All-view miniature reconnaissance ball

Abstract

The utility model discloses a full view small -size investigation ball, including inner support casing, the inner support casing is as the support frame of full view investigation ball, visual component, visual component set up in the upper half of inner support casing, visual component will outside environment and give image processing unit to the imaging, attitude adaptive component, attitude adaptive component set up in the lower half of inner support casing, the attitude adaptive component includes integrated battery counterweight, and the battery counterweight is hinged in the just below the center point of inner support casing through universal component, battery counterweight can swing in the lower half of inner support casing, swing to the lowest point under the action of gravity, drive inner support casing automatically adjust visual component to the stable attitude of going up. The utility model adopts the pure mechanical passive attitude adaptive scheme of integrated battery counterweight and universal joint combination, avoids the shortcoming that electronic component is easy to fail under the violent impact.

Description

Technical Field

[0001] This utility model relates to the field of reconnaissance technology, and in particular to a small reconnaissance ball with a full field of view. Background Technology

[0002] The small reconnaissance ball is a portable unmanned reconnaissance device that can be used in disaster relief, confined space reconnaissance and other fields. It can be quickly deployed to the target area by throwing and provide real-time panoramic video monitoring of the scene.

[0003] Currently, existing reconnaissance balls mainly rely on internal motors to drive counterweights or the entire drive wheel mechanism to adjust the center of gravity. This not only results in complex structures, large space requirements, and high energy consumption, but also makes the motors and transmission mechanisms prone to failure under the strong impact of repeated throwing, leading to functional malfunction.

[0004] Therefore, there is an urgent need for a new type of reconnaissance ball structure design that can fundamentally solve the reliability problems caused by complex electronically controlled attitude mechanisms, and significantly improve the equipment's impact resistance and environmental adaptability without increasing weight. Utility Model Content

[0005] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, one objective of this invention is to propose a small, all-view reconnaissance ball. This ball adopts a mechanical passive attitude adaptive structure, utilizing a battery as a counterweight and hinged below the ball's center via a universal joint. After being thrown and landing, it can automatically and quickly adjust the camera module to a stable, upward-facing working posture without electric drive, effectively avoiding the disadvantages of traditional electrically driven attitude stabilization mechanisms, such as complex structure, susceptibility to failure, and high energy consumption. It also achieves extremely high environmental adaptability and reliability.

[0006] Another objective of this invention is to propose a full-view reconnaissance ball with intelligent impact resistance. By injecting shock-absorbing material between the outer shell and the inner shell, the device can instantly harden to disperse and absorb energy when subjected to severe impact, while remaining soft during everyday contact. This achieves a protection level far exceeding that of traditional cushioning materials while maintaining a lightweight design, ensuring that the internal precision components can still function normally after multiple rough throws.

[0007] Another objective of this invention is to propose a highly integrated all-view reconnaissance sphere that compactly integrates a high-energy-density battery, a panoramic vision system, an adaptive attitude stabilization mechanism, an impact-resistant structure, and an omnidirectional motion drive module into a spherical space. Through optimized mechanical and sealing design, it achieves a unity of functionality, reliability, portability, and environmental adaptability, providing a reliable equipment solution for reconnaissance.

[0008] A small, all-view reconnaissance ball according to this utility model includes: An inner support shell serves as the support structure for the all-view reconnaissance sphere; A vision component; the vision component is disposed in the upper half of the inner support shell, and the vision component images the external environment and transmits it to the image processing unit; An attitude adaptive component is disposed in the lower half of the inner support shell. The attitude adaptive component includes an integrated battery counterweight. The battery counterweight is hinged to the center point of the inner support shell via a universal joint. The battery counterweight can swing within the lower half of the inner support shell. Under the action of gravity, it swings to the lowest point, driving the inner support shell to automatically adjust the vision component to an upward stable posture.

