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CN112050054A - A remote control camera surveillance vehicle with a deceleration structure and its control method - Google Patents

A remote control camera surveillance vehicle with a deceleration structure and its control method Download PDF

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Publication number
CN112050054A
CN112050054A CN202011022393.8A CN202011022393A CN112050054A CN 112050054 A CN112050054 A CN 112050054A CN 202011022393 A CN202011022393 A CN 202011022393A CN 112050054 A CN112050054 A CN 112050054A
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assembly
deceleration
camera
motor
spherical
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王瑞
应庆典
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Cosen Transmission Equipment Changzhou Co ltd
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Cosen Transmission Equipment Changzhou Co ltd
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    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16MFRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/42Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16MFRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02Heads
    • F16M11/04Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/10Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16MFRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02Heads
    • F16M11/18Heads with mechanism for moving the apparatus relatively to the stand
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16MFRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20Undercarriages with or without wheels
    • F16M11/2007Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2014Undercarriages with or without wheels comprising means allowing pivoting adjustment around a vertical axis
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16MFRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20Undercarriages with or without wheels
    • F16M11/22Undercarriages with or without wheels with approximately constant height, e.g. with constant length of column or of legs

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
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Abstract

本发明提供了一种带减速结构的遥控摄像监视车及其控制方法,包括依次连接的移动小车、第一旋转机构、第二旋转机构、电动推杆和球形云台摄像机,所述第一旋转机构包括第一减速组件和连接在所述第一减速组件上的输出轴上的第一传动组件,所述第二旋转机构包括连接在第一减速组件上的第二减速组件和连接在所述第二减速组件的输出轴上的第二传动组件,通过第一旋转机构和第二旋转机构的设置,能够实现对球形云台摄像机的360°的旋转,便于对目标进行跟踪监控,克服现有技术中摄像头不便于调整的缺陷。

Figure 202011022393

The invention provides a remote control camera monitoring vehicle with a deceleration structure and a control method thereof, comprising a moving cart, a first rotating mechanism, a second rotating mechanism, an electric push rod and a spherical pan-tilt camera connected in sequence, the first rotating The mechanism includes a first deceleration assembly and a first transmission assembly connected to the output shaft of the first deceleration assembly, and the second rotating mechanism includes a second deceleration assembly connected to the first deceleration assembly and connected to the first deceleration assembly. The second transmission assembly on the output shaft of the second deceleration assembly, through the setting of the first rotating mechanism and the second rotating mechanism, can realize the 360° rotation of the spherical pan-tilt camera, which is convenient for tracking and monitoring the target, and overcomes the problems of existing The defect in the technology that the camera is not easy to adjust.

Figure 202011022393

Description

一种带减速结构的遥控摄像监视车及其控制方法A remote control camera surveillance vehicle with a deceleration structure and its control method

技术领域technical field

本发明属于减速设备技术领域,尤其涉及一种带减速结构的遥控摄像监视车及其控制方法。The invention belongs to the technical field of deceleration equipment, and in particular relates to a remote-controlled camera surveillance vehicle with a deceleration structure and a control method thereof.

背景技术Background technique

智能小车作为现代的新发明,是以后的发展方向,他可以按照预先设定的模式在一个环境里自动的运作,不需要人为的管理,可应用于科学勘探等等的用途。智能小车能够实时显示时间、速度、里程,具有自动寻迹、寻光、避障功能,可程控行驶速度、准确定位停车,远程传输图像等功能。现有的智能小车由于摄像头的安装位置固定,不便于对移动的目标物进行跟踪监控,所以需要提供一种带减速结构的遥控摄像监视车,来方便对摄像头的位置进行快速调整,适应监控需要。As a new invention of modern times, the smart car is the future development direction. It can operate automatically in an environment according to a preset mode, without human management, and can be used for scientific exploration and other purposes. The smart car can display time, speed, and mileage in real time, and has functions such as automatic tracking, light finding, and obstacle avoidance. Due to the fixed installation position of the camera in the existing smart car, it is inconvenient to track and monitor the moving target. Therefore, it is necessary to provide a remote control camera monitoring vehicle with a deceleration structure to facilitate the rapid adjustment of the position of the camera to meet the needs of monitoring. .

发明内容SUMMARY OF THE INVENTION

本发明提供一种带减速结构的遥控摄像监视车及其控制方法,能够方便快捷的对摄像头的位置进行调整,便于对活动的目标物进行跟踪,克服现有技术中摄像头不便于调整的缺陷。The invention provides a remote control camera monitoring vehicle with a deceleration structure and a control method thereof, which can adjust the position of the camera conveniently and quickly, facilitate the tracking of moving objects, and overcome the disadvantage that the camera is inconvenient to adjust in the prior art.

