Three-dimensional obstacle avoidance pan-tilt structure based on ToF camera

Abstract

The utility model discloses a three -dimensional obstacle avoidance holder structure based on ToF camera head, include: holder main part structure and lens subassembly, the holder main part structure includes the mounting seat, the bottom swing joint of mounting seat has the first movable frame, the first movable frame is away from the one end swing setting of mounting seat and has the second movable frame, the lens subassembly includes the lens frame and the lens module in, the lens frame swing installation is in the inside of second movable frame, the utility model discloses through angle adjusting component, can realize holder main part structure in the bottom of unmanned plane to lens subassembly carries out multi -angle adjustment, realizes the stability of lens subassembly, utilizes folding subassembly to fold processing to first movable frame and second movable frame simultaneously, the holder main part structure is convenient in unmanned plane flight trajectory, avoids the collision of holder main part structure and external object, is used to compress the space of holder main part structure, avoids needing frequently through the adjustment of unmanned plane to drive holder to avoid the obstacle in small -range, improves the flexibility of holder.

Description

Technical Field

[0001] This utility model relates to the field of gimbal technology, specifically a three-dimensional obstacle avoidance gimbal structure based on a ToF camera. Background Technology

[0002] An obstacle avoidance gimbal is an intelligent device that integrates an environmental perception module and a gimbal drive system. Its core function is to automatically identify obstacles through real-time environmental perception and drive the gimbal to avoid collisions when adjusting the attitude (pitch, rotation, zoom, etc.) while carrying a load, ensuring equipment safety and mission continuity. It is widely used in drones, security monitoring, industrial robots, autonomous driving, and other fields, especially in dynamic or complex environments where demand is particularly high.

[0003] On drones, the main purpose of using obstacle avoidance gimbals is to provide a sensor module for the drone. The sensor module provides the drone with environmental awareness, avoids collisions, and adjusts the drone's flight trajectory in a timely manner. However, traditional drone obstacle avoidance gimbals cannot compress space in the vertical direction, which leads to frequent adjustments of the drone's posture for gimbal obstacle avoidance, easily interfering with the normal operation of the drone. Utility Model Content

[0004] The purpose of this invention is to provide a three-dimensional obstacle avoidance gimbal structure based on a ToF camera. By setting a folding component on a traditional drone gimbal, the gimbal bracket can be folded again, which can compress the space between the gimbal and the drone, allowing the gimbal to automatically avoid obstacles in the vertical direction. This avoids excessive reliance on the drone for adjustments, not only avoiding interference with the drone's operation but also making the gimbal more flexible, thus solving the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a three-dimensional obstacle avoidance gimbal structure based on a ToF camera, comprising:

[0006] The main structure of the gimbal and the lens assembly;

[0007] The main structure of the gimbal includes a mounting base, a first movable frame is movably connected to the bottom of the mounting base, and a second movable frame is movably disposed at the end of the first movable frame away from the mounting base. The lens assembly includes a lens frame and an internal lens module, and the lens frame is movably mounted on the inner side of the second movable frame.

[0008] Both the first and second movable frames are fixed with fixed seats, and angle adjustment components are provided between the fixed seats and between the fixed seats and the mounting seats and the lens frame;

[0009] The first and second movable frames are equipped with folding components for obstacle avoidance.

[0010] Preferably, the angle adjustment assembly includes a first motor fixedly embedded inside the mounting base, the output shaft of the first motor extending through to the outside of the mounting base and being fixedly connected to the mounting base, another set of mounting bases, and the lens frame, respectively.

[0011] Preferably, the folding assembly includes a first turntable and a second turntable located in the middle section of the first movable frame and the second movable frame. The first turntable and the second turntable are fixedly connected to two sections of the first movable frame and the second movable frame, respectively. A second motor is fixedly installed in the inner cavity of the first turntable. A drive gear is fixedly installed on the output shaft of the second motor. A connecting shaft is fixedly installed at the center of one end of the second turntable near the first turntable. A driven gear is fixed on the connecting shaft. The drive gear and the driven gear mesh with each other.

[0012] Preferably, the connecting shaft includes a fixed shaft fixed on the second turntable, a movable shaft detachably mounted on the end of the fixed shaft away from the second turntable, and a mounting plate rotatably connected to the end of the movable shaft away from the fixed shaft via a bearing. The mounting plate is installed in the inner cavity of the first turntable, and the driven gear is fixed on the movable shaft.

[0013] Preferably, the mounting plate is provided with a countersunk hole, and a mounting screw is movably disposed in the countersunk hole. The mounting screw passes through the mounting plate and is threadedly connected to the first turntable.

