CN107107976A

CN107107976A - Head, Remote Control Vehicle and remote control delivery system

Info

Publication number: CN107107976A
Application number: CN201580003663.1A
Authority: CN
Inventors: 贝世猛; 关毅骏
Original assignee: SZ DJI Osmo Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd; SZ DJI Osmo Technology Co Ltd
Priority date: 2015-09-06
Filing date: 2015-09-06
Publication date: 2017-08-29
Also published as: CN111578081A; WO2017035842A1

Abstract

A kind of head (20a), it includes head portion (20), and the head portion (20) is used for carry load.The head (20a) also includes the elevating mechanism (30) for being connected to the head portion (20), the elevating mechanism (30) drives the head portion (20) to move up and down by moving up and down, and realizes the lifting of the load.And the Remote Control Vehicle with above-mentioned head (20a).

Description

Holder, Remote Control Vehicle and remote control delivery system

Technical field

The present invention relates to photography, in particular to a kind of holder, Remote Control Vehicle and remote control delivery system.

Background technique

Holder is the support equipment of the image acquiring devices such as installation, fixed camera, video camera, current most of holders can only all adjust the level of image acquiring device and the angle of pitching by self structure, its own height is not adjustable, cause the up and down motion that can not achieve image acquiring device to carry out lower photographs to reference object, limits the visual range of image acquiring device.

For example, shoot at present it is some follow that track or rocker arm used when camera lens need people's long-time operation and visual angle cannot arbitrarily adjust, increasingly can not meet existing demand.

Summary of the invention

In view of this, it is necessary to provide holders, Remote Control Vehicle and remote control delivery system that one kind can adjust height.

A kind of Remote Control Vehicle comprising movable carrier and be connected to the movable carrier and be used for carry load holder portion, which includes holder portion, which is mounted in the holder portion.The holder further includes the elevating mechanism for being connected to the holder portion, which drives the holder portion to move up and down, realize the lifting of the load by moving up and down.

Further, which is able to drive the holder and translates and rotate towards any direction.

Further, which is removably connected to the movable carrier.

Further, which includes chassis, which is connected to the chassis.

Further, which further includes the wheel power device for being connected to the wheel on the chassis and being connected to the wheel, and the wheel power device is for driving the wheel.

Further, which further includes shock-damping structure, which is connected to the chassis by the shock-damping structure, and the shock-damping structure is for buffering the vibration from the wheel that the chassis is subject to.

Further, which is motor；

And/or the shock-damping structure is suspension type damping.

Further, which is omni-directional wheel.

Further, the shock-damping structure and the wheel are multiple, and each shock-damping structure connects two wheels simultaneously.

Further, the shock-damping structure is individually arranged in each wheel.

Further, which is multiple, is separately mounted to the left side and right edge on the chassis, which is two, respectively drives the wheel on the left side on the chassis and right edge, to form differential driving；The movable carrier further includes two crawler belts being respectively sleeved on the left side on the chassis and the wheel of right edge.

Further, the wheel is multiple, it is separately mounted to the front end and rear end on the chassis, the movable carrier further includes transmission device and steering power device, the wheel power device drives the vehicle wheel rotation of the rear end on the chassis by the transmission device simultaneously, and the wheel which is used to be drivingly connected in the front end on the chassis is turned to.

Further, which includes the first support frame, the second support frame rotatably connecting with first support frame and the third support frame rotatably connecting with second support frame.

Further, which further includes the first actuator, the second actuator and third actuator, which is connected to first support frame, is used to that first support frame to be driven to rotate；Second support frame is rotatably connect by second actuator with first support frame；The third support frame is rotatablely connected with second support frame by the third actuator.

Further, first actuator, second actuator and the third actuator are motor.

Further, which further includes the holder damping for being connected to first support frame Yu the elevating mechanism.

Further, which includes the shock reducing structure for buffering the vibration that first support frame is subject to, which is the hollow sphere made of elastic material.

Further, which includes the crane for being connected to the movable carrier, which is connected to the crane, which is able to drive the holder damping and moves up and down.

Further, which further includes being connected to crane and capable of being connected to the carrier relative to the carrier of crane movement, the holder damping, which drives the holder damping to move up and down.

Further, which includes upper plate and lower plate, and the upper plate and the lower plate relative spacing are arranged, and the both ends of the shock reducing structure are connected to the upper plate and the lower plate.

Further, which further includes the lifting drive for driving the carrier mobile relative to the crane.

Further, which further includes transmission mechanism, which drives the carrier mobile by the transmission mechanism.

Further, the transmission mechanism further includes that conveyer belt and two belt wheels, one of belt wheel are connected to the drive shaft of the lifting drive, another belt wheel is connected to the crane, the conveyer belt is set on two belt wheels, which is fixedly connected with the conveyer belt.

Further, which further includes connector, and slidably relative to the crane, which is fixedly connected by the connector with the conveyer belt connector.

Further, which includes sliding sleeve, clamping section and the interconnecting piece for connecting the sliding sleeve Yu the clamping section, which is set on the crane, and slidably along the crane；The clamping section clamps the conveyer belt, and moves together with the conveyer belt.

Further, which includes chain and two sprocket wheels；Two sprocket wheel relative spacing settings, the chain are sheathed on two sprocket wheels, which drives one of sprocket wheel rotation, and is rotated by another sprocket wheel of the chain-driving；The carrier is connect with the chain, and the chain is followed to move together；

Alternatively, the transmission mechanism includes chain and sprocket wheel；For the chain on the sprocket wheel, which drives the sprocket wheel to rotate；The carrier is connect with the chain, and the chain is followed to move together.

Further, the transmission mechanism includes lead screw, which includes screw rod and be set on the screw rod and the screw with wire rod thread cooperation, the carrier are connect with the screw, and the screw is followed to move together, the lifting drive is for driving the screw rod to rotate.

Further, which includes gear and the rack gear that is meshed with the gear, and for driving the gear to rotate, which connect the lifting drive with the rack gear, and moves together with the rack gear.

Further, which includes linear motor, which connect with the primary of the movement of the linear motor or the secondary of movement；

Alternatively, the lifting drive includes fluid pressure drive device, the drive shaft of the fluid pressure drive device is connect with the carrier, for driving the carrier mobile；

Alternatively, the lifting drive includes actuating device of atmospheric pressure, the drive shaft of the actuating device of atmospheric pressure is connect with the carrier, for driving the carrier mobile.

Further, the elevating mechanism includes rotation drive device and the support rod for being connected to the rotation drive device, the rotation drive device is used to that rotary shaft of the support rod around the rotation drive device perpendicular to the movable carrier to be driven to rotate, which hangs on the one end of the support rod far from the rotation drive device.

Further, which is telescopic rod, which adjusts the height of the holder portion relative to the movable carrier by adjusting the length of the telescopic rod.

Further, which is connected to the one end of the support rod far from the rotation drive device by the holder damping.

Further, the elevating mechanism includes retractable driving device and the support rod for being connected to the retractable driving device, the middle part of the support rod can be rotated around a supporting point to form lever construction, the holder portion is connected to the one end of the support rod far from the retractable driving device, which adjusts the height of the holder portion relative to the movable carrier for driving the support rod to stick up far from one end of the retractable driving device.

Further, which is telescopic rod, which adjusts the height of the holder portion relative to the movable carrier by the length of the adjusting support rod.

Further, which is connected to the one end of the support rod far from the retractable driving device by the holder damping.

Further, which further includes the controller for controlling the holder and the movable carrier.

Further, which can also control the elevating mechanism holder portion and the load is driven to synchronize and move up and down.

Further, which further includes the sensor for capturing mobile target, which obtains the sensor and flutter the location information for the movement target grasped and control holder portion movement, keeps power follower movement target in the holder portion mobile.

Further, the Remote Control Vehicle further includes the sensor for capturing mobile target, the controller obtains the sensor and flutters the location information for the mobile target grasped to control the holder portion and elevating mechanism movement, keeps power follower movement target in the holder portion mobile.

Further, which further includes the sensor for capturing heat source thermo, which flutters the location information for the heat source thermo grasped according to the sensor to control holder portion movement, makes the load Automatic-searching heat source thermo in the holder portion.

Further, the Remote Control Vehicle further includes the sensor for capturing heat source thermo, the controller flutters the location information for the heat source thermo grasped according to the sensor, to control the holder portion and elevating mechanism movement, makes the load Automatic-searching heat source thermo in the holder portion.

Further, which includes the carrier controller for controlling the movable carrier and the cradle head controllor for controlling the holder, which is independently arranged with the cradle head controllor, and individually receives external control signal.

Further, which includes translation axis mechanism, which follows the translation axis mechanism in translation axis direction movement for controlling the movable carrier.

Further, which includes pitching axis mechanism, which follows the pitching axis mechanism to move in pitching axis direction for controlling the movable carrier.

Further, which is image acquiring device, heat source detection device or life detecting device.

A kind of holder comprising holder portion, the holder portion are used for carry load.The holder further includes the elevating mechanism for being connected to the holder portion, which drives the holder portion to move up and down, realize the lifting of the load by moving up and down.

Further, first actuator, second actuator and the third actuator are motor.

Further, which includes crane, which is connected to the crane, which is able to drive the holder damping and moves up and down.

