the target. The first servo 13 controls the horizontal rotation of the camera 12, while the second servo 14 controls the vertical rotation of the camera 12. Through the coordinated work of the two servos, the camera 12 can accurately point to the target and achieve accurate tracking.

[0038] The top-level structure 2 includes an antenna 21, a protective box 22, a laser radar 23, an IMU module 24 and a servo fixing position 25. The protective box 22 is fixedly installed on the top plate 3. An antenna 21 is arranged on the left side of the protective box 22. The antenna 21 facilitates the robot to connect to the Internet, and the images obtained by the camera 12 can be uploaded to the cloud for monitoring and calculation. An IMU module 24 is arranged inside the protective box 22 for measuring and tracking the robot's motion state, including acceleration, angular velocity, etc., to provide important data for the robot's posture control and navigation positioning. A laser radar 23 is arranged on the top plate 3 on the front side of the protective box 22 for scanning the surrounding environment and obtaining information such as distance and shape to provide support for the robot's autonomous navigation, obstacle avoidance and other functions. A servo fixing position 25 is arranged in the protective box 22 on the left side of the laser radar 23 for installing a servo to drive the laser radar 23.

[0039] The display mechanism 5 includes a telescopic adjustment component 51, a screen bracket 52, a display screen 53, a third servo 54, a connecting bracket 55 and a fourth servo 56. The screen bracket 52 is arranged on the right side of the frame 4. The display screen 53 is arranged at intervals on the right side of the screen bracket 52. The back side of the screen bracket 52 is connected to the frame 4 through the telescopic adjustment component 51. The back side of the screen bracket 52 is equipped with a fourth servo 56. The third servo 54 is arranged on the upper side of the fourth servo 56 and is fixedly connected to the output end of the fourth servo 56. The output end of the third servo 54 is fixedly connected to the connecting bracket 55, and the connecting bracket 55 is connected to the display screen 53. The display mechanism 5 is set to display the picture captured by the camera 12 in real time, and the display screen 53 can be rotated up, down, left and right at the same time, so that the display screen 53 can rotate synchronously with the camera 12. When tracking the target, the display screen 53 is also aimed at the target, which is convenient for monitoring the viewing angle and state of the camera 12.

[0040] The telescopic adjustment assembly 51 is composed of a guide rail 511, a slider 512, a cross-type connecting rod 513, an articulated bottom support 514 and an articulated head 515. The guide rail 511 is provided with two groups, one group is mounted at the back edge of the screen bracket 52, and the bottom of the other group is fixedly connected to the frame 4 through the articulated bottom support 514. The two groups of guide rails 511 are both equipped with sliders 512. A cross-type connecting rod 513 is provided between the two groups of guide rails 511. The upper ends of the cross-type connecting rod 513 are respectively rotatably connected to the two groups of sliders 512, one end of the lower end is rotatably connected to the articulated bottom support 514, and the other end is rotatably connected to the screen bracket 52 through the articulated head 515. The telescopic adjustment assembly 51 can drive the display screen 53 to telescopically move forward and backward, and the display screen 53 can be manually pulled forward and pulled out of the frame 4 when in use. At the same time, the display screen 53 can be manually controlled to be retracted into the frame 4 when not in use, thereby reducing the volume of the trolley and increasing its portability.

[0041] The embedded system module 9 uses Jetson AGX Xavier. Jetson AGX Xavier is a powerful artificial intelligence computing platform that processes image data from the camera 12 and outputs control signals to the single-chip microcomputer 8 and the servo. The single-chip microcomputer 8 uses STM32F104RCT6 as the control unit, which is located in the middle of the robot. Through electrical connection, it receives signals from upper and lower devices and performs corresponding control. The combination of JetsonAGX Xavier and STM32F104RCT6 can achieve efficient operation and flexible control of the embedded system. Jetson AGX Xavier is responsible for processing complex computing tasks such as deep learning and image processing, while STM32F104RCT6 is responsible for controlling peripherals and performing real-time tasks. This combination can give full play to the advantages of both and improve the overall performance of the embedded system.

[0042] A partition 82 is vertically installed inside the frame 4. The partition 82 isolates the display mechanism 5 from the embedded system module 9, thereby preventing electromagnetic interference and physical interference between the two and ensuring that each can operate stably.