[0009] In some examples of this utility model, the inner support shell is a spherical structure formed by the engagement of an upper hemisphere and a lower hemisphere, and the vision component is disposed outside the upper hemisphere. The vision component includes a camera mounting bracket that surrounds and is fixed to the outside of the upper hemisphere, and a plurality of camera mounts arranged in a uniform circular array are fixed on the camera mounting bracket, and cameras are fixed on the camera mounts.

[0010] In some examples of this utility model, the attitude adaptive component includes a hanger fixed to the inside of the opening of the lower hemispherical shell, and the battery counterweight is hinged to the lower side of the hanger via a universal joint.

[0011] In some examples of this utility model, the battery counterweight is a high-density steel-cased battery, which itself also serves as a counterweight.

[0012] In some examples of this utility model, the universal assembly includes an upper connector fixed to the center of the bottom of the hanger, the upper connector being hinged to both ends of the universal joint, a connecting lug extending from the upper end of the battery counterweight, a lower connector fixed to the upper end of the connecting lug, and the upper end of the lower connector being hinged to the remaining two ends of the universal joint.

[0013] In some examples of this utility model, a mounting base is also fixed inside the lower hemispherical shell, and a magnet is fixed on the mounting base. The magnet is located directly below the battery counterweight, and there is a gap between the two.

[0014] In some examples of this utility model, a drive assembly is provided inside the mounting base. The drive assembly includes two miniature DC geared motors fixed inside, and the output ends of the miniature DC geared motors are opposite and fixed with Mecanum wheels.

[0015] In some examples of this utility model, an outer elastic protective layer is provided outside the inner support shell, and the outer elastic protective layer is wrapped around the outside of the inner support shell by injection molding process; the lower part of the Mecanum wheel extends to the outside of the inner support shell and the outer elastic protective layer; a sandwich cavity is reserved between the outer elastic protective layer and the inner support shell, and shock-absorbing material is poured into the cavity; the sandwich cavity is divided into layers by several annular partitions so that the camera and the Mecanum wheel do not come into contact with the shock-absorbing material.

[0016] In some examples of this utility model, the joint portion of the upper and lower hemispheres forms a first annular plane and a second annular plane, both of which have corresponding grooves for placing a sealing ring; a number of internally threaded copper inserts are pre-embedded on the second annular plane, and a number of vertically arranged fixing holes are opened on the outer edge of the upper hemisphere, the fixing holes corresponding to the threaded copper inserts and being fixed by screws.

[0017] In some examples of this utility model, the upper hemisphere of the outer elastic protective layer has several circular through holes evenly distributed around it, and a lens is bonded to each circular through hole by optical adhesive. The camera is located on the inner side of the corresponding lens.

[0018] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

[0019] The beneficial effects of this utility model are: The advantage of the all-view reconnaissance ball provided by this utility model is that it completely abandons the traditional active attitude adjustment system that relies on motors, gears and complex control algorithms. It adopts a pure mechanical passive attitude adaptive scheme that combines an integrated battery counterweight and a universal joint. Since no electronic control components are required to participate in attitude stabilization, it completely avoids the pain point of related electronic components being prone to failure under severe impact, giving the device extremely high survivability in harsh environments. At the same time, this structure achieves zero energy consumption in the attitude adjustment process, greatly extending the continuous working time of a single charge. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model 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 some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 This is a cross-sectional view provided according to an embodiment of the present utility model; Figure 2 for Figure 1 Enlarged view of point A in the image; Figure 3 This is a schematic diagram of the structure after the outer elastic protective layer has been removed. Figure 4 This is a structural schematic diagram of the lower shell and the attitude adaptive component. Figure 5 yes Figure 4 Enlarged view of point B in the image; Figure 6 This is a schematic diagram of the structure provided according to an embodiment of the present utility model; Explanation of reference numerals in the attached figures: 100 - Inner support shell; 101 - Upper hemispherical shell; 102 - Lower hemispherical shell; 103 - Fluororubber sealing ring; 104 - Threaded copper insert; 105 - Fixing hole; 200 - Visual component; 201 - Camera mounting bracket; 202 - Camera mount; 203 - Camera; 300 - Attitude adaptive component; 301 - Battery counterweight; 302 - Universal joint; 303 - Hanger; 304 - Upper connector; 305 - Connecting lug; 306 - Lower connector; 400 - External elastic protective layer; 401 - Circular through hole; 500-Circular partition; 600 - Drive assembly; 601 - Miniature DC geared motor; 602 - Mecanum wheel. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0023] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0024] In the description of this utility model, it should be noted that, unless otherwise explicitly 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0025] The embodiments of this utility model are described in detail below. Examples of these 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 utility model, and should not be construed as limiting this utility model.