Further, the elevating mechanism includes rotation drive device and the support rod for being connected to the rotation drive device, the rotation drive device is used to that the support rod to be driven to rotate around the rotary shaft of the rotation drive device, which hangs on the one end of the support rod far from the rotation drive device.

A kind of remote control delivery system, the remote control delivery system include:

For the hand-held holder of carry load, which is equipped with the first lever for gripping；

For carrying the Remote Control Vehicle of the hand-held holder, which can carry the hand-held holder and move together, which includes:

For receiving remote control command and the movable carrier mobile according to remote control command；

The detachable structure being connected on the movable carrier, the detachable structure is for fixing the hand-held holder；

Wherein, when the hand-held holder is used alone, the hand-held holder can be made to separate with the Remote Control Vehicle by operating the detachable structure；Holder is held in use, the hand-held holder can be fixed on the movable carrier by the detachable structure when needing Remote Control Vehicle to carry this.

Further, which includes supportive body, which is connected to the supportive body.

Further, which includes the clamping device for clamping the hand-held holder, and the clamping device is for clamping first lever.

Further, which further includes for sensing the fixing inductive pick-up for whether having held the hand-held holder.

Further, detachable structure further includes for holding the interface that holder plugs with this.

Further, which includes for providing the power cell of vehicle of the mobile power supply of the movable carrier, which can hold holder to this by the interface and provide continuation of the journey power supply.

Further, which is equipped with holder power battery, which can give the holder power battery charging.

Further, which is fuel cell, solar battery or lithium battery.

Further, which is able to drive the hand-held holder and translates and rotate towards any direction.

Further, which includes chassis, which is connected to the chassis.

Further, which is motor；

And/or the shock-damping structure is suspension type damping.

Further, which is omni-directional wheel.

Further, the shock-damping structure is individually arranged in each wheel.

Further, which further includes the elevating mechanism being mounted on the movable carrier and holder damping, which is connected to the detachable structure by the holder damping.

Further, which includes the shock reducing structure for buffering the vibration that the holder is subject to, which is the hollow sphere made of elastic material.

Further, which is telescopic rod, which holds height of the holder relative to the movable carrier by adjusting the length of the telescopic rod to adjust this.

Further, the elevating mechanism includes retractable driving device and the support rod for being connected to the retractable driving device, the middle part of the support rod can be rotated around a supporting point to form lever construction, the hand-held holder is connected to the one end of the support rod far from the retractable driving device, which adjusts the hand-held height of the holder relative to the movable carrier for driving the support rod to stick up far from one end of the retractable driving device.

Further, which is telescopic rod, which adjusts the hand-held height of the holder relative to the movable carrier by the length of the adjusting support rod.

Further, which further includes the controller for controlling the hand-held holder and the movable carrier.

Further, which can also control the elevating mechanism the hand-held holder and the load is driven to synchronize and move up and down.

Further, which further includes the sensor for capturing mobile target, which obtains the sensor and flutter the location information for the movement target grasped and control the hand-held holder movement, keeps power follower movement target on the hand-held holder mobile.

Further, the Remote Control Vehicle further includes the sensor for capturing mobile target, the controller obtains the sensor and flutters the location information for the mobile target grasped to control the hand-held holder and elevating mechanism movement, keeps power follower movement target on the hand-held holder mobile.

Further, which further includes the sensor for capturing heat source thermo, which flutters the location information for the heat source thermo grasped according to the sensor to control hand-held holder movement, makes the load Automatic-searching heat source thermo on the hand-held holder.

Further, the Remote Control Vehicle further includes the sensor for capturing heat source thermo, the controller flutters the location information for the heat source thermo grasped according to the sensor, to control the hand-held holder and elevating mechanism movement, makes the load Automatic-searching heat source thermo on the hand-held holder.

Further, which includes the carrier controller for controlling the movable carrier and the cradle head controllor for controlling the hand-held holder, which is independently arranged with the cradle head controllor, and individually receives external control signal.

A kind of Remote Control Vehicle, the Remote Control Vehicle carry the hand-held holder and move together for carrying hand-held holder, which includes:

Movable carrier, for receiving remote control command and according to remote control command movement；

The detachable structure being mounted on the movable carrier, the detachable structure include the clamping device for clamping the hand-held holder；

Wherein, when the hand-held holder is used alone, the hand-held holder can be made to separate with the Remote Control Vehicle by operating the detachable structure；The movable carrier can be fixed on by the detachable structure in use, this holds holder when needing Remote Control Vehicle to carry the hand-held holder.

Further, which is fuel cell, solar battery or lithium battery.

Further, which includes chassis, which is connected to the chassis.

Further, which is motor；

And/or the shock-damping structure is suspension type damping.

Further, which is omni-directional wheel.

Further, the shock-damping structure is individually arranged in each wheel.

Using holder of the invention, Remote Control Vehicle and remote control delivery system, the holder further includes the elevating mechanism for being connected to the holder portion, the elevating mechanism drives the holder portion to move up and down by moving up and down, and the height of the holder is adjusted, and realizes moving up and down for the image acquiring device.

Detailed description of the invention

Fig. 1 is the structural schematic diagram for the Remote Control Vehicle that first embodiment of the invention provides.

Fig. 2 is the front view of the Remote Control Vehicle in Fig. 1.

Fig. 3 is the right view of the Remote Control Vehicle in Fig. 1.

Fig. 4 is the bottom view of the Remote Control Vehicle in Fig. 1.

Fig. 5 is the structural schematic diagram for the Remote Control Vehicle that second embodiment of the invention provides.

Fig. 6 is the structural schematic diagram for the Remote Control Vehicle that third embodiment of the invention provides.

Fig. 7 is the structural schematic diagram for the Remote Control Vehicle that four embodiment of the invention provides.

Fig. 8 is the structural schematic diagram for the Remote Control Vehicle that fifth embodiment of the invention provides.

Fig. 9 is the structural schematic diagram for the Remote Control Vehicle that sixth embodiment of the invention provides.

Figure 10 is the structural schematic diagram for the Remote Control Vehicle that seventh embodiment of the invention provides.

Figure 11 is the structural schematic diagram for the Remote Control Vehicle that eighth embodiment of the invention provides.

Figure 12 is the structural schematic diagram for the Remote Control Vehicle that ninth embodiment of the invention provides.

Figure 13 is the structural schematic diagram for the remote control delivery system that tenth embodiment of the invention provides.

Figure 14 is the structural schematic diagram of the hand-held holder of the remote control delivery system in Figure 13.

Main element symbol description

Remote Control Vehicle	100,200,300,400,500,600,700,800,900,100a
Movable carrier	10
Chassis	11
Shock-damping structure	12
Wheel	13
Wheel power device	14
Holder	20a
Holder portion	20
First actuator	21
Holder damping	22
Lower plate	221
Upper plate	222
Shock reducing structure	223
First support frame	23
Second support frame	24
Support arm	241
Second actuator	25
Third actuator	26
Third support frame	27
Elevating mechanism	30,210,310,410,510,610,710,810,910
Pedestal	31
Fixed plate	311
Support plate	312
Axis hole	3121
Lifting drive	32,101,201,301,401,501,601,701
Drive shaft	321,702
Crane	33
First connecting rod	331
Stationary plane	3311
Support rod	332
Suspender	333
Connector	34
Interconnecting piece	341
Clamping section	342
Sliding sleeve	343
Carrier	35
Second connecting rod	351
Carrier bar	352
Conveyer belt	36
Belt wheel	37
Image acquiring device	40
Screw	202
Screw rod	203
Lead screw	204
Gear	302
Rack gear	303
Sprocket wheel	402,502
Chain	403,503
Mobile primary	602
Mobile secondary	603
Rotation drive device	801
Support rod	802,902
Retractable driving device	901
Strut	903
Hand-held holder	50
Supportive body	51
Plummer	52
Mounting rod	53
Second lever	54
First lever	55
Detachable structure	60
It is remotely controlled delivery system	1000

The present invention that the following detailed description will be further explained with reference to the above drawings.

Specific embodiment

With reference to the accompanying drawing, it elaborates to some embodiments of the present invention.In the absence of conflict, the feature in following embodiment and embodiment can be combined with each other.

The Remote Control Vehicle 100 that first embodiment of the invention provides referring to FIG. 1 to FIG. 4, comprising movable carrier 10 and holder 20a, holder 20a are used for carry load, which can be image acquiring device, heat source detection device, life detecting device etc..In present embodiment, which is image acquiring device 40, for example, the image acquiring device 40 can be camera；It is appreciated that in other embodiments, the image acquiring device 40 or other capturing elements, such as ultrasonic imaging apparatus.

The movable carrier 10 can drive holder 20a to translate and rotate towards any direction for carrying holder 20a.The movable carrier 10 includes chassis 11, shock-damping structure 12, wheel 13 and wheel power device 14.The chassis 11 is for carrying holder 20a.The shock-damping structure 12 connects the chassis 11 and the wheel 13, is used to buffer the vibration from the wheel 13 that the chassis 11 is subject to.The wheel power device 14 is fixedly connected on the chassis 11, is used to provide power for the movement of the wheel 13.In present embodiment, which is suspension type damping.

