UWB following module with rotary holder

Abstract

The utility model relates to the technical field of intelligent following, in particular to a UWB following module with a rotary holder, which comprises a label fixed on a followed target and used as a UWB tracking target; and the driving cradle head rotates along with the label and comprises a cradle head motor and a base station plate, the base station plate is installed on the cradle head motor, and the cradle head motor can drive the base station plate to rotate. The UWB following module with the rotary holder has the effects of high-precision positioning capability, fast response speed, 360-degree rotation and accurate target following.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent following, in particular to a UWB following module with a rotating pan-tilt platform. Background Art

[0002] With the development of industry and science and technology, more and more intelligent tools have emerged to facilitate people's lives. In many life scenarios, such as logistics handling, robot navigation, and personnel following, it is necessary to accurately track and follow the target.

[0003] In the existing following method, the components that receive signals are oriented in a fixed direction, so if the target being followed rotates around the device to be followed, the device to be followed may not be able to respond and follow in time or even be unable to do so. Summary of the Invention

[0004] In view of the shortcomings of the existing technology, one of the purposes of the present invention is to provide a UWB following module with a rotating pan-tilt head that has high precision, low power consumption and strong anti-interference ability.

[0005] The above application objectives of the utility model are achieved through the following technical solutions:

[0006] A UWB following module with a rotating pan-tilt head, comprising:

[0007] The tag is fixed on the target to be followed and serves as the UWB tracking target;

[0008] The pan-tilt platform is driven to rotate along with the tag, and includes a pan-tilt platform motor and a base station board. The base station board is installed on the pan-tilt platform motor, and the pan-tilt platform motor can drive the base station board to rotate.

[0009] In a specific implementation manner of the present invention, the pan-tilt motor is connected to a mounting platform, the mounting platform is driven to rotate by the pan-tilt motor, and the base station board is fixedly mounted on the mounting platform.

[0010] In a specific embodiment of the present invention, the mounting platform includes a bearing seat and a connecting rotating column;

[0011] The supporting seat is in a stepped platform shape, and the connecting rotating column is connected to the middle end inside the supporting seat.

[0012] In a specific implementation manner of the present invention, a through hole is passed through the middle portion of the mounting platform.

[0013] In a specific implementation manner of the present invention, the base station plate is installed in an inclined manner.

[0014] In a specific embodiment of the present invention, the supporting seat is recessed with a connecting portion, and the connecting portion has an inclined horizontal surface and an inclined vertical surface. The inclined horizontal surface conflicts with the base station board, and the inclined vertical surface conflicts with the back of the base station board.

[0015] In a specific implementation manner of the present invention, the lower end of the connecting rotating column has a connecting convex ring connected to the pan / tilt motor, and both ends of the connecting convex ring are provided with connecting grooves.

[0016] In a specific embodiment of the present invention, the base station board is electrically connected to a driver board, and the driver board has a J4 interface and a J3 interface;

[0017] Among them, the J4 interface provides 5V power to power the driver board and motor;

[0018] The J3 interface communicates with the UWB base station board via serial port.

[0019] In a specific embodiment of the present invention, the driver board further includes a U6 chip and a U10 chip;

[0020] Among them, the U6 chip magnetic encoding chip detects the position and number of revolutions of the motor;

[0021] U10 is a motor driver chip that drives a three-phase brushless motor.

[0022] In summary, the present invention has at least one of the following beneficial technical effects:

[0023] 1. The UWB following module with a rotating pan-tilt head disclosed in the utility model has high-precision positioning capability, fast response speed, can rotate 360 ​​degrees, and accurately follow the target.

[0024] 2. The UWB following module with a rotating pan-tilt head disclosed in the present invention has strong anti-interference capability, is not affected by interference factors such as light and electromagnetic interference, and can still work stably in complex environments.

[0025] 3. The UWB following module with a rotating pan-tilt head disclosed in the present invention has a simple structure, is easy to implement and maintain, and has low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic structural diagram of a driving pan-tilt platform of a UWB following module with a rotating pan-tilt platform disclosed in the utility model;

[0027] Figure 2 This is a schematic structural diagram of a driving pan-tilt platform of a UWB following module with a rotating pan-tilt platform disclosed in the utility model;

[0028] Figure 3The utility model discloses an exploded view of the internal structure of a driving pan-tilt platform of a UWB following module with a rotating pan-tilt platform.