[0026] The following is for reference. Figures 1 to 6 This invention describes a small, all-view reconnaissance ball according to an embodiment of the present invention.

[0027] Specifically, a full-view small reconnaissance ball includes an inner support shell 100, which serves as the support structure for the full-view reconnaissance ball; a vision component 200 is disposed in the upper half of the inner support shell 100; and an attitude adaptive component 300 is disposed in the lower half of the inner support shell 100.

[0028] This invention adopts a split-architecture design, assigning load-bearing, sensing, and attitude stabilization functions to three independent modules. This modular design facilitates individual optimization of each module's performance while reducing manufacturing and maintenance difficulties. Its beneficial effects are mainly reflected in three aspects: first, it improves design flexibility, allowing for independent material selection and structural optimization for each module; second, it enhances maintainability, requiring only the replacement of a single module in case of failure; and third, it improves product reliability, with standardized interfaces between modules ensuring connection stability.

[0029] Please continue reading Figures 4 to 5 As shown, the attitude adaptive component 300 includes an integrated battery counterweight 301, which uses a 3000mAh steel-cased lithium battery, accounting for approximately 35% of the total weight of the device. The battery counterweight 301 can also be a combination of a pouch lithium battery and a dedicated counterweight. The counterweight can be made of tungsten alloy, providing greater counterweight mass within a limited space, making it suitable for scenarios with higher requirements for attitude stability.

[0030] By utilizing batteries as a counterweight, functional integration is achieved, optimizing weight distribution within a limited space. The 35% mass percentage is precisely calculated to ensure sufficient restoring torque under any throwing posture. The steel-cased battery provides energy and also serves as a counterweight, simplifying the structure and improving space utilization.

[0031] Please continue reading Figures 4 to 5 As shown, the attitude adaptive component 300 also includes a hanger 303 fixed to the inner side of the opening of the lower hemispherical shell 102. The universal joint includes an upper connector 304 fixed to the center of the bottom of the hanger 303, and a lower connector 306 fixed to the connecting lug 305 at the upper end of the battery counterweight 301, which are hinged together by a universal joint 302. The universal joint can also be replaced by a ball joint or a flexible coupling. Ball joints can provide smoother multi-directional swing, but the cost is relatively high. Flexible couplings can provide a certain damping effect to prevent the counterweight from swinging excessively.

[0032] The upper connector 304 and the lower connector 306 are symmetrical structures. The upper connector 304 includes a connecting post, one end of which is fixed with a connecting end. A groove is formed through the connecting end. The groove allows the connecting ends of the upper connector 304 and the lower connector 306 to engage. The engagement point is hinged and fixed by a universal joint 302. The universal joint 302 has a cross-shaped structure. After the universal joint 302 is hinged, the upper connector 304 and the lower connector 306 can swing. Due to the interference of the connecting end structure, the swing angle is limited, making it more controllable.

[0033] The omnidirectional assembly allows the battery counterweight to swing freely in any direction within the sphere, ensuring automatic alignment under any landing posture. The needle roller bearing design minimizes swing resistance, making the counterweight highly responsive to attitude changes. This passive attitude stabilization mechanism requires no external power source, is highly reliable, and adaptable to various harsh environments.