In present embodiment, which can be 45 degree of angle omni-directional wheels, and quantity is four；The wheel power device 14 is motor, and quantity is two；Two wheel power devices 14 are respectively used to driving and are located at two of front end of the chassis 11 wheels 13；The movable carrier 10 further includes steering power device (not shown), which is turned to for driving positioned at two of rear end of the chassis 11 wheels 13；The quantity of the shock-damping structure 12 is two, and two shock-damping structures 12 are connected to the both ends on the chassis 11, and each shock-damping structure 12 connects two wheels 13, and four wheels 13 are substantially located at four vertex of a rectangle.It is appreciated that in other embodiments, a shock-damping structure can also be separately provided in each wheel 13.

It is understood that, in other embodiments, the movable carrier 10 can use according to actual needs one of following methods: the wheel 13 is an angle of 90 degrees omni-directional wheel, its quantity is three, the wheel power device 14 is motor, and quantity is three, and three wheel power devices 14 are respectively used to three wheels 13 of driving, three wheels 13 are evenly distributed along a circle, and three wheels 13 are located at three vertex of an equilateral triangle；The quantity of the wheel 13 is four, two in four wheels 13 are connected to the front end on the chassis 11, other two in four wheels 13 is connected to the chassis 11 rear end opposite with the front end, the movable carrier 10 further includes steering power device, the steering power device can be motor or ostrich machine, its quantity is two, the movable carrier 10 further includes the transmission device for being connected to the chassis 11, by transmission device drive connection, in two of rear end of the chassis 11, the wheel 13 is translated the wheel power device 14, two steering power devices are respectively used to be drivingly connected that the wheel 13 is turned in two of the front end on the chassis 11.The quantity of the wheel 13 is multiple, multiple wheels 13 are separately mounted to the left side and right edge on the chassis 11, the quantity of the wheel power device 14 is two, two wheel power devices 14 respectively drive positioned at the left side on the chassis 11 and the wheel 13 of right edge to form differential driving, which further includes two crawler belts being respectively sleeved on the left side on the chassis 11 and the wheel 13 of right edge.

Holder 20a is removably connected to the movable carrier 10, is used to carry the image acquiring device 40.Holder 20a includes holder portion 20 and the holder portion 20 can be driven to synchronize the elevating mechanism 30 moved up and down.

The holder portion 20 includes the first actuator 21, holder damping 22, the first support frame 23, the second support frame 24, the second actuator 25, third actuator 26 and third support frame 27.The drive shaft of first actuator 21 passes through the holder damping 22 and is connected to first support frame 23, is used to that first support frame 23 to be driven to drive 40 synchronous rotary of shooting equipment.The holder damping 22 is for buffering the vibration from the movable carrier 10 and the elevating mechanism 30 that first support frame 23 is subject to.Second actuator 25 is fixed on first support frame 23, and drive shaft is connected to second support frame 24 to drive second support frame 24 to be rotated.The third actuator 26 is fixedly connected on second support frame 24, and drive shaft is connected to the third support frame 27 to drive the third support frame 27 to rotate.The third support frame 27 is rotatably connect with second support frame 24, which is mounted on the third support frame 27.

The holder portion 20 includes translation axis mechanism and pitching axis mechanism.In present embodiment, which includes the first support frame 23, which includes third actuator 26 and the third support frame 27.

The holder damping 22 includes at least one of following damping: wirerope damping, hydraulic shock-absorption mechanism, pneumatic shock absorbing mechanism, elastic slice damping and elastic ball damping.In present embodiment, which includes lower plate 221, the upper plate 222 with the lower plate 221 at a distance of pre-determined distance, and connects the lower plate 221 and the shock reducing structure 223 of the upper plate 222.In present embodiment, which is the hollow sphere made of elastic material.The drive shaft of first actuator 21 passes through the lower plate 221 from 221 side of lower plate and the upper plate 222 is connected to first support frame 23.

The specific structure of second support frame 24 can be designed according to different demands, for example, specifically in the illustrated embodiment, which is in concave character type substantially comprising two support arms 241 being oppositely arranged.The third support frame 27 is rotatablely connected with two support arms 241, is located between two support arms 241.The third actuator 26 is fixed on the support arm 241.

In present embodiment, first actuator 21, second actuator 25 and the third actuator 26 are motor.It is appreciated that in other embodiments, first actuator 21, second actuator 25 and the third actuator 26 all can be other forms driver, such as motor；In the initial state, the drive shaft of the drive shaft of first actuator 21, the drive shaft of second actuator 25 and the third actuator 26 can be mutually perpendicular to, the central axis of the drive shaft of first actuator 21 perpendicular to the wheel 13.The drive shaft of first actuator 21, the drive shaft of second actuator 25 are vertical always, and the drive shaft of second actuator 25 and the drive shaft of the third actuator 26 are vertical always.The drive shaft of first actuator 21 can vertical or oblique with the drive shaft of the third actuator 26.

The elevating mechanism 30 is removably connected to the chassis 11 of the movable carrier 10 comprising pedestal 31, lifting drive 32, crane 33, connector 34, carrier 35, conveyer belt 36 and belt wheel 37.The conveyer belt 36 and the belt wheel 37 form transmission mechanism, which drives the carrier 35 mobile by the transmission mechanism.The lifting drive 32 is fixed on the pedestal 31, and drive shaft is connected to the belt wheel 37.The crane 33 is connected by the connector 34 with the carrier 35.In present embodiment, the quantity of the belt wheel 37 is two, and one in two belt wheels 37 is connected with the lifting drive 32, another in two belt wheels 37 is fixed on the crane 33.36 sets of the conveyer belt on two belt wheels 37, are fixedly connected with the connector 36.The lifting drive 32 drives the belt wheel 37 rotation to drive the conveyer belt 36 to rotate, which drives the carrier 35 to move up and down by the connector 34, which can slide along the crane 33.

The pedestal 31 includes that fixed plate 311 and two are spaced the support plate 312 being fixed in the fixed plate 311, which offers axis hole 3121.The lifting drive 32 includes drive shaft 321, which is housed in the axis hole 3121.The drive shaft 321 passes through the belt wheel 37, which is located between two support plates 312.In present embodiment, which is motor.

The specific structure of the crane 33 can be designed according to different demands, for example, in the illustrated embodiment, which is in concave character type substantially comprising first connecting rod 331, support rod 332 and the suspender 333 for rotatably connecting the belt wheel 37.In present embodiment, the quantity of the support rod 332 is two；The first connecting rod 331 includes stationary plane 3311, and two support rod 332 intervals are fixed on the stationary plane 3311.The first connecting rod 331 is fixed on the stationary plane 3311, is located between two support rods 332.It is appreciated that in other embodiments, which can be structure as a whole with the crane 33.

The connector 34 is slidably connected to the crane 33, it includes interconnecting piece 341, the clamping section being fixedly connected with conveyer belt 36 342 and sliding sleeve 343, the interconnecting piece 341 connects in the clamping section 342 and 343 present embodiment of sliding sleeve, the quantity of the sliding sleeve 343 is two, and two sliding sleeve 343 intervals are fixed on the interconnecting piece 341.The clamping section 342 is fixed on the interconnecting piece 341, is located between two sliding sleeves 343.Two sliding sleeves 343 are respectively fitted on the support rod 332 of two cranes 33, can be slided along the support rod 332.

The carrier 35 is for carrying the holder portion 20 comprising the second connecting rod 351 and the carrier bar 352 for being fixedly connected on second connecting rod 351.In present embodiment, the quantity of the carrier bar 352 is two, two second connecting rod 352 interval settings.Two second connecting rods 352 are respectively fixedly connected with two sliding sleeves 343 in the connector 34, which is moved up and down by the connector 34 with the conveyer belt 36.

The pedestal 31 of the elevating mechanism 30 is fixed on the chassis 11 of the movable carrier 10, and two of the crane 33 support rods 332 are fixed on the chassis 11, which is located between two support rods 332.

The Remote Control Vehicle 100 further includes the controller (not shown) being arranged on the chassis 11, which is used to control the wheel power device 14 to realize the static of the movable carrier 10, translation or rotation.The controller is also used to control first actuator 21, second actuator 25 and the third actuator 26 to realize that the static of first support frame 23, second support frame 24 and the third support frame 27 perhaps rotates and then realize the static of the image acquiring device 40 or rotation.In present embodiment, which is also used to control the lifting drive 32 to realize the static of the belt wheel 37 or rotation, and then realizes the static of the image acquiring device 40 and move up and down, and expands the visual range of the Remote Control Vehicle 100.The controller can also control the translation axis mechanism and the movable carrier 10 is followed to follow the movable carrier 10 to move in pitching axis direction in the movement of translation axis direction and the pitching axis mechanism, with the position for facilitating control to load.

In one of the embodiments, the Remote Control Vehicle 100 further includes the sensor for capturing mobile target, the controller obtains the location information of the movement target, and accordingly control the movable carrier 10, the holder portion 20 and/or the elevating mechanism 30 movement, make the image acquiring device 40 on holder 20a follow the movement target mobile, realizes automatically with clapping mobile target.

It is understood that, in other embodiments, the controller may include the sensor for capturing heat source thermo, the location information for the heat source thermo that the controller is captured according to the sensor makes 40 Automatic-searching of the image acquiring device heat source thermo in the holder portion 20 to control the holder portion 20 movement.The sensor can be thermal imaging device, such as thermal infrared imager.

