Intelligent omnidirectional camera robot

Abstract

The utility model relates to photographic equipment technical field, the utility model discloses intelligent all -directional camera robot, including chassis, the casing cover is fixedly installed on chassis, display screen is equipped with multiple groups, is installed on casing cover respectively, four groups of support are installed respectively in the four corners of chassis through hinged axle, moving wheel is established in the support, and adaptive suspension connecting rod damping mechanism links to each other with guide bush through second universal joint link, makes adjacent moving wheel reverse movement, avoids the chassis inclination, and cooperates shock absorber to absorb impact force, and the transmission of vibration is reduced greatly, guarantees the stability of chassis and shooting component, and the shooting picture is prevented from violent shaking, and the synchronous belt drive of pinion disc, belt, bull gear disc is used to the drive mechanism, and the transmission ratio is reduced to reduce the third motor speed fluctuation, reduces the influence of axial unbalance force, realizes the stable rotation of support frame and adjusts the angle, avoids left and right swing, ensures the multi -angle stable shooting of camera, improves the quality of the picture.

Description

Technical Field

[0001] This utility model relates to the field of photographic equipment technology, specifically to an intelligent omnidirectional photographic robot. Background Technology

[0002] With the rapid development of the film and television industry and the self-media industry, the market has placed extremely high demands on the stability and flexibility of dynamic photography. Intelligent omnidirectional photography robots (or automated photography vehicles), due to their ability to precisely execute preset paths and achieve complex camera movements, have gradually become an important component in professional shooting scenarios. Existing camera robot chassis often feature independent suspension and shock absorption systems for each wheel. Because each wheel uses an independent suspension, uneven force distribution can lead to varying spring compression, causing chassis vibration and severe camera shake. This results in unpleasantly shaky footage, significantly impacting image quality. Furthermore, the motors rotate during movement, experiencing significant axial imbalance forces that cause slight lateral swaying when reaching the camera angle, further affecting image quality. Therefore, we propose an intelligent omnidirectional camera robot to address these issues. Utility Model Content

[0003] To address the shortcomings of existing technologies, this utility model provides an intelligent omnidirectional photography robot, which solves the problems of uneven force distribution in independent suspension systems, which can easily cause adjacent moving wheels to move in the same direction, resulting in chassis bumps and severe shaking of the captured images; and the large axial unbalanced force caused by motors directly driving the shooting components, which can easily lead to left and right swaying during angle adjustment, affecting the quality of the final image.

[0004] To achieve the above objectives, this utility model is implemented through the following technical solution: an intelligent omnidirectional photography robot, including a chassis; The housing cover is fixedly mounted on the chassis. The display screen is provided in multiple sets, each mounted on the housing cover; Four sets of brackets are respectively installed at the four corners of the chassis via hinge shafts; movable wheels are provided on the brackets, and a first motor for driving the movable wheels to rotate is installed on the brackets; A support frame is provided above the housing cover, and a camera is provided on the support frame; An adaptive suspension link damping mechanism is installed at the bottom of the chassis to provide adaptive damping for the moving wheels; A drive mechanism, mounted on the housing cover, is used to drive the support frame to rotate at an angle.

[0005] Preferably, the first motor and the bracket are fixedly connected, and the output end of the first motor is connected to the center of the moving wheel.

[0006] Preferably, a first U-shaped plate is fixedly installed at the top of the support frame, a second U-shaped frame is provided inside the first U-shaped plate, a second motor is fixedly installed on one side of the first U-shaped plate, the output end of the second motor is fixedly connected to the second U-shaped frame, the other side of the second U-shaped frame is connected to the first U-shaped plate through a rotating shaft, and the camera is fixedly connected to the second U-shaped frame.

[0007] Preferably, the drive mechanism includes a third motor fixedly mounted on the housing cover, a small gear disk fixedly mounted on the output end of the third motor, a large gear disk rotatably mounted on the housing cover via a rotating shaft, a belt meshing between the small gear disk and the large gear disk, and a support frame fixedly mounted on the top of the large gear disk.

[0008] Preferably, the adaptive suspension linkage damping mechanism includes a support plate fixed to the housing near the bracket. The support plate and the bracket are hinged together by a damper. Symmetrically arranged connecting seats are fixed on both sides of the bottom of the chassis. First universal joint rods are symmetrically arranged on the connecting seats. Second universal joint rods are installed on the bracket. A guide sleeve is provided between the second universal joint rod and the corresponding first universal joint rod. The ends of the first and second universal joint rods that are close to each other slide within the guide sleeve.

