CN219351819U - Multi-dimensional monitoring module for robot - Google Patents
Multi-dimensional monitoring module for robot Download PDFInfo
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- CN219351819U CN219351819U CN202223601678.4U CN202223601678U CN219351819U CN 219351819 U CN219351819 U CN 219351819U CN 202223601678 U CN202223601678 U CN 202223601678U CN 219351819 U CN219351819 U CN 219351819U
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Abstract
The application provides a multi-dimensional monitoring module for a robot, which comprises a camera module, a ball machine, a shell, a horizontal rotation driving motor and a lifting mechanism, wherein the camera module is arranged in the ball machine, and the ball machine can be arranged in the shell in a back-and-forth swinging manner around a pitching axis in the horizontal direction; the shell is arranged on the lifting mechanism through the horizontal rotation driving motor, so that the horizontal rotation driving motor can drive the shell to rotate around a rotation axis in the vertical direction; the lifting mechanism can be height-adjusted along the rotation axis direction. In the multi-dimensional monitoring module for the robot, horizontal rotation driving motor and elevating system are connected to the shell bottom, realize high adjustment through elevating system, control the regulation through horizontal rotation driving motor, realize the pitching regulation about the module of making a video recording through the steering wheel in the ball machine to the module of making a video recording can realize the full visual field control of multi-dimensional, can cross the barrier and shoot, promotes monitoring capacity.
Description
Technical Field
The application relates to the technical field of video monitoring, in particular to a multi-dimensional monitoring module for a robot.
Background
With the rapid development of video monitoring technology, most of the current vision modules can realize wide-angle shooting. For further widening the visual field, some vision modules are additionally provided with vertical pitching adjusting structures to widen the vertical visual field, and other vision modules are additionally provided with left and right adjusting structures to widen the horizontal visual field, so that the monitoring of a large visual field range is realized. However, the adjustment of the field of view ranges is limited to the adjustment of pitching or the adjustment of left and right at a certain fixed height, and when the vision module encounters an obstacle at the current height to block a shooting target in the moving process of the following robot, the shooting operation of the target is difficult to realize through the adjustment of pitching or the adjustment of left and right.
In order to solve the above-mentioned problems, it is needed to provide a multi-dimensional full-view monitoring module for robots, which overcomes the problem of monitoring failure caused by shielding of the vision module by obstacles.
Disclosure of Invention
For solving the technical problem that exists now, this application provides a multidimension degree control module for robot, can realize pitch adjustment, horizontal angle regulation and altitude mixture control, realizes multidimension degree control shooting.
In order to achieve the above purpose, the technical solution of the embodiments of the present application is implemented as follows:
the embodiment of the application provides a multi-dimensional monitoring module for a robot, which comprises a camera module, a ball machine, a shell, a horizontal rotation driving motor and a lifting mechanism, wherein the camera module is arranged in the ball machine, and the ball machine can be arranged in the shell in a back-and-forth swinging manner around a pitching axis in the horizontal direction; the shell is arranged on the lifting mechanism through the horizontal rotation driving motor, so that the horizontal rotation driving motor can drive the shell to rotate around a rotation axis in the vertical direction; the lifting mechanism can be height-adjusted along the rotation axis direction.
In one embodiment, the ball machine comprises a ball shell, a pitching pin shaft and a steering engine, the camera shooting module is arranged in the ball shell, the pitching pin shaft is connected with the shell from one side of the ball shell along the pitching axis direction, the steering engine is arranged in the ball shell, and a power output shaft of the steering engine is connected with the shell from the other side of the ball shell along the pitching axis direction.
In one embodiment, the horizontal rotation driving motor is fixed at the top of the lifting mechanism, and a power output shaft of the horizontal rotation driving motor is connected to the bottom of the housing along the rotation axis direction.
In one embodiment, the horizontal rotation driving motor is a stepping motor or a servo motor.