[0043] There are multiple sets of through holes and through slots inside the frame 4, the top plate 3 and the back plate 7. The through holes are used for heat dissipation of internal components and installation of extended components. The through holes allow air to circulate between the inside and outside of the device, which helps to dissipate heat. Especially for high-performance components, such as Jetson AGX Xavier and STM32F104RCT6, they will generate a lot of heat when working. Through the through holes, the heat can be effectively dissipated to the external environment to maintain the stable operation of the device. The through holes can also be used to install extended components, such as connectors, sensors, etc. These extended components can be fixed inside the device through the through holes, thereby increasing the functionality and flexibility of the device. The through slots are used for wiring between components to achieve data and signal transmission. The design of the through slots can ensure that the cables can pass through in an orderly and neat manner, avoid cable confusion and crossing, and improve the maintainability and reliability of the equipment.

[0044] The front and rear sides of the frame 4 are both provided with a fan-shaped platform 41 with a porous structure. The fan-shaped platform 41 can be installed with extended components, such as a temperature sensor, a humidity sensor, etc., providing convenience for an external environment monitoring module.

[0045] The working principle of this autonomous tracking robot:

[0046] 1. Initialization and self-test process: When the robot starts, the Jetson AGX Xavier embedded system module 9 performs a system self-test, including sensor detection, motor and servo response confirmation, etc., to ensure that all hardware components are working properly.

[0047] 2. Environmental perception and target recognition: The camera 12 continuously scans the surrounding environment and captures images in real time. Through the image processing function of Jetson AGX Xavier, objects of interest or obstacles are identified.

[0048] 3. Target tracking and camera 12 control: Once the target is identified, Jetson AGX Xavier calculates the target's position and generates tracking instructions. The STM32F104RCT6 microcontroller 8 receives the instructions and then sends instructions to control the two servos No. 1 servo 13 and No. 2 servo 14 on the tracking follower mechanism 1 to achieve precise rotation of the camera 12 and keep the target in the center of the field of view.

[0049] 4. Synchronous movement and display of the display screen 53: The display screen 53 is synchronized with the camera 12. The display screen 53 needs to adjust its angle and direction according to the position of the camera 12 to show the correct perspective or information to the operator. The display screen 53 is moved up and down and left and right by two servos No. 3 servo 54 and No. 4 servo 56 on the display mechanism 5 to adjust the angle of the display screen 53.

[0050] 5. Free movement and path planning:

[0051] The navigation data from the IMU module 24 and the lidar 23 are processed by the Jetson AGX Xavier to perform path planning, and the omnidirectional wheels 66 on the drive mechanism 6 are controlled to rotate by the STM32F104RCT6 microcontroller 8, so that the robot can move freely and realize complex moving paths and obstacle avoidance functions.

[0052] 6. Environmental monitoring and safety response:

[0053] The fan-shaped platforms 41 on the front and rear sides of the vehicle body can be expanded to install environmental monitoring modules such as temperature sensors to detect environmental conditions such as temperature and humidity in real time. When high temperature or other dangerous conditions are detected, the STM32F104RCT6 microcontroller 8 will instruct the robot to adjust its behavior, such as slowing down or bypassing the danger source, to ensure the safe operation of the system.

[0054] 7. The process of transmitting control signals:

[0055] Signal acquisition: environmental data is acquired by the camera 12 and the laser radar 23;

[0056] Signal processing: Jetson AGX Xavier receives data, processes it and generates control instructions;

[0057] Signal execution: STM32F104RCT6 MCU 8 receives control instructions and drives actuators such as servos and motors;

[0058] Action feedback: After the actuator completes the action, the feedback information is transmitted back to Jetson AGX Xavier for the next decision-making process.

[0059] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not limitations on the implementation methods of the present invention. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made on the basis of the above description. It is impossible to list all the implementation methods here. All obvious changes or modifications derived from the technical solution of the present invention are still within the protection scope of the present invention.

Claims

1. An autonomous tracking robot, comprising a frame (4), characterized in that: The frame (4) is in a U-shaped structure and is arranged on the upper side of the driving mechanism (6); a top plate (3) is fixedly provided on the top of the frame (4); a top mechanism (2) is provided on the upper side of the top plate (3); a tracking follower mechanism (1) is provided on the upper side of the top mechanism (2); a back plate (7) is installed at the left end of the frame (4) via bolts; a display mechanism (5) is provided on the right side of the frame (4); an embedded system module (9) is provided on the left side of the display mechanism (5); and a single-chip computer (8) is installed on the upper side of the embedded system module (9) via a fixed platform (81).