本发明是这样实现的,一种带减速结构的遥控摄像监视车,包括依次连接的移动小车、第一旋转机构、第二旋转机构、电动推杆和球形云台摄像机,所述第一旋转机构包括第一减速组件和连接在所述第一减速组件上的输出轴上的第一传动组件,所述第二旋转机构包括连接在第一减速组件上的第二减速组件和连接在所述第二减速组件的输出轴上的第二传动组件,所述第二传动组件包括第一安装壳体和第二安装壳体,所述第一安装壳体和所述第二安装壳体之间形成有空腔,所述电动推杆设置在所述空腔中,所述球形云台摄像机连接在所述电动推杆的输出轴上,所述球形云台摄像机包括转动盘、安装座、U形架和球形摄像机,所述转动盘连接在所述电动推杆的输出轴上,所述安装座连接在所述转动盘上,所述U形架连接在所述安装座上,所述球形摄像头可转动的连接在所述U形架的U形空腔内。The present invention is realized in this way, a remote control camera monitoring vehicle with a deceleration structure, including a moving cart, a first rotating mechanism, a second rotating mechanism, an electric push rod and a spherical pan-tilt camera connected in sequence, the first rotating mechanism It includes a first deceleration assembly and a first transmission assembly connected to the output shaft on the first deceleration assembly, and the second rotation mechanism includes a second deceleration assembly connected to the first deceleration assembly and connected to the first deceleration assembly. A second transmission assembly on the output shaft of the second speed reduction assembly, the second transmission assembly includes a first installation casing and a second installation casing, and the first installation casing and the second installation casing are formed between There is a cavity, the electric push rod is arranged in the cavity, the spherical pan-tilt camera is connected to the output shaft of the electric push rod, and the spherical pan-tilt camera includes a rotating disk, a mounting seat, a U-shaped A frame and a spherical camera, the rotating disc is connected to the output shaft of the electric push rod, the mounting base is connected to the rotating disc, the U-shaped frame is connected to the mounting base, and the spherical camera It is rotatably connected in the U-shaped cavity of the U-shaped frame.

进一步地,所述第一减速组件包括第一驱动电机和连接在所述第一驱动电机上的第一减速机构,所述第一减速机构与所述第一传动组件连接,所述第二减速组件包括设置在所述第一传动组件内的第二驱动电机和连接在所述第二驱动电机上的第二减速机构,所述第二减速机构与所述第二传动组件连接。Further, the first deceleration assembly includes a first drive motor and a first deceleration mechanism connected to the first drive motor, the first deceleration mechanism is connected with the first transmission assembly, and the second deceleration mechanism The assembly includes a second drive motor arranged in the first transmission assembly and a second reduction mechanism connected to the second drive motor, and the second reduction mechanism is connected with the second transmission assembly.

进一步地,所述第一传动组件包括连接在所述第一减速机上的第一传动杆和开设在所述第一传动杆的上表面的安装凹槽,所述第二驱动电机设置在所述安装凹槽中,所述安装凹槽内开设有定位孔,所述第二驱动电机的壳体上连接有至少部分伸入所述定位孔的定位轴。Further, the first transmission assembly includes a first transmission rod connected to the first reducer and a mounting groove formed on the upper surface of the first transmission rod, and the second drive motor is arranged on the In the installation groove, a positioning hole is opened in the installation groove, and a positioning shaft at least partially protruding into the positioning hole is connected to the casing of the second driving motor.

进一步地,所述第一减速机构和所述第二减速机构均为涡轮蜗杆减速机,所述第一驱动电机和所述第二驱动电机均为伺服电机。Further, the first deceleration mechanism and the second deceleration mechanism are both worm gear reducers, and the first drive motor and the second drive motor are both servo motors.

进一步地,所述涡轮蜗杆减速机包括蜗杆和回转支承,所述回转支承通过法兰连接所述第一传动组件或第二传动组件。Further, the worm gear reducer includes a worm and a slewing bearing, and the slewing bearing is connected to the first transmission assembly or the second transmission assembly through a flange.

进一步地,所述移动小车包括小车本体和设置所述小车本体下方的车轮和电机组件,所述小车本体上方安装有主控板,所述主控板通过小车本体分别连接有超声波模块、通讯模块、无线充电模块、红外检测模块和供电模块;Further, the mobile trolley includes a trolley body, a wheel and a motor assembly arranged below the trolley body, a main control board is installed above the trolley body, and the main control board is respectively connected with the ultrasonic module and the communication module through the trolley body. , wireless charging module, infrared detection module and power supply module;