The controller includes the carrier controller for controlling the movable carrier 10 and the cradle head controllor for controlling holder 20a, which is independently arranged with the cradle head controllor, and individually receives external control signal.The cradle head controllor can control holder 20a and the image acquiring device 40 is driven to carry out pitching movement and rotary motion.

When the Remote Control Vehicle 100 works, which can control the lifting drive 32 and drive the belt wheel 37 rotation by the drive shaft 321, which drives the conveyer belt 36 to move up and down.The conveyer belt 36 drives the connector 34 to slide up and down along the support rod 332, the connector 34 drives the holder portion 20 of the carrier 35 carrying to move up and down simultaneously, realize moving up and down for the image acquiring device 40, which carries out shooting up and down to reference object.Meanwhile the controller can also control the rotation that first actuator 21, the second actuator 25 and the third actuator 26 realize the image acquiring device 40, and the image acquiring device 40 is enabled to carry out multi-faceted shooting to reference object.In present embodiment, the first connecting rod 331 of the crane 33 and the support plate 312 of the pedestal 31 limit the sliding of the connector 34.

Referring to Fig. 5, the Remote Control Vehicle 200 and the Remote Control Vehicle 100 that second embodiment of the invention provides are essentially identical, difference is that the elevating mechanism 210 of the Remote Control Vehicle 200, the transmission mechanism of the elevating mechanism 210 are different from the transmission mechanism of the Remote Control Vehicle 100.The elevating mechanism 210 includes lifting drive 201 and lead screw 204, which forms the transmission mechanism of the elevating mechanism 210.The lifting drive 201 drives the carrier 35, the holder portion 20 and the image acquiring device 40 to synchronize lifting by the lead screw 204.The lead screw 204 includes screw 202 and the screw rod 203 being threadedly engaged with the screw 202.The carrier 35 is connected with the screw 202.The screw rod 203 is connected to the lifting drive 201, and the lifting drive 201 is for driving the screw rod 203 rotation to drive the image acquiring device 40 to be gone up and down by the screw 202, the carrier 35 and the holder portion 20.

Referring to Fig. 6, the Remote Control Vehicle 300 and the Remote Control Vehicle 100 that third embodiment of the invention provides are essentially identical, difference is that the elevating mechanism 310 of the Remote Control Vehicle 300, the transmission mechanism of the elevating mechanism 310 are different from the transmission mechanism of the Remote Control Vehicle 100.The transmission mechanism of the elevating mechanism 310 includes gear 302 and the rack gear 303 that is meshed with the gear 302, and the lifting drive 301 of the elevating mechanism 310 drives the carrier 35, the holder portion 20 and the image acquiring device 40 to synchronize lifting by the gear 302 and the rack gear 303.The lifting drive 301 drives the gear 302 rotation, which is connected to the rack gear 303, which drives the carrier 35 to move together.

Referring to Fig. 7, the Remote Control Vehicle 400 and the Remote Control Vehicle 100 that four embodiment of the invention provides are essentially identical, difference is that the elevating mechanism 410 of the Remote Control Vehicle 400, the transmission mechanism of the elevating mechanism 410 are different from the transmission mechanism of the Remote Control Vehicle 100.The transmission mechanism of the elevating mechanism 410 includes two sprocket wheels 402 and chain 403.Two 402 relative spacing of sprocket wheel settings, 403 sets of the chain on two sprocket wheels 402.The elevating mechanism 410 further includes lifting drive 401, and the lifting drive 401 is for driving one of rotation of two sprocket wheels 402 to drive the rotation of another sprocket wheel 402 by the chain 403.The carrier 35 is connected to the chain 403, which is able to drive the carrier 35, the holder portion 20 and the image acquiring device 40 and synchronizes lifting.

Please refer to Fig. 8, the Remote Control Vehicle 500 and the Remote Control Vehicle 400 that fifth embodiment of the invention provides are essentially identical, difference is that the transmission mechanism of the elevating mechanism 510 of the Remote Control Vehicle 500 includes sprocket wheel 502 and chain 503, on the sprocket wheel 502, the other end is connected to the carrier 35 for one end of the chain 503.The elevating mechanism 510 further includes lifting drive 501, which drives the sprocket wheel 502 rotation, which drives the carrier 35, the holder portion 20 and the image acquiring device 40 to move together by the chain 503.

Referring to Fig. 9, the Remote Control Vehicle 600 and the Remote Control Vehicle 100 that sixth embodiment of the invention provides are essentially identical, difference is the elevating mechanism 610 of the Remote Control Vehicle 600.The elevating mechanism 610 includes lifting drive 601, which is linear motor, drives the image acquiring device 40 mobile by the carrier 35 and the holder portion 20.The carrier 35 is connected to the secondary 601 of the primary 602 of the movement of the lifting drive 601 or the movement of the lifting drive 603.

Referring to Fig. 10, the Remote Control Vehicle 700 and the Remote Control Vehicle 100 that seventh embodiment of the invention provides are essentially identical, difference is the elevating mechanism 710 of the Remote Control Vehicle 700.The elevating mechanism 710 includes lifting drive 701.The lifting drive 701 is fluid pressure drive device or actuating device of atmospheric pressure, such as hydraulically extensible cylinder.The lifting drive 701 drives the image acquiring device 40 mobile by the carrier 35 and the holder portion 20.The lifting drive 701 includes push rod 702, which is connected with the carrier 35.

Figure 11 is please referred to, the Remote Control Vehicle 800 and the Remote Control Vehicle 100 that eighth embodiment of the invention provides are essentially identical, and difference is elevating mechanism 810 and holder portion 20 of the Remote Control Vehicle 800.The elevating mechanism 810 includes rotation drive device 801 and support rod 802, which is used to that rotary shaft of the support rod 802 around the rotation drive device 801 perpendicular to the movable carrier 10 to be driven to rotate.One end of the support rod 802 is connected to the rotation drive device 801, which hangs on the other end of the support rod 802 far from the rotation drive device 801 by the holder damping 22.The support rod 802 is telescopic rod, which adjusts the height of the holder portion 20 relative to the movable carrier 10 by adjusting the length of the support rod 802.

Figure 12 is please referred to, the Remote Control Vehicle 900 of ninth embodiment of the invention and the Remote Control Vehicle 800 are essentially identical, and difference is the elevating mechanism 910 of the Remote Control Vehicle 900.The elevating mechanism 910 includes retractable driving device 901, support rod 902 and strut 903.One end of the strut 903 is fixed on the movable carrier 10, and the other end is connected to the middle part of the support rod 902 to provide a supporting point for the support rod 902, which can rotate around the supporting point to form lever construction.The holder portion 20 hangs on one end of the support rod 902 by the holder damping 22, and the other end of the support rod 902 is connected to the retractable driving device 901.The retractable driving device 901 drives the support rod 902 to tilt far from one end of the retractable driving device 901 to adjust the height of the holder portion 20 relative to the movable carrier 10.

Figure 13 and Figure 14 is please referred to, the remote control delivery system 1000 and the Remote Control Vehicle 100 that tenth embodiment of the invention provides are essentially identical.The remote control delivery system 1000 includes hand-held holder 50 and Remote Control Vehicle 100a.The hand-held holder 50 is equipped on Remote Control Vehicle 100a, and Remote Control Vehicle 100a can carry the hand-held holder 50 and move together.

The hand-held holder 50 includes supportive body 51, the plummer 52 and mounting rod 53, the second lever 54 and the first lever 55 that are connected to the mounting rod being respectively arranged on the supportive body 51.The plummer 52 is for installing the electronic devices such as video camera, camera.In present embodiment, which is equipped with holder power battery.First lever 55 and second lever 54 are used to provide the position for holding operation for photographer or provide the position of installation connection to be connected to other component, which is handle.

The detachable structure 60 further includes for sensing the fixing inductive pick-up (not shown) for whether having held the hand-held holder 50, which can be pressure sensor, proximity sensor etc..The detachable structure 60 further includes the interface (not shown) for holding holder 50 with this and plugging, which can be used for holding the communication of holder 50 with this to transmit control signal, image data etc..It is appreciated that external power supply can also be that the hand-held holder 50 is powered by the interface.

Remote Control Vehicle 100a includes movable carrier 10, the elevating mechanism 30 being installed on the movable carrier 10, is connected to by the elevating mechanism 30 the holder damping 22 of the movable carrier 10 and is mounted at the detachable structure 60 of the holder damping 22.The movable carrier 10 is for receiving remote control command and according to remote control command movement.The detachable structure 60 is for fixing the hand-held holder 50 comprising for clamping the clamping device (not shown) of the hand-held holder 50, the clamping device is for clamping first lever 55.

When the hand-held holder 50 is used alone, the hand-held holder 50 can be made to separate with Remote Control Vehicle 100a by operating the detachable structure 60；Holder 50 is held in use, the hand-held holder 50 can be fixed on the movable carrier 10 by the detachable structure 60 when needing Remote Control Vehicle 100a to carry this

Remote Control Vehicle 100a further includes power cell of vehicle, which is that Remote Control Vehicle 100a supplies power supply.The power cell of vehicle can be the holder power battery charging of the hand-held holder 50, to provide continuation of the journey power supply for the hand-held holder 50.The power cell of vehicle can be material cell, solar battery or lithium battery.