[0014] Preferably, a connecting bolt is provided on the outer side of the second turntable. The connecting bolt passes through the second turntable and the fixed shaft in sequence and is threadedly connected to the movable shaft. A locking block is provided at one end of the fixed shaft, and a locking groove is provided at one end of the movable shaft to engage with the locking groove.

[0015] Preferably, a limiting post is fixed on the second turntable, and a limiting groove is formed on the mounting plate, with the limiting post extending into the inner cavity of the limiting groove.

[0016] Compared with the prior art, the beneficial effects of this utility model are:

[0017] 1. This utility model, through the angle adjustment component, enables the gimbal main structure to be adjusted at multiple angles to the lens assembly at the bottom of the drone, thereby stabilizing the lens assembly. At the same time, the folding component is used to fold the first and second movable frames, which facilitates the avoidance of collisions between the gimbal main structure and external objects during the drone's flight path. It also compresses the space of the gimbal main structure, avoiding the need for frequent adjustments of the drone to drive the gimbal for obstacle avoidance within a small area, thus improving the gimbal's flexibility.

[0018] 2. This utility model achieves precise folding of the first and second movable frames by the cooperation of the limiting groove and the limiting post, maintaining the original position of the lens assembly so as to prevent the operation of the folding assembly from affecting the position of the lens module. Attached Figure Description

[0019] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0020] Figure 2 This is a schematic diagram of the partially disassembled three-dimensional structure of this utility model;

[0021] Figure 3 This is a schematic diagram of the three-dimensional structure of the present invention after folding;

[0022] Figure 4 This is a three-dimensional structural diagram of the disassembled first movable frame of this utility model;

[0023] Figure 5 This is a partial three-dimensional structural diagram of the folding component of this utility model;

[0024] Figure 6 This is a three-dimensional structural diagram of the connecting shaft of this utility model.

[0025] The following are the labeling elements in the diagram: 1. Mounting base; 2. First movable frame; 3. Second movable frame; 4. Lens frame; 5. Lens module; 6. Fixed base; 7. First motor; 8. Folding assembly; 81. First turntable; 82. Second turntable; 83. Second motor; 84. Drive gear; 85. Connecting shaft; 851. Fixed shaft; 852. Movable shaft; 86. Driven gear; 9. Mounting plate; 10. Mounting screw; 11. Connecting bolt; 12. Locking block; 13. Locking slot; 14. Limiting post; 15. Limiting groove. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0027] This utility model provides, for example Figures 1-6 The 3D obstacle avoidance gimbal structure based on a ToF camera shown includes:

[0028] The main structure of the gimbal and the lens assembly;

[0029] The main structure of the gimbal includes a mounting base 1, a first movable frame 2 is movably connected to the bottom of the mounting base 1, and a second movable frame 3 is movably set at the end of the first movable frame 2 away from the mounting base 1. The lens assembly includes a lens frame 4 and an internal lens module 5, and the lens frame 4 is movably installed on the inside of the second movable frame 3.

[0030] A fixed seat 6 is fixed on both the first movable frame 2 and the second movable frame 3. An angle adjustment component is provided between the fixed seats 6 and between the fixed seats 6 and the mounting seat 1 and the lens frame 4.

[0031] The first movable frame 2 and the second movable frame 3 are equipped with folding components 8 for obstacle avoidance, and the lens module 5 includes a ToF camera, an ultrasonic sensor, a vision camera, etc.

[0032] The angle adjustment component allows for multi-angle adjustments to the lens assembly at the bottom of the drone, stabilizing the lens assembly. Simultaneously, the folding component 8 folds the first movable frame 2 and the second movable frame 3, preventing collisions between the gimbal main structure and external objects during the drone's flight path. This also compresses the space of the gimbal main structure, avoiding the need for frequent drone adjustments to guide the gimbal for obstacle avoidance within a small area, thus improving the gimbal's flexibility.

[0033] Among them, such as Figure 2 As shown:

[0034] The angle adjustment component includes a first motor 7 fixedly embedded inside the fixed base 6. The output shaft of the first motor 7 extends through to the outside of the fixed base 6 and is fixedly connected to the mounting base 1, another set of fixed bases 6, and the lens frame 4 respectively. The setting of the first motor 7 facilitates the angle adjustment of the main structure of the gimbal, realizes the flexible adjustment of the first movable frame 2, the second movable frame 3, the mounting base 1, and the lens frame 4, and maintains the flexibility of the lens module 5.

