CN104679003B - A kind of all-around mobile head robot - Google Patents

A kind of all-around mobile head robot Download PDF

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Publication number
CN104679003B
CN104679003B CN201510054697.5A CN201510054697A CN104679003B CN 104679003 B CN104679003 B CN 104679003B CN 201510054697 A CN201510054697 A CN 201510054697A CN 104679003 B CN104679003 B CN 104679003B
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CN
China
Prior art keywords
disc type
type electric
electric machine
around mobile
drive shaft
Prior art date
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CN201510054697.5A
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Chinese (zh)
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CN104679003A (en
Inventor
丛德宏
谢帅林
徐成禄
叶向豪
高赛
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东北大学
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Priority to CN201510054697.5A priority Critical patent/CN104679003B/en
Publication of CN104679003A publication Critical patent/CN104679003A/en
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Publication of CN104679003B publication Critical patent/CN104679003B/en

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Abstract

A kind of all-around mobile head robot, it is made up of all-around mobile foot stool part and the adjustable cradle head part of Three Degree Of Freedom, omni-directional wheel and motor that the present invention passes through setting in all-around mobile foot stool part, realize the flexible movement of all-around mobile head robot, by the flexible locomotivity that all-around mobile foot stool part has, the track up in advancing is realized;Three disc type electric machines that the present invention passes through setting in the adjustable cradle head part of Three Degree Of Freedom, by to three remote controls of disc type electric machine, realize video camera comprehensive 360 ° shoot without dead angle, no matter seat in the plane or traveling seat in the plane are fixed by all-around mobile head robot, can meet the photographing request of harshness.By wireless data transmission technology, all-around mobile head robot of the invention can be by the Image Real-time Transmission of video camera shooting to the display of distal end, remotely monitor can be carried out for far-end operation personnel, and operating personnel is known the content of shot by camera the very first time.

Description

A kind of all-around mobile head robot

Technical field

The invention belongs to mobile head technical field, more particularly to a kind of all-around mobile head robot.

Background technology

With the fast development of modern photography technology, increasing shutterbugs wish to enjoy high-quality shooting body Test, and head is just essential, although the traditional heads technology of in the market has developed for many years, although the species of traditional heads is numerous It is many, and can also meet for general photographing request, but, the continuous improvement with people to photographing request, traditional heads are Through cannot increasingly meet the photographing request of harshness, but also generally existing problems with:

1. the slewing area of traditional heads is smaller, it is difficult to realize without dead angle track up;

2. the image data that video camera shoots by traditional heads, need to also carry out data transmission by transmission line, it is difficult to real Now synchronous, quick transmission;

3. shadow machine uses immobilization mounting means by traditional heads and is shot mostly, and using artificial mobile The mode of head is shot, it is difficult to effectively realize the track up to photographic subjects.

In order to make up many deficiencies of traditional heads, technical staff develops some all-directional tripod heads accordingly, to understand Certainly shooting blind angle amount problem, some all-directional tripod heads drive head by installing motor by motor, make head in level and hang down Rotary freedom is provided with straight both direction, and head video camera is provided with the energy for searching either objective in coverage Power.

But, due to above-mentioned all-directional tripod head use still for immobilization mounting means is shot, cause head to be taken the photograph The shooting visual field of shadow machine still has limitation, is still difficult to effectively realize to photographic subjects thing without dead angle track up.

The content of the invention

For the problem that prior art is present, the present invention provides a kind of all-around mobile head robot, with comprehensive Locomotivity, can realize it is comprehensive shot without dead angle, and can realize remote monitoring and track up for photographic subjects.