[0034] Please continue reading Figures 1 to 6 As shown, according to one embodiment of the present invention, the inner support shell 100 is a spherical structure formed by the engagement of an upper hemispherical shell 101 and a lower hemispherical shell 102. The inner support shell 100 may also be a one-piece molded structure, with functional partitioning achieved through internal reinforcing ribs. The vision component 200 and the attitude adaptive component 300 can be connected to the main body via modular interfaces.

[0035] Specifically, the inner support shell 100 is made of high-strength PC+ABS alloy material through precision injection molding. The inner and outer surfaces of the shell are designed with a crisscrossing network of reinforcing ribs distributed in a grid pattern. The inner support shell 100 can also be made of nylon or magnesium alloy. Nylon has better chemical corrosion resistance, while magnesium alloy provides a higher strength-to-weight ratio, making it suitable for applications with strict weight requirements.

[0036] The mesh-like reinforcing rib design significantly improves the shell's bending and torsional strength with minimal weight increase. The PC+ABS material offers excellent impact strength and dimensional stability, making it suitable for withstanding various mechanical impacts during the use of the reconnaissance ball. This structural design achieves an optimal balance between weight and strength.

[0037] Please continue reading Figure 1 As shown, according to another embodiment of the present invention, the vision component 200 is disposed on the upper half of the inner support housing 100.

[0038] Specifically, the visual component 200 includes a camera mounting bracket 201 that surrounds and is fixed inside the upper hemispherical shell 101, and is fixed to a mounting post on the inner wall of the upper hemispherical shell 101 by four screws. Six camera mounts 202 arranged in a uniform circular array are fixed on the mounting bracket 201. The camera mounts 202 can also be four or eight evenly distributed. A four-camera solution can use a 190° ultra-wide-angle lens, and an eight-camera solution can use a 120° ordinary wide-angle lens; both can achieve panoramic coverage, differing only in image stitching algorithms and cost.

[0039] The circular camera layout ensures 360-degree panoramic coverage without blind spots. Through precise mechanical positioning, the field of view of each camera is optimally configured, and the overlap rate of adjacent camera fields of view is greater than 20%, providing sufficient redundancy for subsequent image stitching. This design eliminates the time delay of traditional PTZ scanning, achieving true instantaneous panoramic imaging.

[0040] Please continue reading Figure 1 and Figure 3 As shown, according to another embodiment of the present invention, each camera mount 202 is fixed with an ultra-wide-angle camera 203 by an adjustable screw.

[0041] Specifically, all six ultra-wide-angle cameras 203 have a horizontal field of view of 130° and a vertical field of view of 110%. Each camera mount 202 is connected to the mounting bracket 201 via two calibration screws, allowing for ±2° of pitch and yaw fine-tuning. The cameras can also employ 5-megapixel sensors, or a fisheye lens combined with a smaller number of cameras can achieve panoramic coverage. Furthermore, the cameras can be mounted using a quick-release structure for easy on-site replacement and maintenance.

[0042] The adjustable screw design allows for precise calibration of the optical axis of each camera on the production line, compensating for manufacturing and assembly tolerances. This fine-tuning mechanism ensures consistent product performance during high-volume production, improving yield. The ±2° adjustment range is sufficient to correct for most assembly errors, ensuring precise overlap of the fields of view between adjacent cameras.

[0043] It should be noted that the upper hemisphere of the outer elastic protective layer 400 has six circular through holes 401 with a diameter of Φ8mm evenly distributed around it. A high-transmittance polycarbonate lens with a thickness of 1.5mm is bonded to each circular through hole 401 with optical adhesive.

[0044] Optical adhesive bonding ensures a seamless connection between the lens and the outer protective layer, avoiding stress concentration issues that may arise from mechanical fastening. The polycarbonate lens offers excellent impact resistance and optical transparency, protecting the internal camera without compromising image quality. The flush design of the lens with the outer surface reduces wind resistance and prevents dust accumulation. The optical window can also be made of sapphire glass, which, although more expensive, provides better scratch resistance and optical performance. For special applications, anti-reflective coatings or waterproof coatings can be added.

