Wheeled robot carrying double-camera holder

Abstract

The utility model relates to the technical field of robots, in particular to a wheeled robot carrying a double-camera holder, which comprises a chassis mechanism, a lower holder mechanism, an upper holder mechanism, a sensing mechanism and a control mechanism. Compared with the prior art, the robot has the advantages that the robot adopts the omnidirectional wheel chassis, 360-degree dead-angle-free movement can be realized, the flexibility and the operation efficiency of the robot are improved, and the robot can quickly and stably move on a court so as to track and record each detail in a game, so that the game quality is improved. The scheme that the upper cradle head and the lower cradle head are controlled respectively is adopted, the flexibility and accuracy of shooting are improved, the lower cradle head focuses on capturing actions of players and judging offside, the upper cradle head is responsible for capturing the motion trails and the goal moments of the balls, complex conditions on a field can be handled, meanwhile, the expenditure of multiple cameras can be saved, and the shooting efficiency is improved. The robot is equipped with a high-precision image recognition technology, and the dynamic condition on the court can be analyzed through a complex algorithm.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a wheeled robot equipped with a dual-camera gimbal. Background Technology

[0002] Sports photography refers to the activity of recording and capturing exciting moments and key instants in sports competitions using photographic techniques. Sports photography typically requires photographers to possess excellent professional skills and quick reaction abilities to capture the most representative and valuable images of the match. Common sports photography includes football matches, basketball games, and track and field events, all of which require photographers to accurately capture the athletes' movements and the atmosphere of the game. Referee decisions refer to the penalties or decisions made by the referee in a football match based on the rules of the game and the circumstances, for player violations or other inappropriate behavior. These penalties include penalty kicks, yellow cards, and red cards, aiming to maintain order and fairness in the game. Referee decisions are a crucial aspect of football matches, directly affecting the course and outcome of the game.

[0003] Sports photography and referee decisions both play crucial roles in football matches, providing different visual and competitive aspects of the game and collectively forming the complete football experience. In modern football, utilizing high-tech methods to enhance the viewing experience and referee efficiency has become a trend. Traditional photography methods and referee decisions may have certain limitations; therefore, introducing robotics and artificial intelligence has emerged as one solution for improvement.

[0004] Currently, most decisions in domestic football matches are made by the referee or in a preliminary combination of Video Assistant Referee (VAR). This method is time-consuming, has limited accuracy, and somewhat affects the entertainment value of the game. With technological advancements, intelligent decision-making technology should be further promoted on the field. Utility Model Content

[0005] This invention aims to solve at least one of the technical problems existing in the prior art. Therefore, one objective of this invention is to provide a wheeled robot equipped with a dual-camera gimbal, which can move flexibly and accurately across the competition field, quickly follow the pace of the competition, and capture the most exciting moments.

[0006] To solve the above-mentioned technical problems, the technical solution provided by this utility model is: a wheeled robot equipped with a dual-camera gimbal, comprising:

[0007] The chassis mechanism includes a bottom support, a plurality of shock absorber supports are provided on the bottom support and a plurality of omnidirectional wheels are connected to the shock absorbers installed on the shock absorber supports, and a drive motor for driving the omnidirectional wheels to move is also provided on the shock absorber supports.

[0008] The lower gimbal mechanism includes a lower gimbal bracket mounted on the bottom bracket. The lower gimbal bracket is equipped with a yaw motor, and the output shaft of the yaw motor is connected to a mounting plate via an electric slip ring. The mounting plate is equipped with a pitch motor, and the output shaft of the pitch motor is connected to a base. A camera is mounted on the base.

[0009] The upper gimbal mechanism includes support rods symmetrically arranged on both sides of the bottom bracket. A U-shaped mounting bracket is slidably mounted on the two support rods. An electric push rod is provided on the side wall of one of the support rods. The telescopic end of the electric push rod is connected to the mounting bracket. A second yaw motor is provided on the mounting bracket. The output shaft of the second yaw motor is driven and connected to a second mounting plate. A second pitch motor is provided on the second mounting plate. A second base is connected to the drive shaft of the second pitch motor. An industrial camera is mounted on the second base.

[0010] A sensing mechanism is installed on the bottom bracket and the second base to locate the device, avoid obstacles, and measure speed.

[0011] The control mechanism includes a main control board mounted on the mounting bracket and a battery module mounted on the bottom support. The main control board is equipped with a six-axis gyroscope and is connected to the sensing mechanism, the drive motor, the first yaw motor, the first pitch motor, the electric actuator, the second yaw motor, the second pitch motor, the camera, the industrial camera, and the sensing mechanism. The battery module supplies power to each device.

[0012] Preferably, the bottom support is provided with a ring-shaped anti-collision frame, and the anti-collision frame is provided with a plurality of U-shaped mounting parts arranged in a ring along its center, and each U-shaped mounting part is rotatably connected to a guide wheel.

[0013] Preferably, the sensing mechanism includes a lidar, a positioning module, and several millimeter-wave radars.