To achieve these goals, the present invention is adopted the following technical scheme that:A kind of all-around mobile head robot, including All-around mobile foot stool part and the adjustable cradle head part of Three Degree Of Freedom, the all-around mobile foot stool part include pallet, chassis, Transverse arm, electric telescopic stand, omni-directional wheel and motor, the pallet are hinged with electric telescopic stand one end, electric expansion The supporting leg other end is hinged with transverse arm one end, and the transverse arm other end is connected by hinge with chassis;The motor level peace On transverse arm, the omni-directional wheel is arranged on transverse arm by wheel shaft, and wheel shaft and the motor of omni-directional wheel motor shaft it Between by shaft coupling be connected;

The adjustable cradle head part of Three Degree Of Freedom include handle, main mounting bracket, the first disc type electric machine, the second disc type electric machine, 3rd disc type electric machine, side-sway drive shaft and pitching drive shaft, the first disc type electric machine level are packed in main mounting bracket, handle One end is connected by the first disc type electric machine with main mounting bracket, cradle head part that Three Degree Of Freedom is adjustable by the handle other end with it is comprehensive The pallet of Mobile foot stool part is connected;The side-sway drive shaft is located on the main mounting bracket above the first disc type electric machine and level sets Put, side-sway drive shaft one end is connected by bearing with main mounting bracket, the side-sway drive shaft other end passes through the second disc type electric machine and master Mounting bracket is connected;The pitching drive shaft is horizontally disposed with, and side-sway drive shaft is vertical with pitching drive shaft middle part by its end It is affixed, pitching pedestal is separately installed with pitching drive shaft two ends, the 3rd disc type electric machine is connected to the pitching pedestal of side On, it is connected between the 3rd disc type electric machine and the pitching pedestal of opposite side in camera fixing frame, camera fixing frame and is installed There is video camera.

Spacing catch at two is provided with the side-sway drive shaft, is set on the main mounting bracket immediately below side-sway drive shaft Spacing deck is equipped with, limiting card seat is located at two between spacing catch;Angle at described two between spacing catch is 90 °.

It is connected by multi-diameter shaft between the camera fixing frame and pitching pedestal, is set on camera fixing frame Limited location boss, is provided with arc-shaped limit groove on pitching pedestal, and positive stop lug boss is located in arc-shaped limit groove;The arc-shaped limit The arc angle of groove is 180 °.

Disc type electric machine power supply, first disc type electric machine, the second disc type electric machine are provided with the main mounting bracket And the 3rd disc type electric machine powered by disc type electric machine power supply;Motor power supply is provided with the chassis, Motor is powered by motor power supply.

Connected mode between the handle and pallet is provided with fastening sleeve pipe using push-in in the middle part of pallet, fastens Sleeve pipe inner tubal wall is circular conical surface, and expansion set is provided with fastening sleeve pipe, and expansion set male cone (strobilus masculinus) is in contact with fastening sleeve pipe inner tubal wall, in institute State fastening sleeve pipe outer tube wall and be provided with external screw thread, fastening sleeve pipe is connected with nut by external screw thread, on nut lower surface and expansion set End face fits.

Encoder is fitted with the wheel shaft of the omni-directional wheel, in the adjustable cradle head part of the Three Degree Of Freedom and comprehensive shifting Dynamic foot stool part is fitted with gyroscope.

Described all-around mobile head robot is fitted with remote-control handle, wireless control signal emitter, controlled in wireless Signal receiver, wireless image signal transmitter, wireless image signal receiver, host computer and slave computer, the remote-control handle Signal output part be connected with the signal input part of wireless control signal emitter, the signal output of wireless control signal emitter End and the signal input part wireless connection of wireless control signal receiver, the signal output part of wireless control signal receiver pass through The control end of slave computer and electric telescopic stand, motor, the first disc type electric machine, the second disc type electric machine and the 3rd disc type electric machine It is connected;The signal output part of the video camera is connected with the signal input part of wireless image signal transmitter, wireless image signal The signal output part of emitter and the signal input part wireless connection of wireless image signal receiver, wireless image signal receiver Signal output part be connected with display, and the signal output part of wireless image signal receiver is connected with host computer, host computer With slave computer wireless connection, host computer is by slave computer and electric telescopic stand, motor, the first disc type electric machine, the second disk The control end of formula motor and the 3rd disc type electric machine is connected.

