CN100477737C - Scouting robotic ball - Google Patents
Scouting robotic ball Download PDFInfo
- Publication number
- CN100477737C CN100477737C CNB2007101756675A CN200710175667A CN100477737C CN 100477737 C CN100477737 C CN 100477737C CN B2007101756675 A CNB2007101756675 A CN B2007101756675A CN 200710175667 A CN200710175667 A CN 200710175667A CN 100477737 C CN100477737 C CN 100477737C
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- spherical shell
- gear
- ball
- video camera
- gear box
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Abstract
A reconnaissance ball is provided, which has an upper spherical shell, a lower spherical shell, a pedestal and a ball core. The ball core consists of a driving assembly, a circuit assembly and a camera assembly. The driving assembly consists of a gear case and a motor, wherein the gear case is provided inside with a primary gear, a secondary gear, a central gear, a toothed ring, a chassis and three planetary wheels, the bottom of the chassis fixedly connected with the pedestal. The circuit assembly consists of an upper support plate, a lower support plate, a circuit board, a master controller and two upright columns, wherein the circuit board is adhered to the top face of the upper support plate, the master controller is arranged on the lower support plate; the two upright columns spans between the upper and lower support plates; the camera assembly consists of a conformal pad, a mini-camera, a camera holder, a microphone, an infrared sensor and an infrared luminescent tube. The inventive reconnaissance ball has the advantages of small size, throwable and anti-falling property, automatic postural adjustment after falling to the ground, remote control of rotation, and changeable imaging direction for target search; and can be thrown into a building for furtive photography or wire trapping.
Description
Technical field
The present invention relates to small intelligent makeup and put, particularly a kind ofly can carry out the concealed intelligent ferreting device of scouting the on-the-spot replacement personnel of emergency reaction tasks such as anti-terrorism, rescue, burst disaster.
Background technology
When carrying out high-risk task such as anti-terrorism, rescue, reply burst disaster event, military operation, be to guarantee that task finishes quality, guarantees the key of personal security to the scouting of on-the-spot information.
In the prior art, the scouting of on-the-spot information is collected and to be mainly contained dual mode, remote telescope observation and closely the armed personnel permeate scouting.It is not scout effect substantially that remote telescope observation deliberately is provided with under the situation of covering or hiding the bandit.It is a kind of dangerous operation that armed personnel's infiltration is scouted, and often causes rescue worker's injures and deaths, or the bandit loses one's temper and causes field condition uncontrollable.
The intelligent device that is used for this class field at present seldom, that has used under battle conditions has only explosive-removal robot and explosive robot vehicle, but the volume of these two kinds of intelligent devices is big, target is big, is found easily, is not suitable for making into concealed ferreting device.
Summary of the invention
The object of the present invention is to provide a kind of Scouting robotic ball, it has microcam, microphone, wireless device, volume is little, can throw, anti-drop, automatically adjust attitude after landing, remote-controlled rotation, change camera orientation and seek object, can be thrown into interior of building and make a video recording and scout or eavesdropping is scouted.
For achieving the above object, the present invention is by the following technical solutions:
A kind of Scouting robotic ball has last spherical shell, following spherical shell, base and ball core, and last spherical shell, following spherical shell snap together, and base is arranged on down the bottom of spherical shell, it is characterized in that: described ball core is made up of driven unit, circuit unit, camera assembly three parts;
Driven unit is made up of gear box and motor, primary pinion is housed in the gear box, secondary gear, sun gear, gear ring, chassis and three planetary gears, motor is fixed on the gear box top cover, the main shaft of motor stretches in the gear box affixed with primary pinion downwards, primary pinion and secondary gear engagement, sun gear is installed in the below of secondary gear, sun gear, secondary gear all with the chassis on central shaft affixed, three planetary gears are arranged between sun gear and the gear ring, these three planetary gears and sun gear and gear ring engagement, in gear box, gear box is affixed with the intracavity sidewall of following spherical shell by screw for gear ring, and the bottom and the base on chassis are affixed;
Circuit unit is made up of upper and lower supporting bracket, circuit board, master controller, two columns, and circuit board is bonded on the end face of upper backup pad, and master controller is installed on the surface of lower supporting plate; Two columns are connected across between the upper and lower supporting bracket, and the bottom of two columns is fixed on the gear box top cover;
Camera assembly is by mending the shape pad, microcam, the video camera bearing, microphone, infrared sensor, the infraluminescence pipe is formed, microcam is inlaid in the video camera bearing, microphone, infrared sensor, the infraluminescence pipe is fixed on the arc gusset piece, this gusset piece and video camera bearing are adhesively fixed, the video camera bearing is inlaid in the spherical shell, be provided with between video camera bearing and the last spherical shell inwall and mend the shape pad, mending the shape pad is the shape of segment, the central through hole of mending the shape pad is socketed on the video camera bearing, mending the shape pad is clamped by video camera bearing and last spherical shell, video camera bearing rear portion is tightened by upper backup pad, mend and have on the shape pad for microphone, infrared sensor, the through hole that the infraluminescence pipe places has on the last spherical shell and is used to reveal microphone, infrared sensor, the through hole of infraluminescence pipe and microcam camera lens.