In addition; those skilled in the art will be appreciated that; above embodiment is intended merely to illustrate the present invention and be not used as to limit the present invention; as long as appropriate change and variation to the above embodiments are all fallen within the scope of protection of present invention within the scope of true spirit.

Claims

A kind of Remote Control Vehicle, it includes movable carrier and is connected to the movable carrier and is used for the holder portion of carry load, the holder includes holder portion, the load is mounted in the holder portion, it is characterized by: the holder further includes the elevating mechanism for being connected to the holder portion, the elevating mechanism drives the holder portion to move up and down by moving up and down, and realizes the lifting of the load.
Remote Control Vehicle as described in claim 1, it is characterised in that: the movable carrier is able to drive the holder and translates and rotate towards any direction.
Remote Control Vehicle as described in claim 1, it is characterised in that: the elevating mechanism is removably connected to the movable carrier.
Remote Control Vehicle as described in claim 1, it is characterised in that: the movable carrier includes chassis, which is connected to the chassis.
Remote Control Vehicle as claimed in claim 4, it is characterised in that: the movable carrier further includes the wheel power device for being connected to the wheel on the chassis and being connected to the wheel, and the wheel power device is for driving the wheel.
Remote Control Vehicle as claimed in claim 5, it is characterised in that: the movable carrier further includes shock-damping structure, which is connected to the chassis by the shock-damping structure, and the shock-damping structure is for buffering the vibration from the wheel that the chassis is subject to.
Remote Control Vehicle as claimed in claim 5, it is characterised in that: the wheel power device is motor；

And/or the shock-damping structure is suspension type damping.
Remote Control Vehicle as claimed in claim 5, it is characterised in that: the wheel is omni-directional wheel.
Remote Control Vehicle as claimed in claim 6, it is characterised in that: the shock-damping structure and the wheel be it is multiple, each shock-damping structure connects two wheels simultaneously.
Remote Control Vehicle as claimed in claim 6, it is characterised in that: the shock-damping structure is individually arranged in each wheel.
Remote Control Vehicle as claimed in claim 6, it is characterized by: the wheel be it is multiple, be separately mounted to the left side and right edge on the chassis, the wheel power device be two, the left side positioned at the chassis and the wheel in right edge are respectively driven, to form differential driving；The movable carrier further includes two crawler belts being respectively sleeved on the left side on the chassis and the wheel of right edge.
Remote Control Vehicle as claimed in claim 6, it is characterized by: the wheel is multiple, it is separately mounted to the front end and rear end on the chassis, the movable carrier further includes transmission device and steering power device, the wheel power device drives the vehicle wheel rotation of the rear end on the chassis by the transmission device simultaneously, and the wheel which is used to be drivingly connected in the front end on the chassis is turned to.
Remote Control Vehicle as described in claim 1, it is characterised in that: the holder portion includes the first support frame, the second support frame rotatably connecting with first support frame and the third support frame rotatably connecting with second support frame.
Remote Control Vehicle as claimed in claim 13, it is characterised in that: the holder portion further includes the first actuator, the second actuator and third actuator, which is connected to first support frame, is used to that first support frame to be driven to rotate；Second support frame is rotatably connect by second actuator with first support frame；The third support frame is rotatablely connected with second support frame by the third actuator.
Remote Control Vehicle as claimed in claim 14, it is characterised in that: first actuator, second actuator and the third actuator are motor.
Remote Control Vehicle as claimed in claim 13, it is characterised in that: the holder portion further includes the holder damping for being connected to first support frame Yu the elevating mechanism.
Remote Control Vehicle as claimed in claim 16, it is characterised in that: the holder damping includes the shock reducing structure for buffering the vibration that first support frame is subject to, which is the hollow sphere made of elastic material.
Remote Control Vehicle as claimed in claim 16, it is characterised in that: the elevating mechanism includes the crane for being connected to the movable carrier, which is connected to the crane, which is able to drive the holder damping and moves up and down.
Remote Control Vehicle as claimed in claim 18, it is characterized by: the elevating mechanism further includes the carrier that is connected to crane and can move relative to the crane, the holder damping is connected to the carrier, which drives the holder damping to move up and down.
Remote Control Vehicle as claimed in claim 17, it is characterised in that: the holder damping includes upper plate and lower plate, and the upper plate and the lower plate relative spacing are arranged, and the both ends of the shock reducing structure are connected to the upper plate and the lower plate.
Remote Control Vehicle as claimed in claim 19, it is characterised in that: the elevating mechanism further includes the lifting drive for driving the carrier mobile relative to the crane.
Remote Control Vehicle as claimed in claim 21, it is characterised in that: the elevating mechanism further includes transmission mechanism, which drives the carrier mobile by the transmission mechanism.
Remote Control Vehicle as claimed in claim 22, it is characterized by: the transmission mechanism further includes conveyer belt and two belt wheels, one of belt wheel is connected to the drive shaft of the lifting drive, another belt wheel is connected to the crane, the conveyer belt is set on two belt wheels, which is fixedly connected with the conveyer belt.
Remote Control Vehicle as claimed in claim 22, it is characterised in that: the elevating mechanism further includes connector, and slidably relative to the crane, which is fixedly connected by the connector with the conveyer belt connector.
Remote Control Vehicle as claimed in claim 24, it is characterised in that: the connector includes sliding sleeve, clamping section and the interconnecting piece for connecting the sliding sleeve Yu the clamping section, which is set on the crane, and slidably along the crane；The clamping section clamps the conveyer belt, and moves together with the conveyer belt.
Remote Control Vehicle as claimed in claim 22, it is characterised in that: the transmission mechanism includes chain and two sprocket wheels；Two sprocket wheel relative spacing settings, the chain are sheathed on two sprocket wheels, which drives one of sprocket wheel rotation, and is rotated by another sprocket wheel of the chain-driving；The carrier is connect with the chain, and the chain is followed to move together；

Alternatively, the transmission mechanism includes chain and sprocket wheel；For the chain on the sprocket wheel, which drives the sprocket wheel to rotate；The carrier is connect with the chain, and the chain is followed to move together.
Remote Control Vehicle as claimed in claim 22, it is characterized by: the transmission mechanism includes lead screw, the lead screw includes screw rod and is set on the screw rod and the screw with wire rod thread cooperation, the carrier is connect with the screw, and the screw is followed to move together, the lifting drive is for driving the screw rod to rotate.
Remote Control Vehicle as claimed in claim 22, it is characterised in that: the transmission mechanism includes gear and the rack gear that is meshed with the gear, and for driving the gear to rotate, which connect the lifting drive with the rack gear, and moves together with the rack gear.
Remote Control Vehicle as claimed in claim 21, it is characterised in that: the lifting drive includes linear motor, which connect with the primary of the movement of the linear motor or the secondary of movement；

Alternatively, the lifting drive includes fluid pressure drive device, the drive shaft of the fluid pressure drive device is connect with the carrier, for driving the carrier mobile；