[0009] Preferably, a connecting rod is fixedly installed between the two sets of connecting seats. Beneficial effects

[0010] This invention provides an intelligent omnidirectional photography robot. Compared with the prior art, it has the following advantages: This intelligent omnidirectional photography robot employs an adaptive suspension linkage shock absorption mechanism. Through the linkage structure of the second universal joint and the guide sleeve, adjacent moving wheels move in opposite directions, preventing chassis tilting. Simultaneously, the shock absorber absorbs impact force, significantly reducing vibration transmission and ensuring the stability of the chassis and the upper shooting components. This results in footage without severe shaking. The direct drive of the third motor has been replaced with a synchronous belt drive system consisting of a small gear, a belt, and a large gear. Through a reasonable transmission ratio design, the speed fluctuation of the third motor's output is reduced, minimizing the impact of axial imbalance forces on the shooting components. The large gear rotates slowly, driving the support frame to adjust its angle, resulting in smoother movement and preventing lateral swaying during angle adjustments. This ensures stable shooting from any angle, improving the quality of the final image. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a bottom view of the overall structure of this utility model; Figure 3 This is a structural schematic diagram of the shock absorber and supporting plate and other connecting parts of this utility model; Figure 4 This is a schematic diagram of the drive mechanism structure of this utility model; Figure 5 This is a CAN communication diagram of the present invention.

[0012] In the diagram: 101, chassis; 102, housing cover; 103, display screen; 104, bracket; 105, caster wheel; 106, first motor; 107, support frame; 108, first U-shaped plate; 109, second motor; 110, second U-shaped frame; 111, camera; 2. Adaptive suspension linkage damping mechanism; 201, connecting seat; 202, first universal joint rod; 203, guide sleeve; 204, second universal joint rod; 205, shock absorber; 206, support plate; 207, connecting rod; 3. Drive mechanism; 301, third motor; 302, pinion gear; 303, large gear; 304, belt. Detailed Implementation

[0013] 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.

[0014] like Figure 1-5 As shown: The intelligent omnidirectional photography robot includes a chassis 101, on which a battery for powering the equipment is installed. The housing cover 102 is fixedly mounted on the chassis 101; The display screen 103 has multiple sets, which are respectively installed on the housing cover 102; Four sets of brackets 104 are respectively installed at the four corners of the chassis 101 via hinge shafts; The movable wheel 105 is mounted on the bracket 104, and the bracket 104 is equipped with a first motor 106 that drives the movable wheel 105 to rotate. The first motor 106 is fixedly connected to the bracket 104, and the output end of the first motor 106 is connected to the center of the movable wheel 105. A support frame 107 is located above the housing cover 102, and a camera 111 is mounted on the support frame 107. A first U-shaped plate 108 is fixedly installed at the top of the support frame 107. A second U-shaped frame 110 is provided inside the first U-shaped plate 108. A second motor 109 is fixedly installed on one side of the first U-shaped plate 108. The output end of the second motor 109 is fixedly connected to the second U-shaped frame 110. The other side of the second U-shaped frame 110 is connected to the first U-shaped plate 108 through a rotating shaft. The camera 111 is fixedly connected to the second U-shaped frame 110. An adaptive suspension link damping mechanism 2 is installed at the bottom of the chassis 101 and is used to adaptively damp the moving wheel 105. The adaptive suspension link damping mechanism 2 includes a support plate 206 fixed at the position of the housing cover 102 near the bracket 104. The support plate 206 and the bracket 104 are hinged to a damper 205 through a hinge shaft. There are symmetrically arranged connecting seats 201 fixed on both sides of the bottom of the chassis 101. First universal joint rods 202 are symmetrically arranged on the connecting seats 201. Second universal joint rods 204 are installed on the bracket 104. A guide sleeve 203 is provided between the second universal joint rod 204 and the corresponding first universal joint rod 202. The ends of the first universal joint rod 202 and the second universal joint rod 204 that are close to each other slide in the guide sleeve 203. A connecting rod 207 is fixedly installed between the two sets of connecting seats 201. The drive mechanism 3 is mounted on the housing cover 102 and is used to drive the support frame 107 to rotate at an angle. The drive mechanism 3 includes a third motor 301 fixedly mounted on the housing cover 102. A small gear disk 302 is fixedly mounted on the output end of the third motor 301. A large gear disk 303 is rotatably mounted on the housing cover 102 via a rotating shaft. A belt 304 meshes between the small gear disk 302 and the large gear disk 303. The support frame 107 is fixedly mounted on the top of the large gear disk 303.