The described joining place of going up spherical shell, following spherical shell is provided with bracing frame, and bracing frame is a disc, its middle part hollow out, and the shape of hollow out conforms to the shape of ball core middle part outline.
The arranged outside of described master controller has dust ring, and dust ring is bonded on the lower supporting plate and is close to spherical shell.
The described material that goes up spherical shell, following spherical shell, base, benefit shape pad is a rubber.
On the described lower supporting plate mains switch is housed, has the through hole that is used to reveal mains switch on the described following spherical shell.
Be integrated with the wireless image transport module on the described circuit board; Described master controller is made up of wireless digital transport module and lithium battery group two parts.
The present invention has following positive beneficial effect:
Scouting robotic ball of the present invention is a kind of concealed intelligent device of scouting, and machine ball inner body size is through optimum organization, and fitting tight, diameter are less than 80 millimeters, and the controlled in wireless distance is greater than 30m.Be convenient to carry, the machine ball has antidetonation, anti-performance of falling, and can manually throw or be thrown near any objective by unmanned vehicle, carries out secret and scouts, and operating personnel needn't close deathtrap.The configuration of the center of gravity of machine ball is as tumbler, no matter the machine ball with which kind of angle and attitude lands, all can land with the bottom after stable and just stand on the ground, makes video camera with the scouting of making a video recording of correct visual angle.The relative base of the spheroid of machine ball can rotate, and changes the orientation thereby drive microcam, seeks object.Microcam has the infrared induction function, can see object clearly at pitch-dark environment.Operating personnel carry out long-range wireless remote control by operation control outside safe distance, and receive image, the voice messaging of Scouting robotic ball feedback in real time, improve on-the-spot information acquisition speed and efficient, and the raising task is finished quality, reduce casualties.
Description of drawings
Fig. 1 is the profile schematic diagram of Scouting robotic ball one embodiment of the present invention.
Fig. 2 is the profile schematic diagram of operation control of the present invention.
Fig. 3 is the structural representation after upward spherical shell, following spherical shell, ball core separate among Fig. 1.
Fig. 4 is the backsight axonometric drawing of ball core among Fig. 3.
Fig. 5 is the axonometric exploded view of whole parts among Fig. 3.
Fig. 6 is the enlarged drawing of driven unit among Fig. 5;
Fig. 7 is the enlarged drawing of circuit unit among Fig. 5, camera assembly;
Fig. 8 is the side direction view of Fig. 5.
Fig. 9 is the A-A cutaway view of Fig. 1.
Figure 10 is the B-B cutaway view of Fig. 9.
Figure 11 is the design of centre of gravity figure of Scouting robotic ball of the present invention.
Figure 12 is the design of centre of gravity figure of Scouting robotic ball of the present invention.
Figure 13 is the design of centre of gravity figure of Scouting robotic ball of the present invention.
Figure 14 is operation control panel figure of the present invention.
Embodiment
Number in the figure:
100 Scouting robotic balls; 200 operation controls;
1 mends shape pad 2 microcams
3 video camera bearings, 301 through holes, 302 through holes
4 bases, 5 wireless digital transport modules
6 chassis, 601 central shafts
7 planetary gears, 8 lithium battery groups, 9 motors
10 gear boxes, 11 bracing frames, 12 dust rings
13 circuit boards
14 microphones, 141 through holes, 142 through holes
15 infrared sensors, 151 through holes, 152 through holes
16 infraluminescence pipes, 161 through holes, 162 through holes
17 mains switches, 171 through holes
18 primary pinions, 19 secondary gears
20 sun gears, 21 gear rings
23 times spherical shell 231 seams
24 upper support frames, 25 gear box top covers
26 lower support framves, 27 master control modules, 28 gusset pieces
29 columns, 30 ball cores
31 control buttons, 32 control buttons
33 control buttons, 34 control buttons
35 information the Show Buttons, 36 information the Show Buttons
37 information the Show Buttons, 38 information the Show Buttons
39 information the Show Buttons, 40 information the Show Buttons
41 antennas, 42 mains switches, 43 loud speakers
44 LCDs, 45 passage switching push buttons
Please refer to Fig. 1, Fig. 2, Fig. 3, the present invention is a kind of Scouting robotic ball 100, is made up of last spherical shell 22, following spherical shell 23, base 4, ball core 30, and last spherical shell 22, following spherical shell 23 snap together, base 4 is arranged on down the bottom of spherical shell 23, and Scouting robotic ball 100 is by operation control 200 controls.