Alternatively, the lifting drive includes actuating device of atmospheric pressure, the drive shaft of the actuating device of atmospheric pressure is connect with the carrier, for driving the carrier mobile.
Remote Control Vehicle as claimed in claim 16, it is characterized by: the elevating mechanism includes rotation drive device and the support rod for being connected to the rotation drive device, the rotation drive device is used to that rotary shaft of the support rod around the rotation drive device perpendicular to the movable carrier to be driven to rotate, which hangs on the one end of the support rod far from the rotation drive device.
Remote Control Vehicle as claimed in claim 30, it is characterised in that: the support rod is telescopic rod, which adjusts the height of the holder portion relative to the movable carrier by adjusting the length of the telescopic rod.
Remote Control Vehicle as claimed in claim 30, it is characterised in that: the holder portion is connected to the one end of the support rod far from the rotation drive device by the holder damping.
Remote Control Vehicle as claimed in claim 16, it is characterized by: the elevating mechanism includes retractable driving device and the support rod for being connected to the retractable driving device, the middle part of the support rod can be rotated around a supporting point to form lever construction, the holder portion is connected to the one end of the support rod far from the retractable driving device, which adjusts the height of the holder portion relative to the movable carrier for driving the support rod to stick up far from one end of the retractable driving device.
Remote Control Vehicle as claimed in claim 33, it is characterised in that: the support rod is telescopic rod, which adjusts the height of the holder portion relative to the movable carrier by the length of the adjusting support rod.
Remote Control Vehicle as claimed in claim 33, it is characterised in that: the holder portion is connected to the one end of the support rod far from the retractable driving device by the holder damping.
Remote Control Vehicle as described in claim 1, it is characterised in that: the Remote Control Vehicle further includes the controller for controlling the holder and the movable carrier.
Remote Control Vehicle as claimed in claim 36, it is characterised in that: the controller can also control the elevating mechanism and the holder portion and the load is driven to synchronize and move up and down.
Remote Control Vehicle as claimed in claim 36, it is characterized by: the Remote Control Vehicle further includes the sensor for capturing mobile target, the controller obtains the sensor and flutters the location information for the movement target grasped and control holder portion movement, keeps power follower movement target in the holder portion mobile.
Remote Control Vehicle as claimed in claim 36, it is characterized by: the Remote Control Vehicle further includes the sensor for capturing mobile target, the controller obtains the sensor and flutters the location information for the mobile target grasped to control the holder portion and elevating mechanism movement, keeps power follower movement target in the holder portion mobile.
Remote Control Vehicle as claimed in claim 36, it is characterized by: the Remote Control Vehicle further includes the sensor for capturing heat source thermo, the controller according to the sensor flutters the location information for the heat source thermo grasped to control holder portion movement, makes the load Automatic-searching heat source thermo in the holder portion.
Remote Control Vehicle as claimed in claim 36, it is characterized by: the Remote Control Vehicle further includes the sensor for capturing heat source thermo, the controller flutters the location information for the heat source thermo grasped according to the sensor, to control the holder portion and elevating mechanism movement, make the load Automatic-searching heat source thermo in the holder portion.
Remote Control Vehicle as claimed in claim 36, it is characterized by: the controller includes the carrier controller for controlling the movable carrier and the cradle head controllor for controlling the holder, the carrier controller is independently arranged with the cradle head controllor, and individually receives external control signal.
Remote Control Vehicle as claimed in claim 36, it is characterised in that: the holder portion includes translation axis mechanism, which follows the translation axis mechanism in translation axis direction movement for controlling the movable carrier.
Remote Control Vehicle as claimed in claim 36, it is characterised in that: the holder portion includes pitching axis mechanism, which follows the pitching axis mechanism to move in pitching axis direction for controlling the movable carrier.
Remote Control Vehicle as described in claim 1, it is characterised in that: the load is image acquiring device, heat source detection device or life detecting device.
A kind of holder comprising holder portion, the holder portion are used for carry load, it is characterised in that: the holder further includes the elevating mechanism for being connected to the holder portion, which drives the holder portion to move up and down, realize the lifting of the load by moving up and down.
Holder as claimed in claim 46, it is characterised in that: the holder portion includes the first support frame, the second support frame rotatably connecting with first support frame and the third support frame rotatably connecting with second support frame.
Holder as claimed in claim 47, it is characterised in that: the holder portion further includes the first actuator, the second actuator and third actuator, which is connected to first support frame, is used to that first support frame to be driven to rotate；Second support frame is rotatably connect by second actuator with first support frame；The third support frame is rotatablely connected with second support frame by the third actuator.
Holder as claimed in claim 48, it is characterised in that: first actuator, second actuator and the third actuator are motor.
Holder as claimed in claim 47, it is characterised in that: the holder portion further includes the holder damping for being connected to first support frame Yu the elevating mechanism.
Holder as claimed in claim 50, it is characterised in that: the holder damping includes the shock reducing structure for buffering the vibration that first support frame is subject to, which is the hollow sphere made of elastic material.
Holder as claimed in claim 50, it is characterised in that: the elevating mechanism includes crane, which is connected to the crane, which is able to drive the holder damping and moves up and down.
Holder as claimed in claim 52, it is characterised in that: the elevating mechanism further includes being connected to crane and capable of being connected to the carrier relative to the carrier of crane movement, the holder damping, which drives the holder damping to move up and down.
Holder as claimed in claim 51, it is characterised in that: the holder damping includes upper plate and lower plate, and the upper plate and the lower plate relative spacing are arranged, and the both ends of the shock reducing structure are connected to the upper plate and the lower plate.
Holder as claimed in claim 53, it is characterised in that: the elevating mechanism further includes the lifting drive for driving the carrier mobile relative to the crane.
Holder as claimed in claim 55, it is characterised in that: the elevating mechanism further includes transmission mechanism, which drives the carrier mobile by the transmission mechanism.
Holder as claimed in claim 56, it is characterized by: the transmission mechanism further includes conveyer belt and two belt wheels, one of belt wheel is connected to the drive shaft of the lifting drive, another belt wheel is connected to the crane, the conveyer belt is set on two belt wheels, which is fixedly connected with the conveyer belt.
Holder as claimed in claim 56, it is characterised in that: the elevating mechanism further includes connector, and slidably relative to the crane, which is fixedly connected by the connector with the conveyer belt connector.
Holder as claimed in claim 58, it is characterised in that: the connector includes sliding sleeve, clamping section and the interconnecting piece for connecting the sliding sleeve Yu the clamping section, which is set on the crane, and slidably along the crane；The clamping section clamps the conveyer belt, and moves together with the conveyer belt.
Holder as claimed in claim 56, it is characterised in that: the transmission mechanism includes chain and two sprocket wheels；Two sprocket wheel relative spacing settings, the chain are sheathed on two sprocket wheels, which drives one of sprocket wheel rotation, and is rotated by another sprocket wheel of the chain-driving；The carrier is connect with the chain, and the chain is followed to move together；

Alternatively, the transmission mechanism includes chain and sprocket wheel；For the chain on the sprocket wheel, which drives the sprocket wheel to rotate；The carrier is connect with the chain, and the chain is followed to move together.
Holder as claimed in claim 56, it is characterized by: the transmission mechanism includes lead screw, the lead screw includes screw rod and is set on the screw rod and the screw with wire rod thread cooperation, the carrier is connect with the screw, and the screw is followed to move together, the lifting drive is for driving the screw rod to rotate.
Holder as claimed in claim 56, it is characterised in that: the transmission mechanism includes gear and the rack gear that is meshed with the gear, and for driving the gear to rotate, which connect the lifting drive with the rack gear, and moves together with the rack gear.
Holder as claimed in claim 55, it is characterised in that: the lifting drive includes linear motor, which connect with the primary of the movement of the linear motor or the secondary of movement；

Alternatively, the lifting drive includes fluid pressure drive device, the drive shaft of the fluid pressure drive device is connect with the carrier, for driving the carrier mobile；

Alternatively, the lifting drive includes actuating device of atmospheric pressure, the drive shaft of the actuating device of atmospheric pressure is connect with the carrier, for driving the carrier mobile.
Holder as claimed in claim 50, it is characterized by: the elevating mechanism includes rotation drive device and the support rod for being connected to the rotation drive device, the rotation drive device is used to that the support rod to be driven to rotate around the rotary shaft of the rotation drive device, which hangs on the one end of the support rod far from the rotation drive device.
Holder as described in claim 64, it is characterised in that: the support rod is telescopic rod, which adjusts the height of the holder portion relative to the movable carrier by adjusting the length of the telescopic rod.
Holder as described in claim 64, it is characterised in that: the holder portion is connected to the one end of the support rod far from the rotation drive device by the holder damping.
Holder as claimed in claim 50, it is characterized by: the elevating mechanism includes retractable driving device and the support rod for being connected to the retractable driving device, the middle part of the support rod can be rotated around a supporting point to form lever construction, the holder portion is connected to the one end of the support rod far from the retractable driving device, which adjusts the height of the holder portion relative to the movable carrier for driving the support rod to stick up far from one end of the retractable driving device.
Holder as described in claim 67, it is characterised in that: the support rod is telescopic rod, which adjusts the height of the holder portion relative to the movable carrier by the length of the adjusting support rod.
Holder as described in claim 67, it is characterised in that: the holder portion is connected to the one end of the support rod far from the retractable driving device by the holder damping.
Holder as claimed in claim 46, it is characterised in that: the load is image acquiring device, heat source detection device or life detecting device.
A kind of remote control delivery system, it is characterised in that: the remote control delivery system includes:

For the hand-held holder of carry load, which is equipped with the first lever for gripping；

For carrying the Remote Control Vehicle of the hand-held holder, which can carry the hand-held holder and move together, which includes:

For receiving remote control command and the movable carrier mobile according to remote control command；

The detachable structure being connected on the movable carrier, the detachable structure is for fixing the hand-held holder；

Wherein, when the hand-held holder is used alone, the hand-held holder can be made to separate with the Remote Control Vehicle by operating the detachable structure；Holder is held in use, the hand-held holder can be fixed on the movable carrier by the detachable structure when needing Remote Control Vehicle to carry this.
Remote control delivery system as described in claim 71, it is characterised in that: the hand-held holder includes supportive body, which is connected to the supportive body.
Remote control delivery system as described in claim 71, it is characterised in that: the detachable structure includes the clamping device for clamping the hand-held holder, and the clamping device is for clamping first lever.
Remote control delivery system as described in claim 71, it is characterised in that: the detachable structure further includes for sensing the fixing inductive pick-up for whether having held the hand-held holder.
Remote control delivery system as described in claim 71, it is characterised in that: detachable structure further includes for holding the interface that holder plugs with this.
Remote control delivery system as described in claim 75, it is characterised in that: the Remote Control Vehicle includes for providing the power cell of vehicle of the mobile power supply of the movable carrier, which can hold holder to this by the interface and provide continuation of the journey power supply.
Remote control delivery system as described in claim 76, it is characterised in that: the hand-held holder is equipped with holder power battery, which can give the holder power battery charging.
Remote control delivery system as described in claim 76, it is characterised in that: the power cell of vehicle is fuel cell, solar battery or lithium battery.
Remote control delivery system as described in claim 71, it is characterised in that: the movable carrier is able to drive the hand-held holder and translates and rotate towards any direction.
Remote control delivery system as described in claim 71, it is characterised in that: the movable carrier includes chassis, which is connected to the chassis.
Remote control delivery system as described in claim 80, it is characterised in that: the movable carrier further includes the wheel power device for being connected to the wheel on the chassis and being connected to the wheel, and the wheel power device is for driving the wheel.
Remote control delivery system as described in claim 81, it is characterised in that: the movable carrier further includes shock-damping structure, which is connected to the chassis by the shock-damping structure, and the shock-damping structure is for buffering the vibration from the wheel that the chassis is subject to.
Remote control delivery system as described in claim 81, it is characterised in that: the wheel power device is motor；