Beneficial effects of the present invention:

The present invention compared with prior art, all-around mobile head robot is realized by all-around mobile foot stool part Flexible movement, by all-around mobile foot stool part can realize advance in track up;By the adjustable cloud of Three Degree Of Freedom Platform part realizes comprehensive 360 ° of video camera without dead angle shooting, during either fixed bit is still advanced, can meet harshness Photographing request.By wireless data transmission technology, all-around mobile head robot of the invention can shoot video camera Image Real-time Transmission in the display of distal end, remotely monitor can be carried out for far-end operation personnel, and make operating personnel One time knew the content of shot by camera.

Brief description of the drawings

Fig. 1 is a kind of all-around mobile head robot (deployed condition) structural representation of the invention;

Fig. 2 is a kind of all-around mobile head robot (folded state) structural representation of the invention;

Fig. 3 is that the present invention is in structural representation when stretching out state in electric telescopic stand;

Fig. 4 is all-around mobile foot stool part-structure schematic diagram of the invention;

Fig. 5 is the adjustable cradle head part schematic perspective view of Three Degree Of Freedom of the invention;

Fig. 6 is the adjustable cradle head part of Three Degree Of Freedom of the invention (locally carrying out section view) side block diagram;

Fig. 7 is the adjustable cradle head part of Three Degree Of Freedom of the invention (locally carrying out section view) overlooking structure figure;

Fig. 8 is the mating connection schematic diagram between handle of the invention and pallet;

Fig. 9 is omni-directional wheel of the invention, the mating connection schematic diagram between transverse arm and motor;

In figure, 1-pallet, 2-chassis, 3-transverse arm, 4-electric telescopic stand, 5-omni-directional wheel, 6-motor, 7-hinge, 8-motor power supply, 9-handle, 10-main mounting bracket, the 11-the first disc type electric machine, the 12-the second disk Formula motor, the 13-the three disc type electric machine, 14-side-sway drive shaft, 15-pitching drive shaft, 16-shaft coupling, 17-pitch axis Frame, 18-camera fixing frame, 19-video camera, 20-spacing catch, 21-spacing deck, 22-multi-diameter shaft, 23-disc type Motor power supply, 24-fastening sleeve pipe, 25-expansion set, 26-nut, 27-bearing, 28-positive stop lug boss, 29-arc limit Position groove.

Specific embodiment

The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings.

As shown in Fig. 1~9, a kind of all-around mobile head robot, including all-around mobile foot stool part and three is freely Adjustable cradle head part is spent, the all-around mobile foot stool part includes pallet 1, chassis 2, transverse arm 3, electric telescopic stand 4, omnidirectional Wheel 5 and motor 6, the pallet 1 is hinged with the one end of electric telescopic stand 4, the other end of electric telescopic stand 4 and transverse arm 3 One end is hinged, and the other end of transverse arm 3 is connected by hinge 7 with chassis 2;The motor 6 is horizontally arranged on transverse arm 3, The omni-directional wheel 5 is arranged on transverse arm 3 by wheel shaft, and by connection between the wheel shaft of omni-directional wheel 5 and the motor shaft of motor 6 Axle device 16 is connected;