Please refer to Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, ball core 30 is made up of driven unit, circuit unit, camera assembly three parts;
Driven unit is made up of gear box 10 and motor 9, primary pinion 18 is housed in the gear box 10, secondary gear 19, sun gear 20, gear ring 21, chassis 6 and three planetary gears 7, motor 9 is fixed on the gear box top cover 25, the main shaft of motor 9 stretches in the gear box 10 affixed with primary pinion 18 downwards, primary pinion 18 and secondary gear 19 engagements, sun gear 20 is installed in the below of secondary gear 19, sun gear 20, secondary gear 19 all with chassis 6 on central shaft 601 affixed, three planetary gears 7 are arranged between sun gear 20 and the gear ring 21, these three planetary gears 7 and sun gear 20 and gear ring 21 engagements, gear ring 21 by screw in gear box 10, gear box 10 is affixed with the intracavity sidewall of following spherical shell 23, and the bottom on chassis 6 and base 4 are affixed; The material of base 4 is a rubber, and is very big with the frictional force on ground, and when three planetary gears 7 rotated, base 4 was relative with ground static, and chassis 6 is also relative with ground static, and gear ring 21 rotates, and drives whole spheroid and rotates.
Circuit unit is made up of upper and lower supporting bracket 24,26, circuit board 13, master controller 27, two columns 29, and circuit board 13 is integrated with the wireless image transport module by on the gluing end face that is connected on upper backup pad 24 on the circuit board 13; Master controller 27 is made up of wireless digital transport module 5 and lithium battery group 8 two parts, and master controller 27 is installed on the surface of lower supporting plate 26; Two columns 29 are connected across between the upper and lower supporting bracket 24,26, and the bottom of two columns 29 is fixed on the gear box top cover 25, and gear box top cover 25 is affixed with gear box 10.
Camera assembly is by mending shape pad 1, microcam 2, video camera bearing 3, microphone 14, infrared sensor 15, infraluminescence pipe 16 is formed, microcam 2 is inlaid in the video camera bearing 3, microphone 14, infrared sensor 15, infraluminescence pipe 16 is fixed on the arc gusset piece 28, this gusset piece 28 is adhesively fixed with video camera bearing 3, video camera bearing 3 is embedded in the spherical shell 22, be provided with between video camera bearing 3 and last spherical shell 22 inwalls and mend shape pad 1, mending shape pad 1 is the segment shape, the central through hole 301 of mending shape pad 1 is socketed on the video camera bearing 3, mend shape pad 1 and clamped by video camera bearing 3 and last spherical shell 22, video camera bearing 3 rear portions are by upper backup pad 24 chuckings.
Please refer to Fig. 8, mend and have the through hole 141 that places for microphone 14 on the shape pad 1.Mend and have the through hole 151 that places for infrared sensor 15 on the shape pad 1.Mend and have the through hole 161 that places for infraluminescence pipe 16 on the shape pad 1.Have the through hole 302 that is used to reveal microcam 2 camera lenses on the last spherical shell 22.Have the through hole 142 that is used to reveal microphone 14 on the last spherical shell 22.Have the through hole 152 that is used to reveal infrared sensor 15 on the last spherical shell 22.Have the through hole 162 that is used to reveal infraluminescence pipe 16 on the last spherical shell 22.
Please refer to Fig. 3, Fig. 5, Fig. 6, Fig. 7, mains switch 17 is housed on the lower supporting plate 26, have the through hole 171 that is used to reveal mains switch 17 on the following spherical shell 23.
The joining place of last spherical shell 22, following spherical shell 23 is provided with bracing frame 11, and bracing frame 11 is a disc, its middle part hollow out, and the shape of hollow out conforms to the shape of ball core middle part outline.Bracing frame 11 can reduce the distortion that causes when spheroid middle part is hit greatly.
The joining place of last spherical shell 22, following spherical shell 23 has the step-like seam 221,231 that cooperatively interacts, and bracing frame 11 is inlaid in down ending on 231 of spherical shell 23, and is compressed by the seam 221 of last spherical shell 22.
The arranged outside of master controller 27 has dust ring 12, and dust ring 12 is bonded on the lower supporting plate 26, and is close to spherical shell 22,12 dustproof effect of dust ring.