所述超声波模块位于所述移动小车的前端中部,用于向移动小车前方发送和接收超声波信号,并利用时间差和声波传播速度计算出所述移动小车前端与障碍物之间的距离;The ultrasonic module is located in the middle of the front end of the mobile trolley, and is used to send and receive ultrasonic signals to the front of the mobile trolley, and calculate the distance between the front end of the mobile trolley and the obstacle by using the time difference and the speed of sound wave propagation;

所述通讯模块用于实现移动小车与外部设备的通讯;The communication module is used to realize the communication between the mobile trolley and external equipment;

所述红外检测模块位于所述移动小车的前端两侧,用于检测移动小车两侧的障碍物偏移量;The infrared detection modules are located on both sides of the front end of the mobile trolley, and are used to detect the offset of obstacles on both sides of the mobile trolley;

所述主控板分别与电机组件、球形云台摄像机、伺服电机以及所述电动推杆数据连接,并接收各个模块的运行状态进而调节电机组件、球形云台摄像机、伺服电机以及所述电动推杆。The main control board is respectively connected with the motor assembly, the spherical pan-tilt camera, the servo motor and the electric push rod, and receives the operating status of each module to adjust the motor assembly, the spherical pan-tilt camera, the servo motor and the electric push rod. rod.

进一步地,所第二减速组件的输出轴连接在所述第一安装壳体或所述第二安装壳体上,所述第一安装壳体与所述第二安装壳体可拆卸式安装。Further, the output shaft of the second deceleration assembly is connected to the first installation casing or the second installation casing, and the first installation casing and the second installation casing are detachably installed.

进一步地,所述电机组件包括用于驱动所述移动小车直线运动机的第一电机和驱动所述移动小车转向的第二电机,所述第一电机和所述第二电机均与所述主控板连接。Further, the motor assembly includes a first motor for driving the moving cart linear motion machine and a second motor for driving the moving cart to turn, and the first motor and the second motor are both connected with the main motor. control board connection.

本发明还提供一种带减速结构的遥控摄像监视车的控制方法,用于上述带减速结构的遥控摄像监视车,包括以下步骤:The present invention also provides a control method for a remote-controlled camera surveillance vehicle with a deceleration structure, which is used for the above-mentioned remote-controlled camera surveillance vehicle with a deceleration structure, comprising the following steps:

对主控板和连接在主控板上的电机组件、球形云台摄像机、伺服电机以及所述电动推杆进行初始化;Initialize the main control board and the motor components connected to the main control board, the spherical pan-tilt camera, the servo motor and the electric push rod;

根据监控目标的高度和位置调整伺服电机,从而对球形云台摄像机的位置进行调整;Adjust the servo motor according to the height and position of the monitoring target, so as to adjust the position of the spherical pan-tilt camera;

通过超声波模块和红外检测模块对障碍物进行识别,并通过主控板控制电机组件对移动小车的移动轨迹进行控制,规避障碍物;Identify obstacles through the ultrasonic module and infrared detection module, and control the movement trajectory of the mobile trolley through the main control board to control the motor assembly to avoid obstacles;

在对目标物进行跟踪拍摄的过程中,不断通过主控板控制伺服电机对球形云台摄像机的位置进行调整;In the process of tracking and shooting the target, the position of the spherical pan-tilt camera is continuously adjusted by controlling the servo motor through the main control board;

通过通讯模块将球形云台摄像机拍摄的画面推送到使用者的终端或云端服务器;Push the picture taken by the spherical PTZ camera to the user's terminal or cloud server through the communication module;

通过终端查看球形云台摄像机的拍摄画面。View the shooting images of the spherical PTZ camera through the terminal.

进一步地,所述终端、所述通讯模块和所述云端服务器之间通过ZigBee、EnOcean、Bluetooth、TransferJet、WLAN、WiMAX、2G、3G、4G、5G中的一种或多种的组合相互通讯。Further, the terminal, the communication module and the cloud server communicate with each other through a combination of one or more of ZigBee, EnOcean, Bluetooth, TransferJet, WLAN, WiMAX, 2G, 3G, 4G, and 5G.

与现有技术相比,发明的有益效果是:本发明涉及的带减速结构的遥控摄像监视车及其控制方法,包括依次连接的移动小车、第一旋转机构、第二旋转机构、电动推杆和球形云台摄像机,所述第一旋转机构包括第一减速组件和连接在所述第一减速组件上的输出轴上的第一传动组件,所述第二旋转机构包括连接在第一减速组件上的第二减速组件和连接在所述第二减速组件的输出轴上的第二传动组件,通过第一旋转机构和第二旋转机构的设置,能够实现对球形云台摄像机的360°的旋转,便于对目标进行跟踪监控,克服现有技术中摄像头不便于调整的缺陷。Compared with the prior art, the beneficial effects of the invention are as follows: the remote-controlled camera surveillance vehicle with a deceleration structure and its control method according to the present invention comprise a moving trolley, a first rotating mechanism, a second rotating mechanism, and an electric push rod connected in sequence. and a spherical pan-tilt camera, the first rotation mechanism includes a first deceleration assembly and a first transmission assembly connected to the output shaft on the first deceleration assembly, and the second rotation mechanism includes a first deceleration assembly connected to the first transmission assembly The second deceleration assembly on the second deceleration assembly and the second transmission assembly connected to the output shaft of the second deceleration assembly can realize 360° rotation of the spherical pan-tilt camera through the setting of the first rotating mechanism and the second rotating mechanism , which is convenient for tracking and monitoring the target, and overcomes the defect that the camera in the prior art is inconvenient to adjust.