[0045] Furthermore, the joint portion of the upper hemisphere 101 and the lower hemisphere 102 forms a first annular plane and a second annular plane, and rectangular grooves corresponding to each other are provided on both planes. The grooves are used to place the fluororubber sealing ring 103.

[0046] It should be noted that four internally threaded copper inserts 104 are pre-embedded on the second annular plane, and four vertically arranged fixing holes 105 are opened on the outer edge of the upper hemispherical shell 101, which are fixed by cross-grooved pan head screws.

[0047] The pre-embedded copper insert design avoids direct tapping on the plastic housing, improving the reliability and durability of the threaded connection. The fluororubber sealing ring offers excellent weather resistance and sealing performance, ensuring the housing achieves an IP67 protection rating. This connection method guarantees both sealing performance and sufficient structural strength. The sealing structure can also use silicone or nitrile rubber sealing rings, with cross-sectional shapes that can be designed as circular or X-shaped. The connection method can also employ a combination of snap-fit ​​and fastening pins for quick assembly and disassembly.

[0048] A sandwich cavity is reserved between the outer elastic protective layer 400 and the inner support shell 100, and shock-absorbing material is poured into the cavity. The sandwich cavity is divided into layers by several annular partitions so that the camera 203 and the Mecanum wheel 602 will not come into contact with the shock-absorbing material. The shock-absorbing material is filled with silicone, polyurethane, non-Newtonian fluid, etc.

[0049] Please continue reading Figure 1 As shown, in some examples of this utility model, a mounting base is also fixed inside the lower hemispherical shell, and a magnet is fixed on the mounting base. The magnet is located directly below the battery counterweight, and there is a gap between the two. A drive assembly 600 is provided inside the mounting base.

[0050] Specifically, the drive assembly 600 includes two miniature DC geared motors 601 fixed inside the mounting base, with Mecanum wheels 602 fixed at their output ends. The wheel rims are covered with silicone material with a Shore A hardness of 60°. The drive mechanism can also adopt a steering wheel plus driven wheel structure, or a spherical wheel design. The steering wheel structure offers higher control precision, while the spherical wheel is more suitable for complex terrain. Furthermore, the number of drive assemblies can be increased to three or four to provide stronger driving force.

[0051] The omnidirectional movement of the Mecanum wheels allows the reconnaissance ball to maneuver flexibly in confined spaces, achieving precise positional adjustments. The dual-motor differential control scheme is simple and reliable, enabling various movement modes such as forward, backward, translation, and rotation by controlling the speed and direction of the two wheels.

[0052] In one optional embodiment of this utility model, an image processing unit is further provided inside the inner support housing; the image processing unit is responsible for receiving image data transmitted by the vision component, and then performing real-time image stitching, distortion correction, color equalization and HDR fusion, and finally outputting a 360° panoramic video stream to the back end.

[0053] Specifically, the image processing unit uses a processing board based on a Xilinx Artix-7 series FPGA, connected to all cameras via four 60-pin 0.5mm pitch FPC cables. It is responsible for receiving six channels of RAW format image data and performing real-time hardware-level image processing. The image processing unit can also employ a dedicated ASIC chip or a high-performance ARM processor combined with a DSP chip. The ASIC solution has lower power consumption, while the ARM+DSP solution is more flexible and facilitates algorithm upgrades.

[0054] FPGA's parallel processing capabilities are particularly well-suited for real-time stitching of multiple video streams. Hardware-level processing avoids the latency issues of software solutions, ensuring the real-time performance of panoramic video. A dedicated processing architecture integrates stitching, correction, and fusion algorithms into the hardware, improving processing efficiency and reliability.

[0055] It should be noted that the image processing unit outputs a seamless 360° panoramic video stream, which is transmitted to the rear control terminal via a 5.8GHz Wi-Fi module.