[0035] Furthermore, such as Figure 3-6 As shown:

[0036] The folding assembly 8 includes a first turntable 81 and a second turntable 82 located in the middle of the first movable frame 2 and the second movable frame 3. The first turntable 81 and the second turntable 82 are fixedly connected to the two sections of the first movable frame 2 and the second movable frame 3, respectively. A second motor 83 is fixedly installed in the inner cavity of the first turntable 81. A drive gear 84 is fixedly installed on the output shaft of the second motor 83. A connecting shaft 85 is fixed at the center of the second turntable 82 near the end of the first turntable 81. A driven gear 86 is fixed on the connecting shaft 85. The drive gear 84 and the driven gear 86 mesh with each other. The second motor 83 drives the drive gear 84 to rotate. Then the drive gear 84 drives the connecting shaft 85 through the driven gear 86, so that the first turntable 81 and the second turntable 82 rotate relative to each other, thereby realizing the folding of the first movable frame 2 and the second movable frame 3. This is used to compress the space of the gimbal main structure in the vertical direction and can automatically avoid external objects.

[0037] Preferred, such as Figure 6 As shown:

[0038] The connecting shaft 85 includes a fixed shaft 851 fixed on the second turntable 82. A movable shaft 852 is detachably installed at the end of the fixed shaft 851 away from the second turntable 82. A mounting plate 9 is rotatably connected to the end of the movable shaft 852 away from the fixed shaft 851 via a bearing. The mounting plate 9 is installed in the inner cavity of the first turntable 81. The driven gear 86 is fixed on the movable shaft 852. The fixed shaft 851 and the movable shaft 852 are connected to form the connecting shaft 85, which facilitates the assembly of the first turntable 81 and the second turntable 82. Then, the mounting plate 9 is used to maintain the stability of the movable shaft 852 and the driven gear 86.

[0039] It is worth noting that, such as Figure 5-6 As shown:

[0040] The mounting plate 9 has a countersunk hole, and a mounting screw 10 is movably installed in the countersunk hole. The mounting screw 10 passes through the mounting plate 9 and is threadedly connected to the first turntable 81. The mounting screw 10 is used to connect the mounting plate 9 to the first turntable 81, maintain the stability of the movable shaft 852 and the first turntable 81, and facilitate docking with the fixed shaft 851 on the second turntable 82.

[0041] In a further preferred embodiment, such as Figure 6 As shown:

[0042] A connecting bolt 11 is provided on the outer side of the second turntable 82. The connecting bolt 11 passes through the second turntable 82 and the fixed shaft 851 in sequence and is threadedly connected to the movable shaft 852. A locking block 12 is provided at one end of the fixed shaft 851, and a locking groove 13 is provided at one end of the movable shaft 852 to engage with the locking groove 13. The connecting bolt 11 facilitates the stable connection of the fixed shaft 851 and the movable shaft 852 with the cooperation of the locking groove 13 and the locking block 12, while preventing the separation of the first turntable 81 and the second turntable 82.

[0043] In addition, such as Figure 4-6 As shown:

[0044] The second turntable 82 is fixed with a limiting post 14, and the mounting plate 9 is provided with a limiting groove 15. The limiting post 14 extends into the inner cavity of the limiting groove 15. Through the cooperation of the limiting groove 15 and the limiting post 14, the folding component 8 can accurately fold the first movable frame 2 and the second movable frame 3, maintaining the original position of the lens assembly, so as to prevent the operation of the folding component 8 from affecting the position of the lens module 5.

[0045] This device addresses improvements to the shape and function of the gimbal's main structure, without involving improvements to the circuitry or control system. The circuit connections and control system are common techniques in the field and will not be described excessively in this application.

[0046] In practical use, the gimbal's main structure houses a microcontroller, specifically the high-performance STM32F405, which supports hardware floating-point operations and is suitable for real-time control. It also includes an attitude sensor, the MPU6050 (integrating a three-axis gyroscope, a three-axis accelerometer, and I2C communication for detecting the gimbal's current angle), enabling closed-loop feedback control of perception, decision-making, and execution. The ToF camera module comprises a transmitter and a receiver. The transmitter continuously sends light pulses to the target object, while the receiver receives the light reflected back from the target object. The distance to the target object is determined by detecting the flight time of the light pulses. The camera module is electrically connected to the circuit board via an FPC cable. A filter is located at the front of the top cover to reduce ambient light interference, and insulating cotton is placed between the transmitter and receiver to prevent mutual interference between the optical paths.