[0015] In this implementation scheme: When the intelligent omnidirectional photography robot is in use, the robot can move in all directions through the four corners of the chassis 101 moving wheels 105. The moving wheels 105 are directly driven by the first motor 106. The first motor 106 is an M3508 motor that provides power. When the robot travels to uneven terrain, when a single moving wheel 105 is compressed upward due to the ground protrusion, the bracket 104 connected to it will rotate around the hinge axis. The rotation of bracket 104 will synchronously drive the second universal joint rod 204 to slide in the guide sleeve 203, and at the same time transmit force to the first universal joint rod 202 through the guide sleeve 203, so that the bracket 104 corresponding to the adjacent moving wheel 105 is stretched instantly, avoiding the chassis 101 from tilting due to the adjacent wheels moving in the same direction. During this process, the shock absorber 205 between the support plate 206 and the bracket 104 will further absorb the impact force, reduce the vibration transmitted to the chassis 101 and the shooting components above, and ensure overall stability during movement. When it is necessary to adjust the horizontal shooting angle of the camera 111, the third motor 301 in the drive mechanism 3 is activated; The output of the third motor 301 drives the small gear disk 302 to rotate. The small gear disk 302 transmits power to the large gear disk 303 through the belt 304. The transmission ratio between the two is used to reduce the speed and increase the torque. The support frame 107 fixed on the top of the large gear disk 303 will rotate slowly in sync with the gear disk to achieve horizontal angle adjustment of the camera 111 and avoid shaking caused by direct motor drive. If the tilt angle of the camera 111 needs to be adjusted, the second motor 109 on one side of the first U-shaped plate 108 is activated. The second motor 109 is a GM6020 motor. The second motor 109 drives the second U-shaped frame 110 to rotate around the rotation axis, thereby adjusting the tilt angle of the camera 111 fixed on the second U-shaped frame 110 to meet the needs of different shooting angles. After the angle adjustment is completed, the camera 111 starts shooting. The captured image can be displayed in real time on multiple displays 103 on the housing cover 102, which makes it convenient for the operator to check the shooting effect in real time and ensure that the shooting content meets expectations. In this solution, the adaptive suspension linkage damping mechanism 2, through the linkage structure of the second universal joint 204 and the guide sleeve 203, enables adjacent moving wheels 105 to move in opposite directions, preventing the chassis 101 from tilting. At the same time, it works with the shock absorber 205 to absorb impact force, significantly reducing vibration transmission and ensuring the stability of the chassis 101 and the shooting components above it, resulting in no severe shaking in the captured image. The direct drive of the third motor 301 is changed to a synchronous belt drive method using a small gear 302, a belt 304, and a large gear 303. Through a reasonable transmission ratio design, the speed fluctuation of the third motor 301 is reduced, and the impact of axial unbalanced force on the shooting components is reduced. The large gear 303 rotates slowly, driving the support frame 107 to adjust the angle, resulting in smoother movement and avoiding left and right swaying during angle adjustment. This ensures that the camera 111 can shoot stably at any angle, improving the quality of the final image.

[0016] It should be noted that in the robot's control system, the chassis 101 is controlled using a PID (proportional-integral-derivative) algorithm to achieve precise trajectory tracking and stable speed adjustment, thereby enabling precise control of the chassis 101's motion.

[0017] It should be noted that all electrical equipment involved in this product is powered by an external power source. The solution also includes an electrical control module, which is installed on the equipment. During use, the electrical control module can be used to start the operation of each electrical device. The power connection method of each electrical device is a mature existing technology and is well known to those in the field, so it will not be described in detail here. Furthermore, any content not described in detail in this specification is existing technology known to those skilled in the art.

[0018] It should be noted that: because the photography robot needs to operate in various complex environments (such as film shooting locations, outdoor live streaming scenes, etc., where there may be electromagnetic interference and radio frequency signal interference from equipment clusters), in order to ensure that the data transmission between the components, the first motor 106, the second motor 109, the camera 111, and the display screen 103 is not interfered with, the device uses CAN communication as the core communication protocol. The specific protection mechanism is as follows: CAN communication uses differential signal transmission, which represents logic signals through the voltage difference between two signal lines, rather than the absolute voltage of a single line. This effectively suppresses common-mode interference and significantly reduces the impact of electromagnetic interference on control signals and captured data. At the same time, the physical layer design of the CAN bus has excellent electromagnetic compatibility, which can resist external radio frequency interference and avoid signal transmission interruption or distortion. The CAN communication protocol has a built-in comprehensive error detection and correction mechanism, including cyclic redundancy check, bit error detection, and stuffing error detection. In environments with high electromagnetic interference, even if some transmitted data is corrupted due to interference, the protocol can detect the error in real time and trigger a retransmission mechanism to ensure the accuracy and integrity of motor control commands, camera parameter adjustment signals, and captured image data transmission. The CAN communication protocol supports a data priority mechanism, which can assign different priorities based on the importance and urgency of the data (such as motor emergency stop commands and camera angle adjustment commands having higher priority than ordinary status feedback data). When high electromagnetic interference causes communication delays or partial data loss, high-priority data can be transmitted on the bus first, ensuring the real-time performance of the robot's key actions and avoiding the impact of communication problems on the stability of the shooting.

