Internal driving type spherical tracking and pointing device based on theorem of conservation of angular momentum

Abstract

The utility model discloses an internal driving type spherical tracking and aiming device based on the theorem of conservation of angular momentum, which comprises a rotor, a camera, a signal receiving and processing mechanism, a driving mechanism, a base and a battery pack, the signal receiving and processing mechanism and the driving mechanism are integrated in the rotor, the camera is connected with the signal receiving and processing mechanism, the camera can transmit collected data to the signal receiving and processing mechanism in real time, and the signal receiving and processing mechanism is connected with the driving mechanism. The signal receiving and processing mechanism controls the driving mechanism to drive the rotor to rotate according to collected data of the camera, and the battery pack is assembled in the center of the base. The system has the advantages that two-degree-of-freedom accurate control is achieved, an external transmission mechanism is not needed, the size of the system is reduced by more than 60%, and the weight of the whole machine is light.

Description

Technical Field

[0001] This utility model relates to an internally driven spherical tracking and aiming device, and particularly to an internally driven spherical tracking and aiming device based on the law of conservation of angular momentum. Background Technology

[0002] Currently, target tracking technology, as a core component of intelligent sensing, has significant application value in scenarios such as UAV navigation, intelligent monitoring, and robot visual interaction. Traditional tracking devices generally employ a gimbal structure, using multiple motors to drive the azimuth and pitch axes to achieve two degrees of freedom of motion. While this structure can achieve basic tracking functions, its inherent defects of long mechanical transmission chains and large rotational inertia lead to sluggish dynamic response, easily resulting in lag or even loss of lock when tracking high-speed moving targets. Furthermore, the gimbal frame structure causes an exponential increase in device size and weight, severely limiting its application in lightweight scenarios such as wearable devices and micro-robots.

[0003] In recent years, spherical tracking devices have attracted attention due to their compact structure and flexible movement. Currently, most spherical tracking devices employ external drive methods, such as using friction wheels or robotic arms to drive the sphere's rotation. This approach suffers from low transmission efficiency and poor control precision, making it difficult to achieve fast and accurate target tracking.

[0004] An internally driven spherical tracking device based on the law of conservation of angular momentum offers a new approach to solving the aforementioned problems. This device directly drives the sphere's rotation through a built-in drive mechanism, offering advantages such as simple structure, fast response speed, and high control precision. However, existing internally driven spherical tracking devices mostly employ a single drive method, making it difficult to achieve precise control of two rotational degrees of freedom, and they lack effective target recognition and tracking algorithms, thus failing to meet practical application requirements. Summary of the Invention

[0005] The purpose of this invention is to solve many problems existing in the use of traditional tracking and aiming devices, and to provide an internally driven spherical tracking and aiming device based on the law of conservation of angular momentum.

[0006] The internally driven spherical tracking and aiming device based on the law of conservation of angular momentum provided by this utility model includes a rotor, a camera, a signal receiving and processing mechanism, a drive mechanism, a base, and a battery pack. The rotor is mounted on the base via a limiting bracket. The camera is mounted on the top of the rotor. The signal receiving and processing mechanism and the drive mechanism are integrated inside the rotor. The camera is connected to the signal receiving and processing mechanism and can transmit the collected data to the signal receiving and processing mechanism in real time. The signal receiving and processing mechanism is connected to the drive mechanism and controls the drive mechanism to drive the rotor to rotate based on the data collected by the camera. The battery pack is mounted in the center of the base and is connected to the signal receiving and processing mechanism and the drive mechanism inside the rotor, providing power to the signal receiving and processing mechanism and the drive mechanism.

[0007] The rotor is a spherical structure composed of two hemispheres.

