JP5438057B2 - Ski robot with camera - Google Patents

Description

  The present invention contributes to the improvement of ski turn technology by photographing skiers from any direction while sliding with radio control, and adjusting the subtle image shift between skiers and cameras with infrared human detection automatic tracking camera It is related to the robot that made it possible to do.

In recent years, there has been known a method of moving a camera robot by remote control that can move a moving body reliably even at a long distance by remote control from a fixed remote control point. (For example, refer to Patent Document 1.)

In recent years, a remote operation method of a ski robot has been known which can perform a complex ski turn operation only by a simple radio control terminal operation and can be stably slid. (For example, see Patent Document 2.)

  Vehicles that are commercially available and used, can be used for off-road cycles, can be used for off-road cycles, and can be attached to and detached from the off-road cycle, can be mounted to slide on the water and snow. . (For example, refer to Patent Document 3.)

Separate the linear motion actuator for driving the lower leg, the lower leg link, and the foot from the ankle joint, connecting the thigh link and the lower leg link of the left and right legs at the part away from the knee joint. In a biped robot that includes a linear motion actuator for driving the connected foot at the left part, there is a robot that can improve the exercise performance by reducing the moment of inertia of the thigh link and the thigh link. Are known. (For example, see Patent Document 4)

It is possible to shoot various scenes without boarding the personnel, and the personnel required for this shooting are mainly those who control the radio control helicopter on the ground, and there are few manpower required, and the aircraft Even if shaking occurs, the camera can always be in a stable state, the best shooting can be performed, the overall structure is extremely simple, and it can be manufactured at a low cost, plus shooting A radio controlled helicopter equipped with a camera that can change the orientation of the aircraft to the best orientation is known. (For example, refer to Patent Document 5.)

With reference to the off-road cycle and skiing vehicle, there is a short snowboard in the front, a long snowboard in the back and a handle frame similar to a bicycle, and a vehicle that feels like sliding down the snow surface with a bicycle Are known. (For example, refer nonpatent literature 1.)

The name is called a snow racer, and the back side is parallel in two rows. There is a low seat on the ski, and the front side is a circular handle and a small snowboard is fixed on the frame and sits on a chair. Snow sports gears that play with skis on the slopes are known. (For example, refer nonpatent literature 2.)

Japanese Patent Publication No. 7-30969

Japanese Patent Publication No. 2005-254396

Japanese Utility Model Publication No. 6-57767

Japanese Patent Publication No. 2009-101456

Japanese Utility Model Publication No. 5-73647

Gick Japan (Co., Ltd.), Snowscoot

(S) Co., Ltd., Snow Racer

  This is not solved by the above-mentioned known device. Hereinafter, the skier is photographed from any direction while sliding by operating the radio control, and the subtle ski turn is captured by an infrared human detection type automatic tracking type camera. Providing a ski robot that is possible is a challenge.

  At the bottom of the box-shaped case body with a built-in drive device, the left and right legs, each of which has a cylindrical body at the tip, are provided, and the horizontal part of the rod-shaped portal support that is fixed to the upper surface of the ski A vertical support that vertically forms a cylindrical portion at the top from the central portion of the horizontal rod, and penetrates the upper side of the case body. A U-shaped rod penetrating through the hole is rotatably fitted to the cylindrical part, and an infrared human detection type automatic tracking type camera is provided at the upper part of the case body, and a tip is provided at the rear part of the case body. The problem is solved as a ski robot with a camera provided with a saw blade-like bowl-shaped body.

  In the present invention, it is possible to take a picture of the skier's motion, which is sliding down by radio control, from any direction, and equipped with an infrared human detection type automatic tracking type camera. The skier does not miss the delicate downhill operation of the skier. Therefore, in the skiing course, it is sufficiently effective as a teaching material.

FIG. 3 is an overview perspective view of the entire robot. FIG. 2 is a perspective view of a meandering drive device and an electronic component arrangement for controlling the meandering drive device. FIG. 2 is a perspective view of a brake drive device and an electronic component arrangement for controlling the brake drive device.

In FIG. 1, the overall configuration is that two legs are provided on the left and right sides from the bottom of the box-type case body 4 containing the drive device, and a cylindrical body 2 is formed at the tip thereof, and the cylindrical body 2 is penetrated. The vertical support 1a is provided at the center of the gate-type support 1b fixed on the ski board, and the cylinder formed at the top of the vertical support 1a is provided on both sides of the box-type case body 4. A U-shaped rod 6 is rotatably fitted to the cylinder through the through-hole of the box, and an infrared interpersonal detection type automatic tracking camera C is provided on the upper part of the box-type case body 4, and the box On the rear bottom of the mold case body 4 is provided a bowl-like body 7 having a saw blade shape, and on the front side of the box-type case body 4 are provided electronic devices and mechanical devices for controlling the meandering operation. An electronic device for controlling the braking operation on the rear side of the box-shaped case body 4; Clockwork is provided.