[0047] The drone is equipped with a gimbal main structure and a lens assembly. The lens module 5 detects the surrounding environment in real time and transmits the detected data to the microcontroller for processing. The microcontroller then processes and analyzes the data to determine whether there is a risk of collision between the drone and the gimbal main structure. When an obstacle is in the drone's flight path, the drone needs to adjust its trajectory. If the gimbal's trajectory coincides with the obstacle, the gimbal main structure can be adjusted first through the angle adjustment component to adjust the position of the lens assembly. If the obstacle cannot be avoided after calculation, the space occupied by the folding component 8 is compressed, reducing the space occupied by the gimbal main structure. During this process, the second motor 83 drives the drive gear 84 to rotate, and the drive gear 84 drives the connecting shaft 85 through the driven gear 86. Then, the connecting shaft 85 drives the second turntable 82 to rotate, realizing the folding of the first movable frame 2 and the second movable frame 3, adjusting the distance between the lens assembly and the drone, and improving the flexibility of the gimbal main structure. If neither of the above two adjustments can avoid the obstacle, the gimbal main structure is finally adjusted by the drone to change its trajectory.

[0048] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A three-dimensional obstacle avoidance gimbal structure based on a ToF camera, characterized in that, include: The main structure of the gimbal and the lens assembly; The main structure of the gimbal includes a mounting base (1), a first movable frame (2) is movably connected to the bottom of the mounting base (1), and a second movable frame (3) is movably provided at the end of the first movable frame (2) away from the mounting base (1). The lens assembly includes a lens frame (4) and an internal lens module (5), and the lens frame (4) is movably installed on the inside of the second movable frame (3). A fixed seat (6) is fixed on both the first movable frame (2) and the second movable frame (3). An angle adjustment component is provided between the fixed seats (6) and between the fixed seats (6) and the mounting seat (1) and the lens frame (4). The first movable frame (2) and the second movable frame (3) are provided with folding components (8) for obstacle avoidance.

2. The three-dimensional obstacle avoidance gimbal structure based on a ToF camera according to claim 1, characterized in that: The angle adjustment assembly includes a first motor (7) fixedly embedded inside the mounting base (6). The output shaft of the first motor (7) extends through to the outside of the mounting base (6) and is fixedly connected to the mounting base (1), another set of mounting bases (6), and the lens frame (4) respectively.

3. The three-dimensional obstacle avoidance gimbal structure based on a ToF camera according to claim 1, characterized in that: The folding assembly (8) includes a first turntable (81) and a second turntable (82) located in the middle section of the first movable frame (2) and the second movable frame (3). The first turntable (81) and the second turntable (82) are fixedly connected to the two sections of the first movable frame (2) and the second movable frame (3), respectively. A second motor (83) is fixedly installed in the inner cavity of the first turntable (81). A drive gear (84) is fixed on the output shaft of the second motor (83). A connecting shaft (85) is fixed at the center of the second turntable (82) near the end of the first turntable (81). A driven gear (86) is fixed on the connecting shaft (85). The drive gear (84) and the driven gear (86) mesh with each other.

4. The three-dimensional obstacle avoidance gimbal structure based on a ToF camera according to claim 3, characterized in that: The connecting shaft (85) includes a fixed shaft (851) fixed on the second turntable (82). A movable shaft (852) is detachably installed at one end of the fixed shaft (851) away from the second turntable (82). A mounting plate (9) is rotatably connected to the other end of the movable shaft (852) away from the fixed shaft (851) via a bearing. The mounting plate (9) is installed in the inner cavity of the first turntable (81). The driven gear (86) is fixed on the movable shaft (852).

5. The three-dimensional obstacle avoidance gimbal structure based on a ToF camera according to claim 4, characterized in that: The mounting plate (9) is provided with a countersunk hole, and a mounting screw (10) is movably disposed in the countersunk hole. The mounting screw (10) passes through the mounting plate (9) and is threadedly connected to the first turntable (81).

6. The three-dimensional obstacle avoidance gimbal structure based on a ToF camera according to claim 3, characterized in that: A connecting bolt (11) is provided on the outer side of the second turntable (82). The connecting bolt (11) passes through the second turntable (82) and the fixed shaft (851) in sequence and is threadedly connected to the movable shaft (852). A locking block (12) is provided at one end of the fixed shaft (851), and a locking groove (13) is provided at one end of the movable shaft (852) to engage with the locking groove (13).

7. The three-dimensional obstacle avoidance gimbal structure based on a ToF camera according to claim 4, characterized in that: A limiting post (14) is fixed on the second turntable (82), and a limiting groove (15) is opened on the mounting plate (9), with the limiting post (14) extending into the inner cavity of the limiting groove (15).

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