Please refer to Fig. 5, Fig. 6, Fig. 7, Fig. 8, after motor 9 startup work, motor 9 drives secondary gear 19 rotations by primary pinion 18, thereby drive and the secondary gear 19 coaxial sun gear that is connected 20 rotations, sun gear 20 rotates and drives 7 rotations of three planetary gears simultaneously, because the material of base 4 is a rubber, very big with the frictional force on ground, when three planetary gears 7 rotate, base 4 is relative with ground static, chassis 6 is also relative with ground static, so gear ring 21 rotates with three planetary gears 7, affixed because of gear ring 21 and gear box 10, so can driving entire machine ball main body when rotating, gear ring 21 on base 4, rotates gently, adjust the microcam orientation thereby reach, seek the purpose of target.
The signal of control motor 9 is sent by operation control 2, is received and is resolved by the wireless digital transport module on the Scouting robotic ball and give motor, with the speed and the direction of control motor.
Scouting robotic ball of the present invention has the ability that opposing is impacted.The material of last spherical shell 22, following spherical shell 23, base 4, benefit shape pad 1 is a rubber.Last spherical shell 22, following spherical shell 23, base 4 can absorb most of the impact as first overcoat; Bracing frame 11 can reduce the distortion that causes when spheroid middle part is hit, and video camera bearing 3 also is highly resistant to impact, thus protection microcam 2.
Please refer to Fig. 9, Figure 10, the inside of Scouting robotic ball is very tight.Last spherical shell 22 and following spherical shell 23 have complementary step-like seam, so can be completely fixed bracing frame 11; Master control module 27 is to be fixed on the surface of gear box loam cake 25 by column 29; Upper backup pad 24 also supports and is screwed by column 29; In addition, important components and parts position, main impact site all filled with foaming material protect.
Scouting robotic ball rubber spherical shell after throwing lands, because rubber has better elastic, can protect machine ball ball core when being subjected to impacting not to be damaged.
Please refer to Figure 11,12,13, attitude was different when the machine ball landed, can be for guaranteeing video camera with the operation of making a video recording of attitude correctly, and must make the machine ball just is that the spheroid bottom lands in static following time.So the center of gravity G of machine ball configuration must similar tumbler, each gear in the gear box all is to be material with the stainless steel, makes the center of gravity G of machine ball at its 1/3rd height and position.The bottom surface of base 4 is one can make the stable plane that stops of machine ball, and the radius 36mm on this plane just makes machine ball center of gravity line all the time by this planar central.
Please refer to Fig. 2, Figure 14, operation control 200 main effects are the image and the sensor informations of Scouting robotic ball 100 being operated control and the passback of display device ball.The panel of operation control 200 is provided with antenna 41, master switch 42, loud speaker 43, LCDs 44, passage switching push button 45 and control button and information the Show Button.
Control button 31,32,33,34 is used for the state of Scouting robotic ball is operated.
Information the Show Button 35,36,37,38,39,40 is used for operation control 200 oneself states are set.
Claims (4)
1. a Scouting robotic ball has last spherical shell, following spherical shell, base and ball core, and last spherical shell, following spherical shell snap together, and base is arranged on down the bottom of spherical shell, it is characterized in that: described ball core is made up of driven unit, circuit unit, camera assembly three parts;
Driven unit is made up of gear box and motor, primary pinion is housed in the gear box, secondary gear, sun gear, gear ring, chassis and three planetary gears, motor is fixed on the gear box top cover, the main shaft of motor stretches in the gear box affixed with primary pinion downwards, primary pinion and secondary gear engagement, sun gear is installed in the below of secondary gear, sun gear, secondary gear all with the chassis on central shaft affixed, three planetary gears are arranged between sun gear and the gear ring, these three planetary gears and sun gear and gear ring engagement, in gear box, gear box is affixed with the intracavity sidewall of following spherical shell by screw for gear ring, and the bottom and the base on chassis are affixed;
Circuit unit is made up of upper and lower supporting bracket, circuit board, master controller, two columns, and circuit board is bonded on the end face of upper backup pad, and master controller is installed on the surface of lower supporting plate; Two columns are connected across between the upper and lower supporting bracket, and the bottom of two columns is fixed on the gear box top cover;
Camera assembly is by mending the shape pad, microcam, the video camera bearing, microphone, infrared sensor, the infraluminescence pipe is formed, microcam is inlaid in the video camera bearing, microphone, infrared sensor, the infraluminescence pipe is fixed on the arc gusset piece, this gusset piece and video camera bearing are adhesively fixed, the video camera bearing is inlaid in the spherical shell, be provided with between video camera bearing and the last spherical shell inwall and mend the shape pad, mending the shape pad is the shape of segment, the central through hole of mending the shape pad is socketed on the video camera bearing, mending the shape pad is clamped by video camera bearing and last spherical shell, video camera bearing rear portion is tightened by upper backup pad, mend and have on the shape pad for microphone, infrared sensor, the through hole that the infraluminescence pipe places has on the last spherical shell and is used to reveal microphone, infrared sensor, the through hole of infraluminescence pipe and microcam camera lens;
On the described lower supporting plate mains switch is housed, has the through hole that is used to reveal mains switch on the described following spherical shell; Be integrated with the wireless image transport module on the described circuit board; Described master controller is made up of wireless digital transport module and lithium battery group two parts.