[0008] The integrated signal receiving and processing mechanism within the rotor includes a single-board computer and a microcontroller, which are fixed to the inner wall of the rotor. A camera is fixed to the top of the rotor. The integrated drive mechanism within the rotor includes a first brushless motor and a second brushless motor, which are mounted adjacent to each other at a 90° angle on a bracket within the rotor. A drive module is also mounted on the bracket. The microcontroller connects to and drives the first and second brushless motors via the drive module. The camera is connected to the single-board computer, and the single-board computer is connected to the microcontroller. The camera can transmit the collected data to the single-board computer in real time and then to the microcontroller. The microcontroller controls the operation of the first and second brushless motors based on the data collected by the camera. A step-down module is mounted at the bottom of the bracket. The battery pack in the center of the base is connected to the single-board computer, the microcontroller, and the first and second brushless motors via the step-down module, continuously providing regulated power.

[0009] Both the first and second brushless motors are equipped with flywheels at their front ends and magnetic encoders at their rear ends. The magnetic encoders are connected to a microcontroller and can send the rotation data of the first and second brushless motors to the microcontroller in real time, thereby enabling the microcontroller to control the operation of the first and second brushless motors in a closed loop in real time.

[0010] The aforementioned camera, battery pack, single-board computer, first brushless motor, second brushless motor, drive module, step-down module, and magnetic encoder are all assemblies of existing equipment; therefore, their specific models and specifications are not detailed here.

[0011] The internally driven spherical tracking and aiming device based on the law of conservation of angular momentum provided by this utility model adopts a closed-loop control system, and its working principle is as follows:

[0012] 1. Visual perception system:

[0013] The device integrates a camera module on top, which uses embedded image processing algorithms to extract the feature parameters of the target object in the field of view coordinate system in real time. It analyzes and calculates the pixel deviations along the x and y axes between the target's centroid and the reference point of the field of view, and converts them into actual physical displacements through coordinate transformation, which are then transmitted to the single-board computer.

[0014] 2. Control System Architecture:

[0015] After data preprocessing, the single-board computer transmits the digital control signals to the main control microcontroller. This microcontroller is equipped with a dual-channel PWM generator, which generates phase-adjustable drive signals for the x and y axes respectively. Considering that the microcontroller's I / O port drive current is insufficient to directly drive a high-power brushless motor, the system is configured with a dual-channel motor drive module, which can amplify the 3.3V logic signal to a 12V drive capability.

[0016] 3. Power actuator:

[0017] The first brushless motor (X-axis) and the second brushless motor (Y-axis) are orthogonally mounted inside the spherical housing. The motor rotor is connected to an aluminum alloy flywheel. According to the principle of conservation of angular momentum, when the motor rotor generates angular acceleration, the stator reaction torque drives the spherical housing to move in the opposite direction.

[0018] 4. Energy Management System:

[0019] The central battery compartment uses lithium battery cells to form a 12V power supply, which outputs a stable 12V to power the drive system, while providing a stable 5V voltage to the control circuit through a step-down board.

[0020] 5. Closed-loop feedback system:

[0021] Each motor has an integrated magnetic encoder at its tail end, which is connected via I 2 The C interface provides feedback on the rotor angular position. The microcontroller's built-in incremental PID algorithm dynamically adjusts the PWM duty cycle based on the deviation between the setpoint and the feedback value, achieving position-velocity dual closed-loop control.

[0022] The beneficial effects of this utility model are:

[0023] The internally driven spherical tracking and aiming device based on the law of conservation of angular momentum provided by this utility model uses the law of conservation of angular momentum to construct an internally driven dual flywheel differential drive system. The high-speed differential rotation of the internal momentum flywheel generates a resultant torque, realizing precise control of two degrees of freedom (azimuth ±180°, pitch ±75°), and eliminating the need for an external transmission mechanism. The system volume is reduced by more than 60%. This utility model innovatively adopts a spherical shell (diameter ≤100mm) to integrate the drive module. Through the collaborative design of a 3D printed lightweight shell and a miniaturized motor (25mm diameter brushless DC motor), the overall weight of the device is relatively light. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of the internal drive type spherical tracking aiming device described in this utility model.

[0025] Figure 2 This is a schematic diagram of the installation structure of the signal receiving and processing mechanism and the driving mechanism described in this utility model.

[0026] Figure 3 This is a schematic diagram of the installation structure of the single-board computer and single-chip microcomputer described in this utility model.

[0027] Figure 4 This is a schematic diagram of the installation structure of the first brushless motor and the second brushless motor described in this utility model.