The adjustable cradle head part of Three Degree Of Freedom includes handle 9, main mounting bracket 10, the first disc type electric machine 11, the second disc type Motor 12, the 3rd disc type electric machine 13, side-sway drive shaft 14 and pitching drive shaft 15, the level of the first disc type electric machine 11 are packed in In main mounting bracket 10, the one end of handle 9 is connected by the first disc type electric machine 11 with main mounting bracket 10, cradle head part that Three Degree Of Freedom is adjustable It is connected with the pallet 1 of all-around mobile foot stool part by the other end of handle 9;The side-sway drive shaft 14 is located at the first disc type electricity On the main mounting bracket 10 of the top of machine 11 and horizontally disposed, the one end of side-sway drive shaft 14 is connected by bearing 27 with main mounting bracket 10, The other end of side-sway drive shaft 14 is connected by the second disc type electric machine 12 with main mounting bracket 10;The level of pitching drive shaft 15 sets Put, and side-sway drive shaft 14 is vertical affixed with the middle part of pitching drive shaft 15 by its end, the difference at the two ends of pitching drive shaft 15 Pitching pedestal 17 is installed, the 3rd disc type electric machine 13 is connected on the pitching pedestal 17 of side, in the 3rd disc type electric machine 13 It is connected with and the pitching pedestal 17 of opposite side between in camera fixing frame 18, camera fixing frame 18 and video camera 19 is installed.

Spacing catch 20 at two is provided with the side-sway drive shaft 14, the main installation immediately below side-sway drive shaft 14 Spacing deck 21 is provided with frame 10, spacing deck 21 is located at two between spacing catch 20;At described two spacing catch 20 it Between angle be 90 °.

It is connected by multi-diameter shaft 22 between the camera fixing frame 18 and pitching pedestal 17, in camera fixing frame Positive stop lug boss 28 is provided with 18, arc-shaped limit groove 29 is provided with pitching pedestal 17, positive stop lug boss is located at arc-shaped limit groove In 29;The arc angle of the arc-shaped limit groove 29 is 180 °.

Disc type electric machine power supply 23, first disc type electric machine 11, the second disk are provided with the main mounting bracket 10 The disc type electric machine 13 of formula motor 12 and the 3rd is powered by disc type electric machine power supply 23;Driving is provided with the chassis 2 Motor power supply 8, motor 6 is powered by motor power supply 8.

Connected mode between the handle 9 and pallet 1 is provided with fastening sleeve pipe 24 using push-in at the middle part of pallet 1, Fastening sleeve pipe 24 inner tubal wall is circular conical surface, expansion set 25 is provided with fastening sleeve pipe 24, in the male cone (strobilus masculinus) of expansion set 25 and fastening sleeve pipe 24 Tube wall is in contact, and the fastening outer tube wall of sleeve pipe 24 is provided with external screw thread, and fastening sleeve pipe 24 is connected with nut by external screw thread 26, the lower surface of nut 26 fits with the upper surface of expansion set 25.

In order to the pose for meeting all-around mobile head robot is adjusted, coding is fitted with the wheel shaft of the omni-directional wheel Device, gyroscope is fitted with the adjustable cradle head part of the Three Degree Of Freedom and all-around mobile foot stool part.

In order to meet the Remote and remotely monitor of all-around mobile head robot, described all-around mobile head Robot is fitted with remote-control handle, wireless control signal emitter, wireless control signal receiver, the transmitting of wireless image signal Machine, wireless image signal receiver, host computer and slave computer, signal output part and the wireless control signal of the remote-control handle are sent out The signal input part for penetrating machine is connected, the signal output part of wireless control signal emitter and the signal of wireless control signal receiver Input wireless connection, the signal output part of wireless control signal receiver is by slave computer and electric telescopic stand 4, driving electricity The control end of machine 6, the first disc type electric machine 11, the second disc type electric machine 12 and the 3rd disc type electric machine 13 is connected;The letter of the video camera Number output end is connected with the signal input part of wireless image signal transmitter, the signal output part of wireless image signal transmitter with The signal input part wireless connection of wireless image signal receiver, the signal output part of wireless image signal receiver is connected with aobvious Show device, and the signal output part of wireless image signal receiver is connected with host computer, host computer and slave computer wireless connection are upper Machine is by slave computer and electric telescopic stand 4, motor 6, the first disc type electric machine 11, the second disc type electric machine 12 and the 3rd disc type The control end of motor 13 is connected.