附图说明Description of drawings

图1为带减速结构的遥控摄像监视车的整体结构示意图;1 is a schematic diagram of the overall structure of a remote-controlled camera surveillance vehicle with a deceleration structure;

图2为图1的正等轴测图;Fig. 2 is the isometric view of Fig. 1;

图3为图2的中涡轮蜗杆减速机的结构示意图;Fig. 3 is the structural representation of the middle turbine worm reducer of Fig. 2;

图4为图3的A-A剖视图;Fig. 4 is the A-A sectional view of Fig. 3;

图5为主控板的连接关系示意图。FIG. 5 is a schematic diagram of the connection relationship of the main control board.

具体实施方式Detailed ways

为了使本发明的目的、技术方案及优点更加清楚明白,以下结合附图及实施例,对发明进行进一步详细说明。应当理解,此处所描述的具体实施例仅仅用以解释发明,并不用于限定发明。In order to make the objectives, technical solutions and advantages of the present invention more clear, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the invention, but not to limit the invention.

参照图1-图5,本发明是这样实现的,一种带减速结构的遥控摄像监视车,包括依次连接的移动小车1、第一旋转机构2、第二旋转机构3、电动推杆4和球形云台摄像机5,所述第一旋转机构2包括第一减速组件21和连接在所述第一减速组件21上的输出轴上的第一传动组件22,所述第二旋转机构3包括连接在第一减速组件21上的第二减速组件31和连接在所述第二减速组件31的输出轴上的第二传动组件32,所述第二传动组件32包括第一安装壳体321和第二安装壳体322,所述第一安装壳体321和所述第二安装壳体322之间形成有空腔,所述电动推杆4设置在所述空腔中,所述球形云台摄像机5连接在所述电动推杆4的输出轴上,所述球形云台摄像机5包括转动盘51、安装座52、U形架53和球形摄像机54,所述转动盘51连接在所述电动推杆4的输出轴上,所述安装座52连接在所述转动盘51上,所述U形架53连接在所述安装座52上,所述球形摄像头54可转动的连接在所述U形架53的U形空腔531内。1-5, the present invention is implemented in this way, a remote-controlled camera surveillance vehicle with a deceleration structure, comprising a mobile cart 1, a first rotating mechanism 2, a second rotating mechanism 3, an electric push rod 4 and The spherical pan-tilt camera 5, the first rotation mechanism 2 includes a first deceleration assembly 21 and a first transmission assembly 22 connected to the output shaft of the first deceleration assembly 21, and the second rotation mechanism 3 includes a connection The second deceleration assembly 31 on the first deceleration assembly 21 and the second transmission assembly 32 connected to the output shaft of the second deceleration assembly 31, the second transmission assembly 32 includes a first installation housing 321 and a first Two mounting shells 322, a cavity is formed between the first mounting shell 321 and the second mounting shell 322, the electric push rod 4 is arranged in the cavity, the spherical pan-tilt camera 5 is connected to the output shaft of the electric push rod 4. The spherical pan-tilt camera 5 includes a rotating disk 51, a mounting seat 52, a U-shaped frame 53 and a spherical camera 54. The rotating disk 51 is connected to the electric push rod. On the output shaft of the rod 4, the mounting seat 52 is connected to the rotating disk 51, the U-shaped frame 53 is connected to the mounting seat 52, and the spherical camera 54 is rotatably connected to the U-shaped inside the U-shaped cavity 531 of the rack 53 .

参照图1和图2,在上述实施例中,所述第一减速组件21包括第一驱动电机211和连接在所述第一驱动电机211上的第一减速机构212,所述第一减速机构212与所述第一传动组件22连接,所述第二减速组件31包括设置在所述第一传动组件31内的第二驱动电机(未图示)和连接在所述第二驱动电机上的第二减速机构311,所述第二减速机构311与所述第二传动组件32连接。Referring to FIGS. 1 and 2 , in the above embodiment, the first deceleration assembly 21 includes a first drive motor 211 and a first deceleration mechanism 212 connected to the first drive motor 211 . The first deceleration mechanism 212 is connected to the first transmission assembly 22, and the second reduction assembly 31 includes a second drive motor (not shown) arranged in the first transmission assembly 31 and a second drive motor connected to the second drive motor. The second speed reduction mechanism 311 is connected with the second transmission assembly 32 .