[0028] The annotations in the image above are as follows:

[0029] 1. Rotor 2. Camera 3. Base 4. Battery Pack 5. Limiting Frame

[0030] 6. Single-board computer; 7. Microcontroller; 8. First brushless motor; 9. Second brushless motor.

[0031] 10. Bracket; 11. Connector; 12. Drive module; 13. Step-down module; 14. Flywheel

[0032] 15. Magnetic encoder. Detailed Implementation

[0033] Please see Figures 1 to 4 As shown:

[0034] The internally driven spherical tracking and aiming device based on the law of conservation of angular momentum provided by this utility model includes a rotor 1, a camera 2, a signal receiving and processing mechanism, a drive mechanism, a base 3, and a battery pack 4. The rotor 1 is mounted on the base 3 via a limiting bracket 5. The camera 2 is mounted on the top of the rotor 1. The signal receiving and processing mechanism and the drive mechanism are integrated inside the rotor 1. The camera 2 is connected to the signal receiving and processing mechanism and can transmit the collected data to the signal receiving and processing mechanism in real time. The signal receiving and processing mechanism is connected to the drive mechanism and controls the drive mechanism to drive the rotor 1 to rotate based on the collected data from the camera 2. The battery pack 4 is mounted in the center of the base 3 and is connected to the signal receiving and processing mechanism and the drive mechanism inside the rotor 1, providing power to the signal receiving and processing mechanism and the drive mechanism.

[0035] Rotor 1 is a spherical structure composed of two hemispheres.

[0036] The integrated signal receiving and processing mechanism within rotor 1 includes a single-board computer 6 and a microcontroller 7, which are fixed to the inner wall of rotor 1. The integrated drive mechanism within rotor 1 includes a first brushless motor 8 and a second brushless motor 9, which are mounted adjacent to each other at a 90° angle on a bracket 10 within rotor 1. Camera 2 is mounted on the top of bracket 10 via a connector 11. A drive module 12 is also mounted on bracket 10. Microcontroller 7 is connected to the first brushless motor 8 and the second brushless motor 9 via drive module 12 and drives the first... The operation of brushless motor 8 and brushless motor 9 is controlled by camera 2, which is connected to single-board computer 6, and single-board computer 6 is connected to microcontroller 7. Camera 2 can transmit the collected data to single-board computer 6 in real time and send it to microcontroller 7. Microcontroller 7 controls the operation of first brushless motor 8 and brushless motor 9 according to the data collected by camera 2. A step-down module 13 is installed at the bottom of bracket 10. The battery pack 4 in the center of base 3 is connected to single-board computer 6, microcontroller 7 and first brushless motor 8 and brushless motor 9 through step-down module 13 and continuously provides regulated power.

[0037] The first brushless motor 8 and the second brushless motor 9 are each equipped with a flywheel 14 at their front ends and a magnetic encoder 15 at their rear ends. The magnetic encoder 15 is connected to the microcontroller 7 and can send the rotation data of the first brushless motor 8 and the second brushless motor 9 to the microcontroller 7 in real time, so that the microcontroller 7 can control the operation of the first brushless motor 8 and the second brushless motor 9 in real time in a closed loop.

[0038] The camera 2, battery pack 4, single-board computer 6, first brushless motor 8, second brushless motor 9, drive module 12, step-down module 13 and magnetic encoder 15 mentioned above are all assemblies of existing equipment, therefore, the specific models and specifications are not described in detail.

[0039] The internally driven spherical tracking and aiming device based on the law of conservation of angular momentum provided by this utility model adopts a closed-loop control system. Its specific working process and technical details are as follows:

[0040] 1. The camera module (2592×1944 pixels) extracts the feature parameters of the target object in the field of view coordinate system in real time. It can use, but is not limited to, the differential analysis method to calculate the pixel deviation of the target centroid and the reference point of the field of view along the x and y axes, convert it into actual physical displacement (accuracy ±0.1°) through coordinate transformation, and transmit it to the single-board computer (Raspberry Pi).