And/or the shock-damping structure is suspension type damping.
Remote control delivery system as described in claim 81, it is characterised in that: the wheel is omni-directional wheel.
Remote control delivery system as described in claim 82, it is characterised in that: the shock-damping structure and the wheel be it is multiple, each shock-damping structure connects two wheels simultaneously.
Remote control delivery system as described in claim 82, it is characterised in that: the shock-damping structure is individually arranged in each wheel.
Remote control delivery system as described in claim 82, it is characterized by: the wheel be it is multiple, be separately mounted to the left side and right edge on the chassis, the wheel power device be two, the left side positioned at the chassis and the wheel in right edge are respectively driven, to form differential driving；The movable carrier further includes two crawler belts being respectively sleeved on the left side on the chassis and the wheel of right edge.
Remote control delivery system as described in claim 82, it is characterized by: the wheel is multiple, it is separately mounted to the front end and rear end on the chassis, the movable carrier further includes transmission device and steering power device, the wheel power device drives the vehicle wheel rotation of the rear end on the chassis by the transmission device simultaneously, and the wheel which is used to be drivingly connected in the front end on the chassis is turned to.
Remote control delivery system as described in claim 71, it is characterised in that: the Remote Control Vehicle further includes the elevating mechanism being mounted on the movable carrier and holder damping, which is connected to the detachable structure by the holder damping.
Remote control delivery system as described in claim 89, it is characterised in that: the holder damping includes the shock reducing structure for buffering the vibration that the holder is subject to, which is the hollow sphere made of elastic material.
Remote control delivery system as described in claim 89, it is characterised in that: the elevating mechanism includes the crane for being connected to the movable carrier, which is connected to the crane, which is able to drive the holder damping and moves up and down.
Remote control delivery system as described in claim 91, it is characterized by: the elevating mechanism further includes the carrier that is connected to crane and can move relative to the crane, the holder damping is connected to the carrier, which drives the holder damping to move up and down.
Remote control delivery system as described in claim 90, it is characterised in that: the holder damping includes upper plate and lower plate, and the upper plate and the lower plate relative spacing are arranged, and the both ends of the shock reducing structure are connected to the upper plate and the lower plate.
Remote control delivery system as described in claim 92, it is characterised in that: the elevating mechanism further includes the lifting drive for driving the carrier mobile relative to the crane.
Remote control delivery system as described in claim 94, it is characterised in that: the elevating mechanism further includes transmission mechanism, which drives the carrier mobile by the transmission mechanism.
Remote control delivery system as described in claim 95, it is characterized by: the transmission mechanism further includes conveyer belt and two belt wheels, one of belt wheel is connected to the drive shaft of the lifting drive, another belt wheel is connected to the crane, the conveyer belt is set on two belt wheels, which is fixedly connected with the conveyer belt.
Remote control delivery system as described in claim 95, it is characterised in that: the elevating mechanism further includes connector, and slidably relative to the crane, which is fixedly connected by the connector with the conveyer belt connector.
Remote control delivery system as described in claim 97, it is characterised in that: the connector includes sliding sleeve, clamping section and the interconnecting piece for connecting the sliding sleeve Yu the clamping section, which is set on the crane, and slidably along the crane；The clamping section clamps the conveyer belt, and moves together with the conveyer belt.
Remote control delivery system as described in claim 95, it is characterised in that: the transmission mechanism includes chain and two sprocket wheels；Two sprocket wheel relative spacing settings, the chain are sheathed on two sprocket wheels, which drives one of sprocket wheel rotation, and is rotated by another sprocket wheel of the chain-driving；The carrier is connect with the chain, and the chain is followed to move together；

Alternatively, the transmission mechanism includes chain and sprocket wheel；For the chain on the sprocket wheel, which drives the sprocket wheel to rotate；The carrier is connect with the chain, and the chain is followed to move together.
Remote control delivery system as described in claim 95, it is characterized by: the transmission mechanism includes lead screw, the lead screw includes screw rod and is set on the screw rod and the screw with wire rod thread cooperation, the carrier is connect with the screw, and the screw is followed to move together, the lifting drive is for driving the screw rod to rotate.
Remote control delivery system as described in claim 95, it is characterised in that: the transmission mechanism includes gear and the rack gear that is meshed with the gear, and for driving the gear to rotate, which connect the lifting drive with the rack gear, and moves together with the rack gear.
Remote control delivery system as described in claim 94, it is characterised in that: the lifting drive includes linear motor, which connect with the primary of the movement of the linear motor or the secondary of movement；

Alternatively, the lifting drive includes fluid pressure drive device, the drive shaft of the fluid pressure drive device is connect with the carrier, for driving the carrier mobile；

Alternatively, the lifting drive includes actuating device of atmospheric pressure, the drive shaft of the actuating device of atmospheric pressure is connect with the carrier, for driving the carrier mobile.
Remote control delivery system as described in claim 89, it is characterized by: the elevating mechanism includes rotation drive device and the support rod for being connected to the rotation drive device, the rotation drive device is used to that rotary shaft of the support rod around the rotation drive device perpendicular to the movable carrier to be driven to rotate, which hangs on the one end of the support rod far from the rotation drive device.
Remote control delivery system as described in claim 103, it is characterised in that: the support rod is telescopic rod, which holds height of the holder relative to the movable carrier by adjusting the length of the telescopic rod to adjust this.
Remote control delivery system as described in claim 103, it is characterised in that: the hand-held holder is connected to the one end of the support rod far from the rotation drive device by the holder damping.
Remote control delivery system as described in claim 89, it is characterized by: the elevating mechanism includes retractable driving device and the support rod for being connected to the retractable driving device, the middle part of the support rod can be rotated around a supporting point to form lever construction, the hand-held holder is connected to the one end of the support rod far from the retractable driving device, which adjusts the hand-held height of the holder relative to the movable carrier for driving the support rod to stick up far from one end of the retractable driving device.
Remote control delivery system as described in claim 106, it is characterised in that: the support rod is telescopic rod, which adjusts the hand-held height of the holder relative to the movable carrier by the length of the adjusting support rod.
Remote control delivery system as described in claim 106, it is characterised in that: the hand-held holder is connected to the one end of the support rod far from the retractable driving device by the holder damping.
Remote control delivery system as described in claim 89, it is characterised in that: the Remote Control Vehicle further includes the controller for controlling the hand-held holder and the movable carrier.
Remote control delivery system as described in claim 109, it is characterised in that: the controller can also control the elevating mechanism and the hand-held holder and the load is driven to synchronize and move up and down.
Remote control delivery system as described in claim 109, it is characterized by: the Remote Control Vehicle further includes the sensor for capturing mobile target, the controller obtains the sensor and flutters the location information for the movement target grasped and control the hand-held holder movement, keeps power follower movement target on the hand-held holder mobile.
Remote control delivery system as described in claim 109, it is characterized by: the Remote Control Vehicle further includes the sensor for capturing mobile target, the controller obtains the sensor and flutters the location information for the mobile target grasped to control the hand-held holder and elevating mechanism movement, keeps power follower movement target on the hand-held holder mobile.
Remote control delivery system as described in claim 109, it is characterized by: the Remote Control Vehicle further includes the sensor for capturing heat source thermo, the controller according to the sensor flutters the location information for the heat source thermo grasped to control hand-held holder movement, makes the load Automatic-searching heat source thermo on the hand-held holder.
Remote control delivery system as described in claim 109, it is characterized by: the Remote Control Vehicle further includes the sensor for capturing heat source thermo, the controller flutters the location information for the heat source thermo grasped according to the sensor, to control the hand-held holder and elevating mechanism movement, make the load Automatic-searching heat source thermo on the hand-held holder.
Remote control delivery system as described in claim 109, it is characterized by: the controller includes the carrier controller for controlling the movable carrier and the cradle head controllor for controlling the hand-held holder, the carrier controller is independently arranged with the cradle head controllor, and individually receives external control signal.
Remote control delivery system as described in claim 71, it is characterised in that: the load is image acquiring device, heat source detection device, life detecting device.
A kind of Remote Control Vehicle, which is characterized in that the Remote Control Vehicle carries the hand-held holder and move together for carrying hand-held holder, which includes:

Movable carrier, for receiving remote control command and according to remote control command movement；

The detachable structure being mounted on the movable carrier, the detachable structure include the clamping device for clamping the hand-held holder；