[0056] The 5.8GHz band experiences less interference and offers ample transmission bandwidth, meeting the real-time transmission requirements of high-definition video streams. The H.265 encoding format significantly reduces bandwidth usage and extends transmission distance while maintaining image quality. This wireless transmission solution enables the reconnaissance ball to achieve truly "throw and play" convenience.

[0057] Video transmission can also be achieved using 4G / 5G mobile network modules or wired transmission. 4G / 5G modules are suitable for remote transmission, while wired transmission is more stable and reliable, making it suitable for fixed monitoring scenarios.

[0058] The all-view reconnaissance ball provided according to the embodiments of this utility model includes the inner support shell 100, vision component 200 and attitude adaptive component 300 in the above embodiments. The specific structure and working principle of each component have been explained in detail in the above embodiments, and will not be repeated here.

[0059] Other components of the all-view reconnaissance ball according to embodiments of the present invention, such as power management system, motion control algorithm, image stitching software, etc., and their operation are known to those skilled in the art and will not be described in detail here.

[0060] Two ultra-flexible silicone wires (e.g., 22AWG specification) are spot-welded to the battery electrodes. The silicone wires possess excellent bending resistance and resistance to high and low temperatures; the other end of the wires is soldered to a male 4-pin miniature aviation connector. This connector features a foolproof design and locking mechanism to prevent accidental dislodgement. The cable originating from the battery extends upwards in a large arc with a radius of at least 15mm and is immediately secured to the static portion of the hanger with a wire clamp; the cable length is 20% longer than the length required for the battery's maximum swing trajectory. This allowance is coiled near the hanger in an "Ω" or spiral service loop configuration.

[0061] This design ensures that the cable remains in a relaxed, tension-free, natural bending state when the battery swings in any direction, rather than being pulled or taut, thus fundamentally solving the problem of metal fatigue fracture caused by repeated bending.

[0062] The corresponding aviation connector is fixed to the housing near the main control board. Power from the battery is supplied to the power management unit on the motherboard through this connector.

[0063] The internal wiring of the reconnaissance ball adopts a combination of "star topology" and "modular layering" to ensure signal integrity and ease of maintenance.

[0064] Input: Battery power is supplied to the power management chip on the main control board.

[0065] Distribution: The PMIC converts the voltage to different levels required by the system, such as +5V and +3.3V, and supplies power to each module through multiple independent power lines. One +5V dedicated power supply to the image processing unit (FPGA board).

[0066] One +5V supply, after passing through the motor driver chip, powers two miniature DC geared motors.

[0067] One +3.3V power supply provides power to core chips such as the main control MCU, Wi-Fi module, and IMU sensor.

[0068] Image signal: Six camera modules → connected by six independent coaxial cables or flexible circuit boards → image processing unit.

[0069] Image processing unit → via board-to-board connector or high-speed FPC → main control board.

[0070] Control signals: The main control board transmits PWM speed control signals to the motor driver chip via a standard ribbon cable.

[0071] The IMU sensor (integrated on the motherboard) communicates directly with the main control MCU via the I2C / SPI bus.

[0072] Data output: The main control board transmits video stream data to the 5.8GHz Wi-Fi antenna via an RF coaxial cable.

[0073] All cables are secured to the housing or frame every 30-50mm using nylon clamps or adhesive clips to prevent them from shaking under impact.

[0074] High-speed signal cables (such as camera cables) should use models with aluminum foil shielding. If necessary, copper foil shielding should be added to critical areas of the motherboard.

[0075] Protect cables from contact with sharp edges or moving parts by wrapping them with silicone tubing or duct tape.

[0076] Other components of the all-view reconnaissance ball according to embodiments of this utility model include: a power management system using TI's BQ25703A chip, responsible for the power distribution and power consumption management of the entire device; a wireless communication module using a Qualcomm QCA9377 chip, supporting 2.4 / 5.8GHz dual-band Wi-Fi; and a nine-axis inertial measurement unit using TDK InvenSense ICM-20948, used for real-time sensing of the ball's motion attitude, angular velocity, and absolute direction. These additional functional modules and their operation are known to those skilled in the art and will not be described in detail here.