[0014] Preferably, the second base is also provided with a light strip that is connected to the main control board for signal transmission.

[0015] Preferably, the lidar and the positioning module are mounted on the side wall of the base.

[0016] Preferably, a plurality of the millimeter-wave radar ring arrays are disposed on the anti-collision frame.

[0017] Preferably, the main control board is electrically connected to a supercapacitor mounted on the bottom bracket.

[0018] Preferably, the main control board is connected to the camera and the industrial camera via USB virtual serial ports.

[0019] With the above structure, this utility model has the following advantages:

[0020] This robot utilizes an omnidirectional wheel chassis, enabling 360° movement without blind spots, significantly improving its flexibility and operational efficiency. This omnidirectional motion capability allows the robot to move quickly and smoothly on the field, tracking and recording every detail of the game. The application employs a dual-panel control scheme, improving the flexibility and accuracy of the shooting. The lower pan-tilt unit focuses on capturing player movements and determining offside, while the upper pan-tilt unit is responsible for capturing the ball's trajectory and the moment of a goal. This not only handles complex situations on the field but also saves on the cost of multiple cameras. The robot is equipped with high-precision image recognition technology, capable of analyzing the dynamic situation on the field through complex algorithms, accurately judging offside and goals. Furthermore, the robot can quickly make judgments by processing large amounts of image data in real time, ensuring the smoothness of the game and reducing misjudgments. It can also use machine learning to summarize game experience, improving the speed and accuracy of referee decisions.

[0021] The above overview is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present invention will become readily apparent from the accompanying drawings and the following detailed description. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the structure of this utility model. Figure 1 .

[0024] Figure 2 This is a schematic diagram of the structure of this utility model. Figure 2 .

[0025] Figure 3 This is a hardware configuration diagram of this utility model.

[0026] As shown in the figure: 1. Anti-collision frame; 2. Omnidirectional wheel; 3. Millimeter-wave radar; 4. Base 1; 5. Camera; 6. Support rod; 7. Electric push rod; 8. Mounting bracket; 9. Mounting plate 2; 10. Light strip; 11. Industrial camera; 12. LiDAR; 13. Positioning module; 14. U-shaped mounting piece; 15. Guide wheel; 16. Main control board; 17. Bottom bracket. Detailed Implementation

[0027] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0028] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0029] Combined with appendix Figures 1-3 A wheeled robot equipped with dual camera gimbals includes a chassis mechanism, a lower gimbal mechanism, an upper gimbal mechanism, a sensing mechanism, and a control mechanism. The lower gimbal mechanism, the upper gimbal mechanism, the sensing mechanism, and the control mechanism are mounted on the chassis mechanism and move with it, while filming the competition field.

[0030] The chassis mechanism includes a bottom support, on which several shock absorber brackets are mounted, and several omnidirectional wheels are connected to the shock absorbers mounted on the shock absorber brackets. The shock absorber brackets are also equipped with drive motors that drive the omnidirectional wheels to move. The bottom support is equipped with a ring-shaped anti-collision frame, and several U-shaped mounting parts are arranged in a ring along the center of the anti-collision frame. Each U-shaped mounting part is rotatably connected to a guide wheel, and the side of the guide wheel protrudes from the side of the anti-collision frame. The bottom support and the anti-collision frame are made of aluminum square tube profiles and are fixedly connected by plates and bolts to achieve the purpose of lightweight and stable overall structure.

[0031] The lower gimbal mechanism includes a lower gimbal bracket mounted on a bottom support. The lower gimbal bracket is equipped with a yaw motor, and the output shaft of the yaw motor is connected to a mounting plate via an electric slip ring. The mounting plate is equipped with a pitch motor, and the output shaft of the pitch motor is connected to a base. A camera is mounted on the base. The camera can rotate 360° and has a pitch angle of 180°, which can greatly improve the robot's detection range for real-time events and meet the needs of the robot's automatic navigation.

[0032] The gimbal mechanism includes support rods symmetrically arranged on both sides of the bottom bracket. A U-shaped mounting bracket is slidably mounted on the two support rods. An electric push rod is provided on the side wall of one of the support rods. The telescopic end of the electric push rod is connected to the mounting bracket. A second yaw motor is provided on the mounting bracket. The output shaft of the second yaw motor is driven and connected to a second mounting plate. A second pitch motor is provided on the second mounting plate. A second base is connected to the drive shaft of the second pitch motor. An industrial camera and a light strip connected to the main control board are mounted on the second base.

[0033] The sensing mechanism is installed on the bottom support and base two to locate, avoid obstacles and measure speed of the device. The sensing mechanism includes a lidar, a positioning module and several millimeter-wave radars. The lidar and positioning module are installed on the side wall of base two, and the several millimeter-wave radars are arranged in a ring array on the anti-collision frame.