In one embodiment, the lifting mechanism comprises a plurality of loop bars, ropes, rope winding wheels, compression springs and a lifting driving motor; the plurality of loop bars are sleeved in sequence from outside to inside or from inside to outside around the rotation axis direction; one end of the rope is connected with the loop bar at the top end, and the other end of the rope penetrates through the loop bars along the rotation axis direction and is retractably connected with the rope winding wheel; the compression spring is arranged between the adjacent loop bars along the rotation axis direction so as to provide elastic force for the adjacent loop bars to rise relatively to the rotation axis direction; and a power output shaft of the lifting driving motor is connected with a rotating shaft of the rope winding wheel so as to drive the rope winding wheel to recover or release the rope.
In one embodiment, the rope is a wire rope and the lift drive motor is a servo motor.
In one embodiment, the image capturing module includes a visible light camera for capturing a visible light image and an infrared camera for capturing an infrared thermal imaging image.
In one embodiment, the visible light camera and the infrared camera are arranged side by side in a horizontal direction.
The multi-dimensional monitoring module for the robot has the following beneficial effects: the utility model provides a robot is with multidimension degree control module, horizontal rotation driving motor and elevating system are connected to the shell bottom, realize high adjustment through elevating system, realize controlling the regulation through horizontal rotation driving motor, realize making a video recording the module luffing motion through the steering wheel in the inside ball machine of shell to make a video recording the module and can realize the whole visual field control of multidimension degree, can realize crossing the barrier shooting through multidimension degree regulation, eliminate the control dead angle, promote the monitoring capability.
Drawings
Fig. 1 is a perspective view of a multi-dimensional monitoring module for a robot in a lifted state according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a front view of the multi-dimensional monitoring module for the robot in FIG. 1;
FIG. 3 is a schematic cross-sectional view taken along the direction A-A in FIG. 2;
FIG. 4 is an enlarged sectional view schematically showing the structure in the direction B-B in FIG. 2;
fig. 5 is a schematic front view of the multi-dimensional monitoring module for the robot in fig. 2 in a lowered state.
The reference numerals of the elements in the drawings are as follows:
a camera module 10 (wherein, a visible light camera 11, an infrared camera 12); ball machine 20 (wherein, spherical shell 21, pitch pin 22, steering engine 23); a housing 30; a horizontal rotation driving motor 40; a lifting mechanism 50 (in which a loop bar 51, a rope 52, a rope winding wheel 53, a compression spring 54, and a lifting drive motor 55).
Detailed Description
The technical scheme of the application is further elaborated below by referring to the drawings in the specification and the specific embodiments.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the implementations of the present application. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
In the description of the present application, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate description of the present application and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application. In the description of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art in a specific context.
The utility model provides a multidimension degree control module for robot both can realize pitch adjustment from top to bottom, control the horizontal rotation and adjust, still accessible goes up and down to carry out altitude mixture control to cross the barrier, realize multidimension, wide visual field, avoid appearing the control dead angle, promote the monitoring capability.
Referring to fig. 1 and 2, a multi-dimensional monitoring module for a robot according to an embodiment of the present disclosure includes a camera module 10, a ball machine 20, a housing 30, a horizontal rotation driving motor 40 and a lifting mechanism 50, wherein the camera module 10 is installed in the ball machine 20, and the ball machine 20 is installed in the housing 30 and swings back and forth around a pitching axis in a horizontal direction relative to the housing 30; the casing 30 is mounted on the top of the lifting mechanism 50 through a horizontal rotation driving motor 40, so that the horizontal rotation driving motor 40 can drive the casing 30, the ball machine 20 of the casing 30 and the camera module 10 to rotate around the rotation axis in the vertical direction; the elevating mechanism 50 can be elevated or lowered in the direction of the rotation axis to make the height adjustment.
Specifically, the image capturing module 10 adopts a dual-light module, and includes a visible light camera 11 and an infrared camera 12, wherein the visible light camera 11 is used for capturing and obtaining a visible light image, and the infrared camera 12 is used for capturing and obtaining an infrared thermal imaging image. The use of the visible light camera 11 in combination with the infrared camera 12 enables the monitoring function to be achieved in both lighted and non-lighted environments. In the illustrated embodiment, the visible light camera 11 and the infrared camera 12 are arranged side by side in the horizontal direction; of course, the visible light camera 11 and the infrared camera 12 may be arranged in parallel or in other arrangements in the vertical direction, which is not limited herein.