参照图1和图2,在上述实施例中,所述第一传动组件22包括连接在所述第一减速机211上的第一传动杆221和开设在所述第一传动杆221的上表面的安装凹槽(未图示),所述第二驱动电机311设置在所述安装凹槽中,所述安装凹槽内开设有定位孔,所述第二驱动电机311的壳体上连接有至少部分伸入所述定位孔的定位轴。1 and 2 , in the above embodiment, the first transmission assembly 22 includes a first transmission rod 221 connected to the first reducer 211 and a first transmission rod 221 formed on the upper surface of the first transmission rod 221 The installation groove (not shown) of the second drive motor 311 is arranged in the installation groove, a positioning hole is opened in the installation groove, and the casing of the second drive motor 311 is connected with a A positioning shaft extending at least partially into the positioning hole.

参照图1和图2,在上述实施例中,所述第一减速机构212和所述第二减速机构312均为涡轮蜗杆减速机6,所述第一驱动电机211和所述第二驱动电机311均为伺服电机。1 and 2, in the above embodiment, the first speed reduction mechanism 212 and the second speed reduction mechanism 312 are both the worm gear reducer 6, the first drive motor 211 and the second drive motor 311 are all servo motors.

参照图3和图4,在上述实施例中,所述涡轮蜗杆减速机6包括蜗杆61和回转支承62,所述回转支承62通过法兰连接所述第一传动组件22或第二传动组件32。3 and 4 , in the above embodiment, the turbine worm reducer 6 includes a worm 61 and a slewing bearing 62 , and the slewing bearing 62 is connected to the first transmission assembly 22 or the second transmission assembly 32 through a flange .

参照图5,在上述实施例中,所述移动小车1包括小车本体11和设置所述小车本体下方的车轮12和电机组件13,所述小车本体11上方安装有主控板14,所述主控板14通过小车本体分别连接有超声波模块15、通讯模块16、无线充电模块17、红外检测模块18和供电模块19;Referring to FIG. 5 , in the above embodiment, the mobile cart 1 includes a cart body 11 and a wheel 12 and a motor assembly 13 arranged below the cart body. A main control board 14 is installed above the cart body 11 . The control board 14 is respectively connected with an ultrasonic module 15, a communication module 16, a wireless charging module 17, an infrared detection module 18 and a power supply module 19 through the car body;

所述超声波模块15位于所述移动小车的前端中部,用于向移动小车1前方发送和接收超声波信号,并利用时间差和声波传播速度计算出所述移动小车1前端与障碍物之间的距离;The ultrasonic module 15 is located in the middle of the front end of the mobile trolley, and is used to send and receive ultrasonic signals to the front of the mobile trolley 1, and calculate the distance between the front end of the mobile trolley 1 and the obstacle by using the time difference and the speed of sound wave propagation;

所述通讯模块16用于实现移动小车1与外部设备的通讯;The communication module 16 is used to realize the communication between the mobile trolley 1 and external equipment;

所述红外检测模块18位于所述移动小车1的前端两侧,用于检测移动小车两侧的障碍物偏移量;The infrared detection module 18 is located on both sides of the front end of the mobile trolley 1, and is used to detect the offset of obstacles on both sides of the mobile trolley;

所述主控板14分别与电机组件13、球形云台摄像机5、伺服电机以及所述电动推杆4数据连接,并接收各个模块的运行状态进而调节电机组件13、球形云台摄像机5、伺服电机以及所述电动推杆4。The main control board 14 is respectively connected with the motor assembly 13 , the spherical pan-tilt camera 5 , the servo motor and the electric push rod 4 , and receives the operating status of each module to adjust the motor assembly 13 , the spherical pan-tilt camera 5 , and the servo motor. The motor and the electric push rod 4 .

在上述实施例中,所第二减速组件31的输出轴连接在所述第一安装壳体321或所述第二安装壳体322上,所述第一安装壳体321与所述第二安装壳体322可拆卸式安装。In the above embodiment, the output shaft of the second reduction assembly 31 is connected to the first installation housing 321 or the second installation housing 322, and the first installation housing 321 is connected to the second installation housing 321. The housing 322 is detachably installed.

在上述实施例中,所述电机组件13包括用于驱动所述移动小车1直线运动机的第一电机131和驱动所述移动小车1转向的第二电机132,所述第一电机131和所述第二电机132均与所述主控板14连接。In the above embodiment, the motor assembly 13 includes a first motor 131 for driving the moving cart 1 linear motion machine and a second motor 132 for driving the moving cart 1 to turn. The first motor 131 and the The second motors 132 are all connected to the main control board 14 .