[0077] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0078] Although embodiments of the present invention have been shown and described, those skilled in the art will understand 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 claims and their equivalents.

Claims

1. A full-view miniature reconnaissance ball, characterized by, include: An inner support shell serves as the support structure for the all-view reconnaissance sphere; Visual components; The vision component is disposed in the upper half of the inner support shell, and the vision component images the external environment and transmits it to the image processing unit. An attitude adaptive component is disposed in the lower half of the inner support shell. The attitude adaptive component includes an integrated battery counterweight. The battery counterweight is hinged to the center point of the inner support shell via a universal joint. The battery counterweight can swing within the lower half of the inner support shell. Under the action of gravity, it swings to the lowest point, driving the inner support shell to automatically adjust the vision component to an upward stable posture.

2. The all-view miniature reconnaissance ball according to claim 1, characterized in that: The inner support shell is a spherical structure formed by the engagement of an upper hemisphere and a lower hemisphere. The vision component is disposed outside the upper hemisphere. The vision component includes a camera mounting bracket that surrounds and is fixed to the outside of the upper hemisphere. Several camera mounts arranged in a uniform circular array are fixed on the camera mounting bracket, and cameras are fixed on the camera mounts.

3. The all-view miniature reconnaissance ball according to claim 2, characterized in that: The attitude adaptive component includes a hanger fixed to the inside of the opening of the lower hemispherical shell, and the battery counterweight is hinged to the lower side of the hanger via a universal joint.

4. The all-view miniature reconnaissance ball according to claim 1, characterized in that: The battery counterweight uses a high-density steel-cased battery, which also serves as a counterweight itself.

5. A small, all-view reconnaissance ball according to claim 3, characterized in that: The universal joint assembly includes an upper connector fixed at the center of the bottom of the hanger. The upper connector is hinged to both ends of the universal joint. A connecting lug extends from the upper end of the battery counterweight. A lower connector is fixed to the upper end of the connecting lug. The upper end of the lower connector is hinged to the remaining two ends of the universal joint.

6. A small, all-view reconnaissance ball according to claim 2, characterized in that: The lower hemispherical shell is also fixed inside a mounting base, on which a magnet is fixed. The magnet is located directly below the battery counterweight, and there is a gap between the two.

7. A small, all-view reconnaissance ball according to claim 6, characterized in that: The mounting base is equipped with a drive assembly, which includes two miniature DC geared motors fixed inside. The output ends of the miniature DC geared motors are opposite and fixed with Mecanum wheels.

8. A small, all-view reconnaissance ball according to claim 7, characterized in that: An outer elastic protective layer is provided outside the inner support shell, and the outer elastic protective layer is wrapped around the outside of the inner support shell by injection molding process; the lower part of the Mecanum wheel extends to the outside of the inner support shell and the outer elastic protective layer; a sandwich cavity is reserved between the outer elastic protective layer and the inner support shell, and shock-absorbing material is poured into the cavity; the sandwich cavity is divided into layers by several annular partitions so that the camera and the Mecanum wheel do not come into contact with the shock-absorbing material.

9. A small, all-view reconnaissance ball according to claim 2, characterized in that: The joint between the upper and lower hemispheres forms a first and a second annular plane, both of which have corresponding grooves for placing a sealing ring. Several internally threaded copper inserts are pre-embedded on the second annular plane. Several vertically arranged fixing holes are opened on the outer edge of the upper hemisphere, and the fixing holes correspond to the threaded copper inserts and are fixed by screws.

10. A small, all-view reconnaissance ball according to claim 8, characterized in that: The upper hemisphere of the outer elastic protective layer has several circular through holes evenly distributed around its circumference. A lens is bonded to each circular through hole with optical adhesive, and the camera is located on the inner side of the corresponding lens.

Images