In FIG. 2 and FIG. 3, the radio control mechanism is such that a transmitter Pt, a receiver R, and a forward / reverse inversion electronics speed control switch Spc make use of the parallel simultaneous movement to operate the electronic control device inside the robot. First, a signal is sent from the transmitter Pt to the receiver R in the robot via the transmitter antenna Pa and the receiver antenna Ra, and then the digital signal is converted into an analog current by the forward / reverse inversion electronics speed control switch Spc. The DC geared motor Dcgm is switched on and a spring-type clutch Sc is provided at the tip of the driving sprocket Ds of the motor Dcgm to protect the motor.

2 and 3, the control circuit of the forward / reverse inversion electronics speed control switch Spc in the meandering device is a single pole double throw type with ON-OF-ON, so that no current flows during OF, When turned on, the chain Ch is connected to the drive sprocket Ds of the motor Dcgm and the entire sprocket Sp for transmission, which is accurately transmitted to the motor Dcgm, with the strength, swing width and speed of the lever at hand. Turned, there is a U-shaped rod body 6 in which a part of the chain Ch is attached, and its left and right bent portions are rotatably fitted to the tip of the vertical support 1a. When the U-shaped rod body 6 slides left and right, the support body 1 swings. Therefore, when the lever of the radio control transmitter Pt is moved left and right, the ski S tilts alternately to the left and right to meander down.

2 and 3, the control method of the radio control is the same as described above, but the function of the mechanical device is slightly different. By driving the chain Ch, the brake lever Brl is tilted. In addition, since the S-shaped plate 7 having a saw blade-like bowl shape can be operated by scratching the snow surface, transmission, speed control, and stop operation are possible. In addition, since the infrared person-to-person detection type auto-tracking camera C is mounted on the upper part of the box-type case body 4, it is possible to adjust the image shift and accurately photograph the subject skier.

As for the operation method of the robot, the radio control teacher, the robot, and the skier are lined up on the mountaintop and ready for ski turn down. First, when the robot brake device 7 is released with the radio control lever, the robot starts to slide. After that, the skier slides continuously, tilting the control lever to the left and right causes the robot to meander to the left and right, and the skier also slides after that. The operation lever can be operated in various ski turns, so that the skier Next, by operating another lever together, the speed of the robot's sliding can be controlled, and finally it can be stopped. However, this robot's camera can slide on either the front side or the left and right side. Since the type C is installed, it is possible to slightly correct the misalignment of each other, and the radio controller can be operated within a range where radio waves can reach even from a remote location or while sliding together. For example, you can operate the robot from anywhere, it is effective that the movement of the robot of the radio control operation is not so flashy to take a better image, it is better that the robot and the skier are not so close, The slope of the snow surface on which the robot slides is preferably a gentle slope.

In manufacturing, if the weight of the robot body is too light, it will fall easily, and if it is too heavy, there will be a problem with the sliding speed. So, if it is made of plastic, it will be easy to produce, and it will be cheap but too light. Although it is inexpensive, it takes too much time to manufacture and is too heavy, so it is a little expensive, but the aluminum alloy is strong and has just the right weight and is excellent in rust prevention. Is.

In the design, considering the ratio of ski length, position width, machine height and the position of the center of gravity in terms of structural balance, the size of the side curve of the ski and the elastic force, In recent years, there are enough developments, so this is how to select them. This time the machine rides on them, so you can not grasp any sensory things at all, so there are enough prototypes and many Is required.

Although it is a practical use area of robots, the place is registered with the ski school, and permission to rent a part of the slope to the ski resort, transportation of the robot to the mountain peak is pulled up with a rope towards the mountain peak Although it is a radio law, this place is not a general public road, but a wide area but a predetermined place, so there is no fear of radio interference.

The present invention provides a robot, which is the current advanced industry, makes full use of radio control widely used in the industry, and is a security system that is indispensable in the current industry. Using an infrared human detection type automatic tracking type camera, its subtle image, and in recent years has been developing, located in the ski industry, by dedicating the development of the ski turn course, industrial use There are plenty of possibilities.

1 Support body 1a Vertical support
1b Gate-type support
2 Case bottom cylindrical body 4 Box-shaped case body 5 Case roof 6 U-shaped rod body 7 Saw blade-like bowl-shaped body Pt Transmitter Pa Transmitting antenna R Receiver Ra Receiving antenna Spc Forward / reverse reversing speed control switch Sc Spring type Clutch B Rechargeable battery Dcgm DC geared motor Ds Drive sprocket Ch Chain
Sp idle sprocket
Ls Limit switch Brl Brake lever C Infrared interpersonal detection automatic tracking camera S Ski

Claims (1)

At the bottom of the box-shaped case body with a built-in drive device, the left and right legs, each of which has a cylindrical body at the tip, are provided, and the horizontal part of the rod-shaped portal support that is fixed to the upper surface of the ski A vertical support that vertically forms a cylindrical portion at the top from the central portion of the horizontal rod, and penetrates the upper side of the case body. A U-shaped rod penetrating through the hole is rotatably fitted to the cylindrical part, and an infrared human detection type automatic tracking type camera is provided at the upper part of the case body, and a tip is provided at the rear part of the case body. A ski robot with a camera that has a saw blade-like bowl.