本发明还提供一种带减速结构的遥控摄像监视车的控制方法,用于上述带减速结构的遥控摄像监视车,包括以下步骤:The present invention also provides a control method for a remote-controlled camera surveillance vehicle with a deceleration structure, which is used for the above-mentioned remote-controlled camera surveillance vehicle with a deceleration structure, comprising the following steps:

对主控板14和连接在主控板14上的电机组件13、球形云台摄像机5、伺服电机以及所述电动推杆4进行初始化;Initialize the main control board 14 and the motor assembly 13 connected to the main control board 14, the spherical pan-tilt camera 5, the servo motor and the electric push rod 4;

根据监控目标的高度和位置调整伺服电机,从而对球形云台摄像机5的位置进行调整;Adjust the servo motor according to the height and position of the monitoring target, so as to adjust the position of the spherical pan-tilt camera 5;

通过超声波模块15和红外检测模块18对障碍物进行识别,并通过主控板14控制电机组件13对移动小车1的移动轨迹进行控制,规避障碍物;The obstacles are identified through the ultrasonic module 15 and the infrared detection module 18, and the main control board 14 controls the motor assembly 13 to control the moving trajectory of the mobile trolley 1 to avoid obstacles;

在对目标物进行跟踪拍摄的过程中,不断通过主控板14控制伺服电机对球形云台摄像机5的位置进行调整;In the process of tracking and shooting the target, the position of the spherical pan-tilt camera 5 is adjusted continuously by controlling the servo motor through the main control board 14;

通过通讯模块16将球形云台摄像机5拍摄的画面推送到使用者的终端19或云端服务器20;Push the picture captured by the spherical pan-tilt camera 5 to the user's terminal 19 or the cloud server 20 through the communication module 16;

通过终端19查看球形云台摄像机的拍摄画面。Use the terminal 19 to view the shooting screen of the spherical pan-tilt camera.

在上述实施例中,所述终端19、所述通讯模块16和所述云端服务器20之间通过ZigBee、EnOcean、Bluetooth、TransferJet、WLAN、WiMAX、2G、3G、4G、5G中的一种或多种的组合相互通讯。In the above embodiment, the terminal 19, the communication module 16 and the cloud server 20 are connected through one or more of ZigBee, EnOcean, Bluetooth, TransferJet, WLAN, WiMAX, 2G, 3G, 4G, and 5G. Combinations of species communicate with each other.

本发明中的带减速结构的遥控摄像监视车,可应用于各种领域,如家庭安防和现场施工和维护监控等。家庭安防实时查看室内情况,安全监控系统是物联网在智能家居应用中的重中之重,通过摄像头,用户可以通过手机、平板、电脑等网络终端随时随地查看室内的实时情况,保障住宅安全。现场施工监控可以对太阳能发电设备施工的过程及后期使用过程进行实时巡回监控,保证太阳能发电设备的正常运行,并提高维护效率。The remote control camera monitoring vehicle with the deceleration structure in the present invention can be applied to various fields, such as home security and on-site construction and maintenance monitoring. Home security can view the indoor situation in real time. The security monitoring system is the top priority of the Internet of Things in smart home applications. Through the camera, users can view the real-time indoor situation anytime and anywhere through network terminals such as mobile phones, tablets, and computers to ensure residential security. On-site construction monitoring can conduct real-time patrol monitoring of the construction process and later use process of solar power generation equipment to ensure the normal operation of solar power generation equipment and improve maintenance efficiency.

以上所述仅为发明的较佳实施例而已,并不用以限制发明,凡在发明的精神和原则之内所作的任何修改、等同替换和改进等,均应包含在发明的保护范围之内。The above descriptions are only preferred embodiments of the invention and are not intended to limit the invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the invention should be included within the protection scope of the invention.

Claims (10)