[0041] 2. After the single-board computer runs the ROS system for data preprocessing, it transmits the digital control signals to the STM32F103 main control microcontroller. The microcontroller can be used for motor control, but is not limited to, dual-channel DRV8313 motor drive modules, which can amplify the 3.3V logic signal to 12V / 5A to drive a brushless motor (100W).

[0042] 3. The battery compartment uses, but is not limited to, 3S lithium batteries to form a 12.1V / 5000mAh power supply, which outputs a stable 12V (±1%) to supply the drive system. At the same time, it can use, but is not limited to, LT3045 linear regulators to provide a low-noise 5V to the control circuit.

[0043] 4. The motor tail end can integrate, but is not limited to, an AS5600 magnetic encoder (12-bit resolution), and can be connected via, but is not limited to, I... 2 The C interface provides rotor angular position feedback at a 1kHz sampling rate. The microcontroller can incorporate, but is not limited to, an incremental PID algorithm (proportional coefficient Kp = 0.8, integral time Ti = 0.05s, derivative time Td = 0.01s), dynamically adjusting the PWM duty cycle based on the deviation between the setpoint and the feedback value to achieve position-velocity dual closed-loop control. The system response time is <50ms, and the steady-state error is <0.05°.

[0044] This device innovatively applies the principle of conservation of angular momentum to the field of target tracking, achieving omnidirectional motion through non-contact electromagnetic drive.

Claims

1. An internal drive type spherical tracking and sighting device based on the law of conservation of angular momentum, characterized in that: The utility model relates to a kind of rotors, camera, signal receiving processing mechanism, driving mechanism, pedestal and battery pack, wherein rotor is assembled on pedestal by limiting frame, camera is assembled at the top of rotor, signal receiving processing mechanism and driving mechanism are integrated in rotor, camera is connected with signal receiving processing mechanism, camera can transmit the data collected in real time to signal receiving processing mechanism, signal receiving processing mechanism is connected with driving mechanism, signal receiving processing mechanism controls driving mechanism to drive rotor to rotate according to the data collected by camera, battery pack is assembled in the central part of pedestal, and battery pack is connected with signal receiving processing mechanism and driving mechanism in rotor and provides power for signal receiving processing mechanism and driving mechanism.

2. The internal drive type spherical tracking and sighting device based on the conservation of angular momentum theorem according to claim 1, characterized in that: The rotor is a spherical structure composed of two hemispheres.

3. The internal drive type spherical tracking and sighting device based on the conservation of angular momentum theorem according to claim 1, characterized in that: The signal receiving processing mechanism integrated in the rotor includes a single-board computer and a single-chip microcomputer, the single-board computer and the single-chip microcomputer are fixed on the inner side wall of the rotor, the camera is fixed on the top of the rotor, the driving mechanism integrated in the rotor includes a first brushless motor and a second brushless motor, the first brushless motor and the second brushless motor are assembled on a support in the rotor at an angle of 90°, a driving module is also assembled on the support, the single-chip microcomputer is connected with the first brushless motor and the second brushless motor through the driving module and drives the operation of the first brushless motor and the second brushless motor, the camera is connected with the single-board computer, the single-board computer is connected with the single-chip microcomputer, the camera can transmit the data collected in real time to the single-board computer and send to the single-chip microcomputer, the single-chip microcomputer controls the operation of the first brushless motor and the second brushless motor according to the data collected by the camera, a voltage reduction module is assembled at the bottom of the support, and the battery pack in the central part of the pedestal is connected with the single-board computer, the single-chip microcomputer, the first brushless motor and the second brushless motor through the voltage reduction module and continuously provides stabilized voltage power.

4. The internal drive type spherical tracking and sighting device based on the conservation of angular momentum theorem according to claim 3, characterized in that: The front end of the first brushless motor and the second brushless motor is assembled with a flywheel, the tail end of the first brushless motor and the second brushless motor is assembled with a magnetic encoder, the magnetic encoder is connected with the single-chip microcomputer, and the magnetic encoder can send the rotation data of the first brushless motor and the second brushless motor to the single-chip microcomputer in real time, so that the single-chip microcomputer can control the operation of the first brushless motor and the second brushless motor in real time.

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