[0034] The control mechanism includes a main control board mounted on the mounting bracket and a battery module mounted on the bottom support. The main control board is equipped with a six-axis gyroscope and is connected to the sensing mechanism, drive motors, yaw motor one, pitch motor one, electric actuators, yaw motor two, pitch motor two, camera, industrial camera, and sensing mechanism. The battery module supplies power to each device. The main control board is electrically connected to a supercapacitor mounted on the bottom support. The supercapacitor can store and release a large amount of energy in a short time, enabling the robot to move quickly and convert energy efficiently, giving it stronger motion capabilities and energy utilization efficiency, making it suitable for applications requiring rapid response. The main control board is connected to the camera and industrial camera via USB virtual serial ports.

[0035] The main control board adopts a two-layer stacked design. The top layer is the application layer and signal generation layer for chips and peripherals, and is equipped with a six-axis gyroscope. In order to meet visual requirements, a TF card and interface are designed. The bottom layer is the power distribution board and signal distribution board, with 6 power outputs, 5 CAN1 channels, 5 CAN2 channels, and 2 PWM channels, as well as serial ports such as Bluetooth and positioning modules.

[0036] Two main control boards are used, one mounted on the lower gimbal bracket and the other on the mounting bracket. The two main control boards communicate with each other via CAN, exchanging collected information in real time and controlling the entire vehicle. This greatly improves the data transmission speed, significantly enhancing the ability to process visual information and the ability of the electronic control system to receive visual information, resulting in more stable robot control.

[0037] The robot uses industrial cameras, video cameras (depth cameras) and LiDAR to identify and monitor the surrounding environment. It uses cameras to follow the soccer ball target, captures and analyzes the motion of the athletes, and makes AI judgments. It uses visual algorithms and Kalman filters to provide feedback on overall information and, together with electronic control algorithms, achieves overall control of the robot.

[0038] The present invention and its embodiments have been described above. This description is not restrictive, and the embodiments shown throughout the text are only one of the embodiments of the present invention. The actual structure is not limited to this. In conclusion, if a person skilled in the art is inspired by this description and designs a similar structure and embodiment without departing from the inventive spirit of the present invention, such design should fall within the protection scope of the present invention.

Claims

1. A wheeled robot equipped with a dual-camera gimbal, characterized in that, include: The chassis mechanism includes a bottom support, a plurality of shock absorber supports are provided on the bottom support and a plurality of omnidirectional wheels are connected to the shock absorbers installed on the shock absorber supports, and a drive motor for driving the omnidirectional wheels to move is also provided on the shock absorber supports. The lower gimbal mechanism includes a lower gimbal bracket mounted on the bottom bracket. The lower gimbal bracket is equipped with a yaw motor, and the output shaft of the yaw motor is connected to a mounting plate via an electric slip ring. The mounting plate is equipped with a pitch motor, and the output shaft of the pitch motor is connected to a base. A camera is mounted on the base. The upper gimbal mechanism includes support rods symmetrically arranged on both sides of the bottom bracket. A U-shaped mounting bracket is slidably mounted on the two support rods. An electric push rod is provided on the side wall of one of the support rods. The telescopic end of the electric push rod is connected to the mounting bracket. A second yaw motor is provided on the mounting bracket. The output shaft of the second yaw motor is driven and connected to a second mounting plate. A second pitch motor is provided on the second mounting plate. A second base is connected to the drive shaft of the second pitch motor. An industrial camera is mounted on the second base. A sensing mechanism is installed on the bottom bracket and the second base to locate the device, avoid obstacles, and measure speed. The control mechanism includes a main control board mounted on the mounting bracket and a battery module mounted on the bottom support. The main control board is equipped with a six-axis gyroscope and is connected to the sensing mechanism, the drive motor, the first yaw motor, the first pitch motor, the electric actuator, the second yaw motor, the second pitch motor, the camera, the industrial camera, and the sensing mechanism. The battery module supplies power to each device.

2. A wheeled robot equipped with a dual-camera gimbal according to claim 1, characterized in that: The bottom support is provided with a ring-shaped anti-collision frame, and a number of U-shaped mounting parts are arranged in a ring array along the center of the anti-collision frame. Each U-shaped mounting part is rotatably connected to a guide wheel.

3. A wheeled robot equipped with a dual-camera gimbal according to claim 2, characterized in that: The sensing mechanism includes a lidar, a positioning module, and several millimeter-wave radars.

4. A wheeled robot equipped with a dual-camera gimbal according to claim 2, characterized in that: The second base is also equipped with a light strip that is connected to the main control board for signal transmission.

5. A wheeled robot equipped with a dual-camera gimbal according to claim 3, characterized in that: The lidar and the positioning module are mounted on the side wall of the second base.

6. A wheeled robot equipped with a dual-camera gimbal according to claim 3, characterized in that: Several millimeter-wave radar ring arrays are mounted on the anti-collision frame.

7. A wheeled robot equipped with a dual-camera gimbal according to claim 3, characterized in that: The main control board is electrically connected to a supercapacitor mounted on the bottom bracket.

8. A wheeled robot equipped with a dual-camera gimbal according to claim 3, characterized in that: The main control board is connected to the camera and the industrial camera via USB virtual serial ports.

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