1.一种带减速结构的遥控摄像监视车,其特征在于:包括依次连接的移动小车、第一旋转机构、第二旋转机构、电动推杆和球形云台摄像机,所述第一旋转机构包括第一减速组件和连接在所述第一减速组件上的输出轴上的第一传动组件,所述第二旋转机构包括连接在第一减速组件上的第二减速组件和连接在所述第二减速组件的输出轴上的第二传动组件,所述第二传动组件包括第一安装壳体和第二安装壳体,所述第一安装壳体和所述第二安装壳体之间形成有空腔,所述电动推杆设置在所述空腔中,所述球形云台摄像机连接在所述电动推杆的输出轴上,所述球形云台摄像机包括转动盘、安装座、U形架和球形摄像机,所述转动盘连接在所述电动推杆的输出轴上,所述安装座连接在所述转动盘上,所述U形架连接在所述安装座上,所述球形摄像头可转动的连接在所述U形架的U形空腔内。1. a remote-controlled camera surveillance vehicle with a deceleration structure is characterized in that: it comprises a moving trolley, a first rotating mechanism, a second rotating mechanism, an electric push rod and a spherical pan-tilt camera connected in turn, and the first rotating mechanism includes a first speed reduction assembly and a first transmission assembly connected to the output shaft on the first speed reduction assembly, and the second rotation mechanism includes a second speed reduction assembly connected to the first speed reduction assembly and a second speed reduction assembly connected to the second speed reduction assembly A second transmission assembly on the output shaft of the deceleration assembly, the second transmission assembly includes a first installation casing and a second installation casing, and a space between the first installation casing and the second installation casing is formed A cavity, the electric push rod is arranged in the cavity, the spherical pan-tilt camera is connected to the output shaft of the electric push rod, and the spherical pan-tilt camera includes a rotating disk, a mounting seat, and a U-shaped frame and spherical camera, the rotating disk is connected to the output shaft of the electric push rod, the mounting seat is connected to the rotating disk, the U-shaped frame is connected to the mounting seat, and the spherical camera can be The rotating connection is in the U-shaped cavity of the U-shaped frame. 2.根据权利要求1所述的带减速结构的遥控摄像监视车,其特征在于:所述第一减速组件包括第一驱动电机和连接在所述第一驱动电机上的第一减速机构,所述第一减速机构与所述第一传动组件连接,所述第二减速组件包括设置在所述第一传动组件内的第二驱动电机和连接在所述第二驱动电机上的第二减速机构,所述第二减速机构与所述第二传动组件连接。2 . The remote control camera surveillance vehicle with a deceleration structure according to claim 1 , wherein the first deceleration assembly comprises a first drive motor and a first deceleration mechanism connected to the first drive motor, and the The first deceleration mechanism is connected with the first transmission assembly, and the second deceleration assembly includes a second drive motor arranged in the first transmission assembly and a second deceleration mechanism connected to the second drive motor , the second reduction mechanism is connected with the second transmission assembly. 3.根据权利要求2所述的带减速结构的遥控摄像监视车,其特征在于:所述第一传动组件包括连接在所述第一减速机上的第一传动杆和开设在所述第一传动杆的上表面的安装凹槽,所述第二驱动电机设置在所述安装凹槽中,所述安装凹槽内开设有定位孔,所述第二驱动电机的壳体上连接有至少部分伸入所述定位孔的定位轴。3 . The remote control camera surveillance vehicle with a deceleration structure according to claim 2 , wherein the first transmission assembly comprises a first transmission rod connected to the first decelerator and a first transmission rod provided in the first transmission. 4 . The installation groove on the upper surface of the rod, the second drive motor is arranged in the installation groove, a positioning hole is opened in the installation groove, and the casing of the second drive motor is connected with at least a partial extension. Insert the positioning shaft into the positioning hole. 4.根据权利要求3所述的带减速结构的遥控摄像监视车,其特征在于:所述第一减速机构和所述第二减速机构均为涡轮蜗杆减速机,所述第一驱动电机和所述第二驱动电机均为伺服电机。4 . The remote-controlled camera surveillance vehicle with a deceleration structure according to claim 3 , wherein the first deceleration mechanism and the second deceleration mechanism are both worm gear reducers, and the first drive motor and the The second drive motors are all servo motors. 5.根据权利要求4所述的带减速结构的遥控摄像监视车,其特征在于:所述涡轮蜗杆减速机包括蜗杆和回转支承,所述回转支承通过法兰连接所述第一传动组件或第二传动组件。5 . The remote-controlled camera surveillance vehicle with a deceleration structure according to claim 4 , wherein the worm gear reducer comprises a worm and a slewing bearing, and the slewing bearing is connected to the first transmission assembly or the first transmission assembly through a flange. 6 . Two transmission components. 6.