[0019] It should be noted that: in order to solve the problem of battery overheating and power exceeding limits causing operational instability when the robot is running under high load, the equipment adopts a composite power supply scheme of batteries and supercapacitors, and the core energy management is realized by the supercapacitor control system; The supercapacitor control board uses the STM32G431 chip as the main control unit and adopts a boost / buck bidirectional power topology, which can dynamically adjust the output voltage according to the load demand. The supercapacitor bank is an Hcccap3V60F supercapacitor, which is connected in series in 7 to form an energy storage unit with a nominal energy of 1890J, balancing high energy utilization and power supply stability. The capacitor bank and the equalization board are reliably connected through WingTAT connectors and gold finger cards to ensure stable transmission of equalization current and avoid overcharging or over-discharging of a single capacitor. At the software level, a PI controller precisely controls the power loop, adjusting the charging and discharging current in real time to avoid system fluctuations caused by sudden power changes. Hardware and software work together to construct multiple protection mechanisms, including over-temperature protection, over-current protection, and over-voltage protection, comprehensively ensuring the safe operation of the supercapacitor. The control board uses a 96-bit UID to achieve precise matching between the fitting parameters and the hardware, ensuring parameter compatibility when different control boards are combined with different capacitor banks. Real-time acquisition of power consumption data from loads such as the first motor 106 and camera 111 on the chassis 101 dynamically adjusts the supercapacitor's output strategy to avoid local power overload. Finally, it should be noted that the above description is only a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. An intelligent omnidirectional camera robot, characterized by: Including the chassis (101); The housing cover (102) is fixedly mounted on the chassis (101); Multiple displays (103) are provided and are respectively installed on the housing cover (102); Four sets of brackets (104) are respectively installed at the four corners of the chassis (101) via hinge shafts; A movable wheel (105) is provided on the bracket (104), and a first motor (106) for driving the movable wheel (105) to rotate is installed on the bracket (104). A support frame (107) is provided above the housing cover (102), and a camera (111) is provided on the support frame (107). An adaptive suspension link damping mechanism (2) is installed at the bottom of the chassis (101) for adaptive damping of the moving wheels (105); The drive mechanism (3) is mounted on the housing cover (102) and is used to drive the support frame (107) to rotate at an angle.

2. The intelligent omnidirectional photography robot according to claim 1, wherein: The first motor (106) and the bracket (104) are fixedly connected, and the output end of the first motor (106) is connected to the center of the moving wheel (105).

3. The intelligent omni-directional camera robot of claim 1, wherein: The top of the support frame (107) is fixedly installed with a first U-shaped plate (108), and a second U-shaped frame (110) is provided inside the first U-shaped plate (108). A second motor (109) is fixedly installed on one side of the first U-shaped plate (108), and the output end of the second motor (109) is fixedly connected to the second U-shaped frame (110). The other side of the second U-shaped frame (110) is connected to the first U-shaped plate (108) through a rotating shaft. The camera (111) and the second U-shaped frame (110) are fixedly connected.

4. The intelligent omnidirectional photography robot according to claim 1, characterized in that: The drive mechanism (3) includes a third motor (301) fixedly mounted on the housing cover (102). A small gear disk (302) is fixedly mounted on the output end of the third motor (301). A large gear disk (303) is rotatably mounted on the housing cover (102) via a rotating shaft. A belt (304) meshes between the small gear disk (302) and the large gear disk (303). The support frame (107) is fixedly mounted on the top of the large gear disk (303).

5. The intelligent omni-directional camera robot of claim 1, wherein: The adaptive suspension linkage damping mechanism (2) includes a support plate (206) fixed on the housing cover (102) near the bracket (104). The support plate (206) and the bracket (104) are hinged together by a damper (205). The bottom sides of the chassis (101) are fixed with symmetrically arranged connecting seats (201). The connecting seats (201) are equipped with symmetrically arranged first universal joint rods (202). The bracket (104) is equipped with a second universal joint rod (204). A guide sleeve (203) is provided between the second universal joint rod (204) and the corresponding first universal joint rod (202). The ends of the first universal joint rod (202) and the second universal joint rod (204) that are close to each other slide in the guide sleeve (203).

6. The intelligent omni-directional camera robot of claim 5, wherein: A connecting rod (207) is fixedly installed between the two sets of connecting seats (201).

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