[0029] In the figure, 1. PTZ motor;

[0030] 2. Base station board; 21. Receiver;

[0031] 3. Outer frame; 31. Protective shell; 32. Mounting plate; 33. Cover plate;

[0032] 4. Mounting platform; 41. Bearing seat; 42. Connecting column; 421. Connecting convex ring; 422. Connecting groove; 43. Through hole; 44. Connecting part; 441. Oblique horizontal surface; 442. Oblique vertical surface. DETAILED DESCRIPTION

[0033] The present invention will be described in further detail below with reference to the accompanying drawings.

[0034] Reference Figure 1 as well as Figure 2 , a UWB following module with a rotating pan-tilt platform disclosed in the utility model, includes a tag and a driving pan-tilt platform, wherein the tag serves as a UWB tracking target and is fixed on the target to be followed. As a UWB tracking target, the tag can be designed into a keychain-like shape for easy carrying by users.

[0035] The pan-tilt motor 1 drives the base station board 2 to rotate along with the tag, and the base station board 2 includes a pan-tilt motor 1 and a base station board 2. The base station board 2 is installed on the pan-tilt motor 1. A receiver 21 for receiving signals is installed on the base station board 2. The pan-tilt motor 1 can drive the base station board 2 to rotate. The base station board 2 is used to receive the UWB signal transmitted by the tag and communicate with the tag to calculate the location information of the tag. Then, the pan-tilt motor 1 drives the base station board 2 through the location information to automatically track the rotation angle of the tag with high precision and high speed.

[0036] Reference Figure 1 The driving gimbal further comprises an outer frame 3, which includes a protective shell 31, a mounting plate 32, and a cover plate 33. As a specific embodiment of the present invention, the protective shell 31 is cylindrical and hollow inside, with an opening on one side of the protective shell 31. The cover plate 33 is located at the opening, and the gimbal motor 1 is mounted on the cover plate 33. The mounting plate 32 is located on the side wall of the protective shell 31. The mounting plate 32 has corresponding mounting holes according to the required tracking device. The entire driving gimbal is fixed to the device to be tracked through the mounting plate 32.

[0037] Reference Figure 2 as well as Figure 3A mounting platform 4 is connected to the side of the pan / tilt motor 1 away from the cover plate 33. The mounting platform 4 is driven to rotate by the pan / tilt motor 1, and the base station plate 2 is fixedly mounted on the mounting platform 4. Specifically, but not limiting of the present invention, the mounting platform 4 includes a supporting base 41 and a connecting column 42. The supporting base 41 is in the shape of a stepped platform, and the connecting column 42 is connected to the middle end of the inner portion of the supporting base 41.

[0038] Reference Figure 3 In the illustrated embodiment, a through hole 43 is passed through the middle of the mounting platform 4. Specifically, the through hole 43 passes through the bearing seat 41 and the connecting column 42. The through hole 43 is used to pass wires or interfaces connected to the base station board 2.

[0039] Reference Figure 3 The support base 41 has a recessed connection portion 44, which has an inclined horizontal surface 441 and an inclined vertical surface 442. The inclined horizontal surface 441 contacts the base station board 2, while the inclined vertical surface 442 contacts the back of the base station board 2. The inclined vertical surface 442 has a hole that mates with the base station board 2 for installation. After the base station board 2 is installed, the base station board 2 is tilted, so that the receiver 21 of the base station board 2 is facing the tag, thereby better receiving the signal.

[0040] Continue to refer to Figure 3 In the illustrated embodiment, it can be seen that the lower end of the connecting column 42 has a connecting protrusion 421 that is connected to the pan-tilt motor 1, and both ends of the connecting protrusion 421 have connecting grooves 422. This design facilitates the mating connection between the connecting column 42 and the pan-tilt motor 1.