根据权利要求5所述的带减速结构的遥控摄像监视车,其特征在于:所述移动小车包括小车本体和设置所述小车本体下方的车轮和电机组件,所述小车本体上方安装有主控板,所述主控板通过小车本体分别连接有超声波模块、通讯模块、无线充电模块、红外检测模块和供电模块;6 . The remote-controlled camera surveillance vehicle with a deceleration structure according to claim 5 , wherein the mobile trolley comprises a trolley body, a wheel and a motor assembly arranged below the trolley body, and a main unit is installed above the trolley body. 7 . a control board, wherein the main control board is respectively connected with an ultrasonic module, a communication module, a wireless charging module, an infrared detection module and a power supply module through the trolley body; 所述超声波模块位于所述移动小车的前端中部,用于向移动小车前方发送和接收超声波信号,并利用时间差和声波传播速度计算出所述移动小车前端与障碍物之间的距离;The ultrasonic module is located in the middle of the front end of the mobile trolley, and is used to send and receive ultrasonic signals to the front of the mobile trolley, and calculate the distance between the front end of the mobile trolley and the obstacle by using the time difference and the speed of sound wave propagation; 所述通讯模块用于实现移动小车与外部设备的通讯;The communication module is used to realize the communication between the mobile trolley and external equipment; 所述红外检测模块位于所述移动小车的前端两侧,用于检测移动小车两侧的障碍物偏移量;The infrared detection modules are located on both sides of the front end of the mobile trolley, and are used to detect the offset of obstacles on both sides of the mobile trolley; 所述主控板分别与电机组件、球形云台摄像机、伺服电机以及所述电动推杆数据连接,并接收各个模块的运行状态进而调节电机组件、球形云台摄像机、伺服电机以及所述电动推杆。The main control board is respectively connected with the motor assembly, the spherical pan-tilt camera, the servo motor and the electric push rod, and receives the operating status of each module to adjust the motor assembly, the spherical pan-tilt camera, the servo motor and the electric push rod. rod. 7.根据权利要求1所述的带减速结构的遥控摄像监视车,其特征在于:所第二减速组件的输出轴连接在所述第一安装壳体或所述第二安装壳体上,所述第一安装壳体与所述第二安装壳体可拆卸式安装。7 . The remote control camera surveillance vehicle with a deceleration structure according to claim 1 , wherein the output shaft of the second deceleration assembly is connected to the first installation housing or the second installation housing, and the The first mounting shell and the second mounting shell are detachably mounted. 8.根据权利要求6所述的带减速结构的遥控摄像监视车,其特征在于:所述电机组件包括用于驱动所述移动小车直线运动机的第一电机和驱动所述移动小车转向的第二电机,所述第一电机和所述第二电机均与所述主控板连接。8 . The remote-controlled camera surveillance vehicle with a deceleration structure according to claim 6 , wherein the motor assembly comprises a first motor for driving the moving cart linear motion machine and a second motor for driving the moving cart to turn. 9 . Two motors, the first motor and the second motor are both connected to the main control board. 9.一种带减速结构的遥控摄像监视车的控制方法,用于权利要求1-8任一项所述的带减速结构的遥控摄像监视车,其特征在于,包括以下步骤:9. a control method of the remote control camera monitoring vehicle with a deceleration structure, for the remote control camera monitoring vehicle with a deceleration structure described in any one of claims 1-8, is characterized in that, comprises the following steps: 对主控板和连接在主控板上的电机组件、球形云台摄像机、伺服电机以及所述电动推杆进行初始化;Initialize the main control board and the motor components connected to the main control board, the spherical pan-tilt camera, the servo motor and the electric push rod; 根据监控目标的高度和位置调整伺服电机,从而对球形云台摄像机的位置进行调整;Adjust the servo motor according to the height and position of the monitoring target, so as to adjust the position of the spherical pan-tilt camera; 通过超声波模块和红外检测模块对障碍物进行识别,并通过主控板控制电机组件对移动小车的移动轨迹进行控制,规避障碍物;Identify obstacles through the ultrasonic module and infrared detection module, and control the movement trajectory of the mobile trolley through the main control board to control the motor assembly to avoid obstacles; 在对目标物进行跟踪拍摄的过程中,不断通过主控板控制伺服电机对球形云台摄像机的位置进行调整;In the process of tracking and shooting the target, the position of the spherical pan-tilt camera is continuously adjusted by controlling the servo motor through the main control board; 通过通讯模块将球形云台摄像机拍摄的画面推送到使用者的终端或云端服务器;Push the picture taken by the spherical PTZ camera to the user's terminal or cloud server through the communication module; 通过终端查看球形云台摄像机的拍摄画面。View the shooting images of the spherical PTZ camera through the terminal. 10.根据权利要求9所述的带减速结构的遥控摄像监视车的控制方法,其特征在于,所述终端、所述通讯模块和所述云端服务器之间通过ZigBee、EnOcean、Bluetooth、TransferJet、WLAN、WiMAX、2G、3G、4G、5G中的一种或多种的组合相互通讯。10 . The method for controlling a remote-controlled camera surveillance vehicle with a deceleration structure according to claim 9 , wherein the terminal, the communication module and the cloud server are connected through ZigBee, EnOcean, Bluetooth, TransferJet, WLAN, etc. 11 . , WiMAX, 2G, 3G, 4G, 5G in one or more combinations to communicate with each other.
CN202011022393.8A 2020-09-25 2020-09-25 A remote control camera surveillance vehicle with a deceleration structure and its control method Pending CN112050054A (en)

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