Referring to fig. 3 and 4 in combination, the ball machine 20 includes a ball housing 21, a pitch pin 22, and a steering engine 23. The camera module 10 is arranged in the spherical shell 21, the pitching pin shaft 22 is connected with the shell 30 along the pitching axis direction from one side of the spherical shell 21, the steering engine 23 is arranged in the spherical shell 21, and the power output shaft of the steering engine 23 is connected with the shell 30 along the pitching axis direction from the other side of the spherical shell 21. Thus, when the steering engine 23 rotates, the whole ball machine 20 and the camera module 10 inside the ball machine 20 are driven to swing back and forth around the pitching axis direction, and the up-and-down pitching adjustment of the camera module 10 is realized. By structural cooperation of the ball machine 20 and the housing 30, the vertical field angle (pitch rotation angle) can be up to 90 °.
As shown in fig. 3, the horizontal rotation driving motor 40 is fixed to the top of the elevating mechanism 50 in the rotation axis direction, and the power output shaft of the horizontal rotation driving motor 40 is connected to the bottom of the housing 30 in the rotation axis direction. Thus, when the horizontal rotation driving motor 40 is started, the horizontal rotation driving motor 40 can drive the housing 30 and the ball machine 20 and the camera module 10 in the housing 30 to rotate around the rotation axis, so that the left-right adjustment is realized, because the lifting mechanism 50 is fixed. By structural cooperation of the horizontal rotation driving motor 40 with the housing 30, the horizontal viewing angle can reach 360 °. To achieve accurate adjustment of the horizontal field of view, the horizontal rotation driving motor 40 may employ a stepping motor or a servo motor with higher accuracy.
The lifting mechanism 50 is disposed at the bottom of the housing 30 for height adjustment. The elevating mechanism 50 includes a plurality of loop bars 51, a rope 52, a rope winding wheel 53, a plurality of compression springs 54, and an elevating driving motor 55. The plurality of loop bars 51 are sequentially sleeved from outside to inside or from inside to outside around the rotation axis direction, and form a sequentially telescopic structure. One end of the rope 52 is connected to the loop bar 51 at the top end, and the other end is connected to the rope reel 53 through a plurality of loop bars 51 in the direction of the rotation axis, and the rope reel 53 can recover or release the rope 52 by rotating. The compression spring 54 is provided between the adjacent loop bars 51 in the rotation axis direction, thereby providing the adjacent loop bars 51 with an elastic force (lifting force) that rises with respect to the rotation axis direction. The elevation driving motor 55 is provided at one side of the rope winding wheel 53, and a power output shaft is connected to a rotation shaft of the rope winding wheel 53 to drive the rope winding wheel 53 to recover or release the rope 52. When the hoist drive motor 55 drives the sheave 53 to completely release the rope 52, the plurality of loop bars 51 are raised to the highest under the elastic restoring force of the compression spring 54, and the hoist mechanism 50 is in a lifted state, as shown in fig. 2; when the hoisting drive motor 55 drives the sheave 53 to gradually retract the ropes 52, the plurality of loop bars 51 are pulled down by the ropes 52 to a substantially fully nested condition, and the hoisting mechanism 50 is in a lowered condition, as shown in fig. 5.
To ensure operational reliability and height adjustment accuracy of the lift mechanism 50, the cords 52 may be formed of a strong and durable wire rope and the lift drive motor 55 may be a servo motor.
The specific structure of the lifting mechanism 50 is not fully described herein, and reference is made to the description of "lifting device" in chinese patent No. 202221058777. X.
The shell 30, the ball machine 20 and the camera module 10 are driven to integrally ascend or descend through the lifting mechanism 50, when an obstacle is encountered to block shooting, the camera module 10 is lifted or lowered through the lifting mechanism 50, and then the ball machine 20 is matched for pitching adjustment and horizontal rotation driving motor 40 for left and right adjustment, so that the camera module 10 can shoot from a high overlook position and can shoot from a low position for looking up.