2. Scouting robotic ball as claimed in claim 1 is characterized in that: the described joining place of going up spherical shell, following spherical shell is provided with bracing frame, and bracing frame is a disc, its middle part hollow out, and the shape of hollow out conforms to the shape of ball core middle part outline.
3. Scouting robotic ball as claimed in claim 1 is characterized in that: the arranged outside of described master controller has dust ring, and dust ring is bonded on the lower supporting plate and is close to spherical shell.
4. Scouting robotic ball as claimed in claim 1 is characterized in that: the described material that goes up spherical shell, following spherical shell, base, benefit shape pad is a rubber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007101756675A CN100477737C (en) | 2007-10-10 | 2007-10-10 | Scouting robotic ball |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007101756675A CN100477737C (en) | 2007-10-10 | 2007-10-10 | Scouting robotic ball |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101146180A CN101146180A (en) | 2008-03-19 |
| CN100477737C true CN100477737C (en) | 2009-04-08 |
Family
ID=39208447
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2007101756675A Expired - Fee Related CN100477737C (en) | 2007-10-10 | 2007-10-10 | Scouting robotic ball |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100477737C (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106052736A (en) * | 2016-07-18 | 2016-10-26 | 西安电子科技大学 | Node protective cover of ZigBee technology environment monitoring system |
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| CN101917603A (en) * | 2010-08-27 | 2010-12-15 | 高凌 | Omni-bearing spherical shooting and monitoring system |
| CN102305842A (en) * | 2011-06-18 | 2012-01-04 | 北京凌天世纪自动化技术有限公司 | Wireless detecting ball for dangerous area detection |
| CN106032882A (en) * | 2015-03-16 | 2016-10-19 | 陈凯柏 | Modular lighting device with multiple detecting function |
| CN102387299B (en) * | 2011-10-31 | 2014-04-30 | 武汉华中天经光电系统有限公司 | Mini type photoelectric detecting ball and portable display controller thereof |
| CN102387353B (en) * | 2011-11-22 | 2014-08-13 | 济南蓝动激光技术有限公司 | WIFI-based mobile video camera |
| CN102829299A (en) * | 2012-09-10 | 2012-12-19 | 武汉华中天经光电系统有限公司 | Self-adaption erecting device |
| CN103686069A (en) * | 2013-07-17 | 2014-03-26 | 太仓市鸿欣工业产品设计有限公司 | A video sound monitoring apparatus of a tumbler structure |
| CN103646519A (en) * | 2013-11-20 | 2014-03-19 | 广州杰赛科技股份有限公司 | Emergency communication apparatus and emergency communication system |
| CN104079888A (en) * | 2014-07-10 | 2014-10-01 | 北京剑邦科技有限公司 | Comprehensive detection device |
| CN105840962A (en) * | 2016-05-13 | 2016-08-10 | 广东金鼎光学技术股份有限公司 | All-angle camera rotating mechanism |
| CN107972781B (en) * | 2017-11-14 | 2023-06-02 | 宜昌创源中新光电科技有限公司 | Two-wheel self-balancing reconnaissance trolley based on wireless transmission and control method |
| US11457129B2 (en) * | 2018-09-21 | 2022-09-27 | Videotec S.P.A. | Damage resistant rotatable video camera assembly |
| CN111608641B (en) * | 2020-05-15 | 2021-08-06 | 傲垦数控装备(苏州)有限公司 | Azimuth tracking platform |
-
2007
- 2007-10-10 CN CNB2007101756675A patent/CN100477737C/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106052736A (en) * | 2016-07-18 | 2016-10-26 | 西安电子科技大学 | Node protective cover of ZigBee technology environment monitoring system |
| CN106052736B (en) * | 2016-07-18 | 2018-06-26 | 西安电子科技大学 | The node protective cover of ZigBee technology environmental monitoring system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101146180A (en) | 2008-03-19 |
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