[0041] In this utility model, the base station board 2 is electrically connected to the driver board, which includes a J4 interface, a J3 interface, U2, a U3 chip, a U6 chip, and a U10 chip. The J4 interface provides 5V power to the driver board and motor, while the J3 interface communicates serially with the UWB base station board 2. The U2 chip is a DC-DC chip that provides 3.3V power to the MCU. The U3 chip is the main control chip, controlling the motor, sampling current, and communicating with the host and slave computers via the serial port. The U6 chip is a magnetic encoder chip that detects the motor's rotation position and number of revolutions. The U10 chip is the motor driver chip, driving the three-phase brushless motor.

[0042] The driver board is installed on a tracking device. For example, if the tracking device is a golf cart, the driver board should be installed inside the cart. The serial port between the base station board 2 and the driver board is defined as serial port 1, and the serial port between the driver board and the golf cart is defined as serial port 2. The driver board receives target position information from serial port 1 and then drives the pan / tilt motor 1 to rotate, aligning it with the target in real time. Simultaneously, based on the received target position information, the golf cart is driven to follow the target, enabling data transmission between serial ports 1 and 2. This example is provided here and does not limit the tracking device to a golf cart.

[0043] The working principle of this embodiment is as follows: the tag continuously transmits UWB signals in the following state. After receiving the signals, the base station board 2 uses PDOA technology to measure the distance and azimuth of the remote control. This target position information is then transmitted to the driver board. The driver board drives the motor to rotate, ensuring that the base station board 2 is always facing the remote control, thus achieving target lock. Simultaneously, the driver board acquires the distance and azimuth information from the tag and uses a preset following strategy to drive the motion mechanism, allowing the device to follow the remote control in real time.

[0044] The embodiments of this specific implementation method are all preferred embodiments of the present utility model, and are not intended to limit the scope of protection of the present utility model. Therefore, any equivalent changes made based on the structure, shape, and principle of the present utility model should be included in the scope of protection of the present utility model.

Claims

1. A UWB follower module with a rotating pan-tilt head, characterized by: include, The tag is fixed on the target to be followed and serves as the UWB tracking target; The pan-tilt device is driven to rotate following the tag, and comprises a pan-tilt motor (1) and a base station board (2). The base station board (2) is mounted on the pan-tilt motor (1), and the pan-tilt motor (1) can drive the base station board (2) to rotate.

2. The UWB follower module with a rotating pan-tilt head according to claim 1, characterized in that: The pan / tilt motor (1) is connected to a mounting platform (4), the mounting platform (4) is driven to rotate by the pan / tilt motor (1), and the base station board (2) is fixedly mounted on the mounting platform (4).

3. The UWB follower module with a rotating pan-tilt head according to claim 2, characterized in that: The mounting platform (4) includes a bearing seat (41) and a connecting rotating column (42); The supporting seat (41) is in the shape of a stepped platform, and the connecting rotating column (42) is connected to the middle end inside the supporting seat (41).

4. The UWB follower module with a rotating pan-tilt head according to claim 3, characterized in that: A through hole (43) is formed through the middle of the mounting platform (4).

5. The UWB follower module with a rotating pan-tilt head according to claim 3, characterized in that: The base station plate (2) is installed in an inclined manner.

6. The UWB follower module with a rotating pan-tilt head according to claim 5, characterized in that: The supporting seat (41) is recessed with a connecting portion (44), and the connecting portion (44) has an inclined horizontal surface (441) and an inclined vertical surface (442), the inclined horizontal surface (441) abuts against the base station board (2), and the inclined vertical surface (442) abuts against the back surface of the base station board (2).

7. The UWB follower module with a rotating pan-tilt head according to claim 3, characterized in that: The lower end of the connecting rotating column (42) has a connecting convex ring (421) connected to the pan / tilt motor (1), and both ends of the connecting convex ring (421) are provided with connecting grooves (422).

8. A UWB follower module with a rotating pan-tilt head according to any one of claims 1 to 7, characterized in that: The base station board (2) is electrically connected to a driver board, and the driver board has a J4 interface and a J3 interface; Among them, the J4 interface provides 5V power to the driver board and motor; The J3 interface communicates with the UWB base station board (2) via a serial port.

9. The UWB follower module with a rotating pan-tilt head according to claim 8, characterized in that: The driver board also includes a U6 chip and a U10 chip; Among them, the U6 chip magnetic encoding chip detects the position and number of revolutions of the motor; U10 is a motor driver chip that drives a three-phase brushless motor.

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