To sum up, the robot of this application is with multidimension degree control module, horizontal rotation driving motor and elevating system are connected to the shell bottom, realize high adjustment through elevating system, realize controlling the regulation through horizontal rotation driving motor, realize making a video recording the module and pitch the swing from top to bottom through the steering wheel in the inside ball machine of shell to make a video recording the module and can realize the control of multidimension degree full view field, can realize crossing the barrier shooting through multidimension degree regulation, eliminate the monitoring dead angle, promote the monitoring capability.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (8)
1. A multi-dimensional monitoring module for a robot is characterized in that: the ball machine comprises a camera module (10), a ball machine (20), a shell (30), a horizontal rotation driving motor (40) and a lifting mechanism (50), wherein the camera module (10) is arranged in the ball machine (20), and the ball machine (20) can be arranged in the shell (30) in a back-and-forth swinging manner around a pitching axis in the horizontal direction; the shell (30) is arranged on the lifting mechanism (50) through the horizontal rotation driving motor (40), so that the horizontal rotation driving motor (40) can drive the shell (30) to rotate around a rotation axis in the vertical direction; the elevating mechanism (50) is height-adjustable in the direction of the rotation axis.
2. The multi-dimensional monitoring module for a robot according to claim 1, wherein: the ball machine (20) comprises a ball shell (21), a pitching pin shaft (22) and a steering engine (23), wherein the camera shooting module (10) is arranged in the ball shell (21), the pitching pin shaft (22) is connected with the shell (30) from one side of the ball shell (21) along the pitching axis direction, the steering engine (23) is arranged in the ball shell (21), and a power output shaft of the steering engine (23) is connected with the shell (30) from the other side of the ball shell (21) along the pitching axis direction.
3. The multi-dimensional monitoring module for a robot according to claim 1, wherein: the horizontal rotation driving motor (40) is fixed at the top of the lifting mechanism (50), and a power output shaft of the horizontal rotation driving motor (40) is connected to the bottom of the shell (30) along the rotation axis direction.
4. A multi-dimensional monitoring module for a robot according to claim 3, wherein: the horizontal rotation driving motor (40) is a stepping motor or a servo motor.
5. The multi-dimensional monitoring module for a robot according to claim 1, wherein: the lifting mechanism (50) comprises a plurality of loop bars (51), ropes (52), rope winding wheels (53), compression springs (54) and a lifting driving motor (55); the plurality of loop bars (51) are sleeved in sequence from outside to inside or from inside to outside around the rotation axis direction; one end of the rope (52) is connected to the loop bar (51) at the top end, and the other end of the rope is retractably connected to the rope winding wheel (53) by penetrating through the loop bars (51) along the rotation axis direction; the compression springs (54) are provided between the adjacent loop bars (51) in the rotation axis direction to provide elastic force to the adjacent loop bars (51) to rise relative to the rotation axis direction; the power output shaft of the lifting driving motor (55) is connected to the rotating shaft of the rope winding wheel (53) so as to drive the rope winding wheel (53) to recover or release the rope (52).
6. The multi-dimensional monitoring module for a robot of claim 5, wherein: the rope (52) is a steel wire rope, and the lifting driving motor (55) is a servo motor.
7. The multi-dimensional monitoring module for a robot according to any one of claims 1 to 6, wherein: the camera module (10) comprises a visible light camera (11) for shooting and obtaining visible light images and an infrared camera (12) for shooting and obtaining infrared thermal imaging images.
8. The multi-dimensional monitoring module for a robot of claim 7, wherein: the visible light camera (11) and the infrared camera (12) are arranged side by side in the horizontal direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223601678.4U CN219351819U (en) | 2022-12-29 | 2022-12-29 | Multi-dimensional monitoring module for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223601678.4U CN219351819U (en) | 2022-12-29 | 2022-12-29 | Multi-dimensional monitoring module for robot |
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| Publication Number | Publication Date |
|---|---|
| CN219351819U true CN219351819U (en) | 2023-07-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202223601678.4U Active CN219351819U (en) | 2022-12-29 | 2022-12-29 | Multi-dimensional monitoring module for robot |
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| CN (1) | CN219351819U (en) |
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- 2022-12-29 CN CN202223601678.4U patent/CN219351819U/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: INFIRAY TECHNOLOGIES CO.,LTD. Assignor: Yantai Airui Photo-Electric Technology Co.,Ltd. Contract record no.: X2024980006380 Denomination of utility model: Multidimensional monitoring module for robots Granted publication date: 20230714 License type: Common License Record date: 20240530 |