2. The autonomous tracking robot according to claim 1, characterized in that: The driving mechanism (6) comprises a frame (61), a chassis (62), a lithium battery (63), a battery compartment (64), a DC brushless motor (65) and omnidirectional wheels (66); the chassis (62) is arranged on the lower side of the frame (4); frames (61) are fixedly provided on both the front and rear sides of the chassis (62); two groups of omnidirectional wheels (66) are mounted on each group of frames (61); the omnidirectional wheels (66) are driven by the DC brushless motor (65); a battery compartment (64) is arranged on the upper side of the chassis (62); a lithium battery (63) is installed inside the battery compartment (64); and the lithium battery (63) is electrically connected to the DC brushless motor (65) via a cable.

3. The autonomous tracking robot according to claim 1, characterized in that: The tracking follower mechanism (1) comprises a telescopic clamp (11), a camera (12), a first servo (13), a second servo (14) and a fixing seat (15); the fixing seat (15) is mounted on the top structure (2) by means of screws; the second servo (14) for rotating in the vertical direction is mounted inside the fixing seat (15); the first servo (13) for rotating in the horizontal direction is fixedly mounted on the upper side of the second servo (14); an adjustable telescopic clamp (11) is fixedly mounted on the output end of the first servo (13); the camera (12) is clamped on the front side of the telescopic clamp (11).

4. The autonomous tracking robot according to claim 1, characterized in that: The top structure (2) comprises an antenna (21), a protection box (22), a laser radar (23), an IMU module (24) and a steering gear fixing position (25); the protection box (22) is fixedly mounted on the top plate (3); the antenna (21) is arranged on the left side of the protection box (22); the IMU module (24) is arranged inside the protection box (22); the laser radar (23) is arranged on the top plate (3) on the front side of the protection box (22); and a steering gear fixing position (25) is arranged in the protection box (22) on the left side of the laser radar (23) for installing a steering gear to drive the laser radar (23).

5. The autonomous tracking robot according to claim 1, characterized in that: The display mechanism (5) comprises a telescopic adjustment component (51), a screen bracket (52), a display screen (53), a third servo (54), a connecting bracket (55) and a fourth servo (56); the screen bracket (52) is arranged on the right side of the frame (4); a display screen (53) is arranged at intervals on the right side of the screen bracket (52); the front and rear sides of the back side of the screen bracket (52) are connected to the frame (4) through the telescopic adjustment component (51); the back side of the screen bracket (52) is equipped with a fourth servo (56); the third servo (54) is arranged on the upper side of the fourth servo (56) and is fixedly connected to the output end of the fourth servo (56); the output end of the third servo (54) is fixedly connected to the connecting bracket (55), and the connecting bracket (55) is connected to the display screen (53).

6. The autonomous tracking robot according to claim 5, characterized in that: The telescopic adjustment assembly (51) is composed of a guide rail (511), a slider (512), a cross-type connecting rod (513), a hinged bottom support (514) and a hinged joint (515). The guide rail (511) is provided with two groups, one group is mounted on the back edge of the screen bracket (52), and the bottom of the other group is fixedly connected to the frame (4) through the hinged bottom support (514). The two groups of guide rails (511) are both equipped with sliders (512). A cross-type connecting rod (513) is provided between the two groups of guide rails (511). The upper ends of the cross-type connecting rod (513) are respectively rotatably connected to the two groups of sliders (512), and the lower ends are rotatably connected to the hinged bottom support (514) on one side, and the other side is rotatably connected to the screen bracket (52) through the hinged joint (515).

7. The autonomous tracking robot according to claim 1, characterized in that: The embedded system module (9) uses Jetson AGX Xavier, and the single-chip microcomputer (8) uses STM32F104RCT6.

8. The autonomous tracking robot according to claim 1, characterized in that: A partition (82) is vertically installed inside the frame (4), and the partition (82) separates the display mechanism (5) from the embedded system module (9).

9. The autonomous tracking robot according to claim 1, characterized in that: The frame (4), the top plate (3) and the back plate (7) are provided with a plurality of groups of through holes and through slots, wherein the through holes are used for heat dissipation of internal components and installation of expansion components, and the through slots are used for wiring between components.

10. The autonomous tracking robot according to claim 9, characterized in that: The frame (4) is provided with fan-shaped platforms (41) having a porous structure on both the front and rear sides.

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