Wherein, when the hand-held holder is used alone, the hand-held holder can be made to separate with the Remote Control Vehicle by operating the detachable structure；The movable carrier can be fixed on by the detachable structure in use, this holds holder when needing Remote Control Vehicle to carry the hand-held holder.
Remote Control Vehicle as described in claim 117, it is characterised in that: the detachable structure further includes for sensing the fixing inductive pick-up for whether having held the hand-held holder.
Remote Control Vehicle as described in claim 117, it is characterised in that: detachable structure further includes for holding the interface that holder plugs with this.
Remote Control Vehicle as described in claim 119, it is characterised in that: the Remote Control Vehicle includes for providing the power cell of vehicle of the mobile power supply of the movable carrier, which can hold holder to this by the interface and provide continuation of the journey power supply.
Remote Control Vehicle as described in claim 120, it is characterised in that: the hand-held holder is equipped with holder power battery, which can give the holder power battery charging.
Remote Control Vehicle as described in claim 120, it is characterised in that: the power cell of vehicle is fuel cell, solar battery or lithium battery.
Remote Control Vehicle as described in claim 117, it is characterised in that: the movable carrier is able to drive the hand-held holder and translates and rotate towards any direction.
Remote Control Vehicle as described in claim 117, it is characterised in that: the movable carrier includes chassis, which is connected to the chassis.
Remote Control Vehicle as described in claim 124, it is characterised in that: the movable carrier further includes the wheel power device for being connected to the wheel on the chassis and being connected to the wheel, and the wheel power device is for driving the wheel.
Remote Control Vehicle as described in right wants 125, it is characterised in that: the movable carrier further includes shock-damping structure, which is connected to the chassis by the shock-damping structure, and the shock-damping structure is for buffering the vibration from the wheel that the chassis is subject to.
Remote Control Vehicle as described in claim 125, it is characterised in that: the wheel power device is motor；

And/or the shock-damping structure is suspension type damping.
Remote Control Vehicle as described in claim 125, it is characterised in that: the wheel is omni-directional wheel.
Remote Control Vehicle as described in claim 126, it is characterised in that: the shock-damping structure and the wheel be it is multiple, each shock-damping structure connects two wheels simultaneously.
Remote Control Vehicle as described in claim 126, it is characterised in that: the shock-damping structure is individually arranged in each wheel.
Remote Control Vehicle as described in claim 126, it is characterized by: the wheel be it is multiple, be separately mounted to the left side and right edge on the chassis, the wheel power device be two, the left side positioned at the chassis and the wheel in right edge are respectively driven, to form differential driving；The movable carrier further includes two crawler belts being respectively sleeved on the left side on the chassis and the wheel of right edge.
Remote Control Vehicle as described in claim 126, it is characterized by: the wheel is multiple, it is separately mounted to the front end and rear end on the chassis, the movable carrier further includes transmission device and steering power device, the wheel power device drives the vehicle wheel rotation of the rear end on the chassis by the transmission device simultaneously, and the wheel which is used to be drivingly connected in the front end on the chassis is turned to.
Remote Control Vehicle as described in claim 117, it is characterised in that: the Remote Control Vehicle further includes the elevating mechanism being mounted on the movable carrier and holder damping, which is connected to the detachable structure by the holder damping.
Remote Control Vehicle as described in claim 133, it is characterised in that: the holder damping includes the shock reducing structure for buffering the vibration that the holder is subject to, which is the hollow sphere made of elastic material.
Remote Control Vehicle as described in claim 133, it is characterised in that: the elevating mechanism includes the crane for being connected to the movable carrier, which is connected to the crane, which is able to drive the holder damping and moves up and down.
Remote Control Vehicle as described in claim 135, it is characterized by: the elevating mechanism further includes the carrier that is connected to crane and can move relative to the crane, the holder damping is connected to the carrier, which drives the holder damping to move up and down.
Remote Control Vehicle as described in claim 134, it is characterised in that: the holder damping includes upper plate and lower plate, and the upper plate and the lower plate relative spacing are arranged, and the both ends of the shock reducing structure are connected to the upper plate and the lower plate.
Remote Control Vehicle as described in claim 136, it is characterised in that: the elevating mechanism further includes the lifting drive for driving the carrier mobile relative to the crane.
Remote Control Vehicle as described in claim 138, it is characterised in that: the elevating mechanism further includes transmission mechanism, which drives the carrier mobile by the transmission mechanism.
Remote Control Vehicle as described in claim 139, it is characterized by: the transmission mechanism further includes conveyer belt and two belt wheels, one of belt wheel is connected to the drive shaft of the lifting drive, another belt wheel is connected to the crane, the conveyer belt is set on two belt wheels, which is fixedly connected with the conveyer belt.
Remote Control Vehicle as described in claim 139, it is characterised in that: the elevating mechanism further includes connector, and slidably relative to the crane, which is fixedly connected by the connector with the conveyer belt connector.
Remote Control Vehicle as described in claim 141, it is characterised in that: the connector includes sliding sleeve, clamping section and the interconnecting piece for connecting the sliding sleeve Yu the clamping section, which is set on the crane, and slidably along the crane；The clamping section clamps the conveyer belt, and moves together with the conveyer belt.
Remote Control Vehicle as described in claim 139, it is characterised in that: the transmission mechanism includes chain and two sprocket wheels；Two sprocket wheel relative spacing settings, the chain are sheathed on two sprocket wheels, which drives one of sprocket wheel rotation, and is rotated by another sprocket wheel of the chain-driving；The carrier is connect with the chain, and the chain is followed to move together；

Alternatively, the transmission mechanism includes chain and sprocket wheel；For the chain on the sprocket wheel, which drives the sprocket wheel to rotate；The carrier is connect with the chain, and the chain is followed to move together.
Remote Control Vehicle as described in claim 139, it is characterized by: the transmission mechanism includes lead screw, the lead screw includes screw rod and is set on the screw rod and the screw with wire rod thread cooperation, the carrier is connect with the screw, and the screw is followed to move together, the lifting drive is for driving the screw rod to rotate.
Remote Control Vehicle as described in claim 139, it is characterised in that: the transmission mechanism includes gear and the rack gear that is meshed with the gear, and for driving the gear to rotate, which connect the lifting drive with the rack gear, and moves together with the rack gear.
Remote Control Vehicle as described in claim 138, it is characterised in that: the lifting drive includes linear motor, which connect with the primary of the movement of the linear motor or the secondary of movement；

Alternatively, the lifting drive includes fluid pressure drive device, the drive shaft of the fluid pressure drive device is connect with the carrier, for driving the carrier mobile；

Alternatively, the lifting drive includes actuating device of atmospheric pressure, the drive shaft of the actuating device of atmospheric pressure is connect with the carrier, for driving the carrier mobile.
Remote Control Vehicle as described in claim 133, it is characterized by: the elevating mechanism includes rotation drive device and the support rod for being connected to the rotation drive device, the rotation drive device is used to that rotary shaft of the support rod around the rotation drive device perpendicular to the movable carrier to be driven to rotate, which hangs on the one end of the support rod far from the rotation drive device.
Remote Control Vehicle as described in claim 147, it is characterised in that: the support rod is telescopic rod, which holds height of the holder relative to the movable carrier by adjusting the length of the telescopic rod to adjust this.
Remote Control Vehicle as described in claim 147, it is characterised in that: the hand-held holder is connected to the one end of the support rod far from the rotation drive device by the holder damping.
Remote Control Vehicle as described in claim 133, it is characterized by: the elevating mechanism includes retractable driving device and the support rod for being connected to the retractable driving device, the middle part of the support rod can be rotated around a supporting point to form lever construction, the hand-held holder is connected to the one end of the support rod far from the retractable driving device, which adjusts the hand-held height of the holder relative to the movable carrier for driving the support rod to stick up far from one end of the retractable driving device.
Remote Control Vehicle as described in claim 150, it is characterised in that: the support rod is telescopic rod, which adjusts the hand-held height of the holder relative to the movable carrier by the length of the adjusting support rod.
Remote Control Vehicle as described in claim 150, it is characterised in that: the hand-held holder is connected to the one end of the support rod far from the retractable driving device by the holder damping.
Remote Control Vehicle as described in claim 133, it is characterised in that: the Remote Control Vehicle further includes the controller for controlling the hand-held holder and the movable carrier.
Remote Control Vehicle as described in claim 153, it is characterised in that: the controller can also control the elevating mechanism and the hand-held holder and the load is driven to synchronize and move up and down.
Remote Control Vehicle as described in claim 153, it is characterized by: the Remote Control Vehicle further includes the sensor for capturing mobile target, the controller obtains the sensor and flutters the location information for the movement target grasped and control the hand-held holder movement, keeps power follower movement target on the hand-held holder mobile.
Remote Control Vehicle as described in claim 153, it is characterized by: the Remote Control Vehicle further includes the sensor for capturing mobile target, the controller obtains the sensor and flutters the location information for the mobile target grasped to control the hand-held holder and elevating mechanism movement, keeps power follower movement target on the hand-held holder mobile.
Remote Control Vehicle as described in claim 153, it is characterized by: the Remote Control Vehicle further includes the sensor for capturing heat source thermo, the controller according to the sensor flutters the location information for the heat source thermo grasped to control hand-held holder movement, makes the load Automatic-searching heat source thermo on the hand-held holder.
Remote Control Vehicle as described in claim 153, it is characterized by: the Remote Control Vehicle further includes the sensor for capturing heat source thermo, the controller flutters the location information for the heat source thermo grasped according to the sensor, to control the hand-held holder and elevating mechanism movement, make the load Automatic-searching heat source thermo on the hand-held holder.
Remote Control Vehicle as described in claim 153, it is characterized by: the controller includes the carrier controller for controlling the movable carrier and the cradle head controllor for controlling the hand-held holder, the carrier controller is independently arranged with the cradle head controllor, and individually receives external control signal.
Remote Control Vehicle as described in claim 117, it is characterised in that: the load is image acquiring device, heat source detection device, life detecting device.