First use process of the invention is illustrated below in conjunction with the accompanying drawings:

Start all-around mobile head robot of the invention, when needing all-around mobile head robot to advance, can Rotated using remote-control handle control motor 6, and then control omni-directional wheel 5 to rotate, any direction can be easily realized as needed Traveling;Can also be by the photographic subjects thing of video camera 19, in the image transmitting that video camera 19 will shoot again to host computer, upper The image of reception is carried out into visual servo algorithm process, and final output automatic control signal to slave computer in the machine of position, and then is controlled Motor processed 6 is rotated, and controls omni-directional wheel 5 to rotate, and realizes track up.When all-around mobile head robot is being traveled across In journey or when moving to certain position, video camera 19 is accomplished by by the adjustable cloud of Three Degree Of Freedom to have more preferable shooting effect Platform part could realize, specifically can realize that the 360 ° of full angles in the horizontal direction of video camera 19 are clapped by the first disc type electric machine 11 Take the photograph, 180 ° of the in the vertical direction of video camera 19 shootings are realized by the 3rd disc type electric machine 13, when the first disc type electric machine 11 and the Three disc type electric machines 13 are common drive under, just can realize that comprehensive 360 ° shoot without dead angle, when needing to carry out special angle to object When degree shoots, the lateral rotation that video camera 19 carries out in the range of 90 ° can also be adjusted by the second disc type electric machine 12, realize shooting Purpose.When needing to be adjusted the shooting height of video camera 19, only electric telescopic stand 4 need to be controlled to stretch by remote-control handle Go out, you can meet Height Adjustment requirement.The content of shooting can be wirelessly real-time transmitted to the aobvious of distal end by video camera 19 Show on device, so that far-end operation personnel carry out remotely monitor, operating personnel is known the very first time interior captured by video camera 19 Hold.

Scheme in embodiment and being not used to limits scope of patent protection of the invention, it is all without departing from carried out by the present invention etc. Effect is implemented or is changed, and is both contained in the scope of the claims of this case.

Claims (6)

1. a kind of all-around mobile head robot, it is characterised in that:Can including all-around mobile foot stool part and Three Degree Of Freedom Cradle head part is adjusted, the all-around mobile foot stool part includes pallet, chassis, transverse arm, electric telescopic stand, omni-directional wheel and driving Motor, the pallet is hinged with electric telescopic stand one end, and the electric telescopic stand other end is hinged with transverse arm one end, transverse arm The other end is connected by hinge with chassis;The motor is horizontally arranged on transverse arm, and the omni-directional wheel is pacified by wheel shaft It is connected by shaft coupling on transverse arm, and between the wheel shaft of omni-directional wheel and the motor shaft of motor;
The adjustable cradle head part of Three Degree Of Freedom includes handle, main mounting bracket, the first disc type electric machine, the second disc type electric machine, the 3rd Disc type electric machine, side-sway drive shaft and pitching drive shaft, the first disc type electric machine level are packed in main mounting bracket, handle one end It is connected with main mounting bracket by the first disc type electric machine, cradle head part that Three Degree Of Freedom is adjustable passes through the handle other end and all-around mobile The pallet of foot stool part is connected;The side-sway drive shaft is located on the main mounting bracket above the first disc type electric machine and is horizontally disposed with, Side-sway drive shaft one end is connected by bearing with main mounting bracket, and the side-sway drive shaft other end passes through the second disc type electric machine and main installation Frame is connected;The pitching drive shaft is horizontally disposed with, and side-sway drive shaft is vertical affixed with pitching drive shaft middle part by its end, Pitching pedestal is separately installed with pitching drive shaft two ends, the 3rd disc type electric machine is connected on the pitching pedestal of side, Camera fixing frame is connected between 3rd disc type electric machine and the pitching pedestal of opposite side, shooting is installed in camera fixing frame Machine;
Connected mode between the handle and pallet is provided with fastening sleeve pipe using push-in in the middle part of pallet, fastens sleeve pipe Inner tubal wall is circular conical surface, and expansion set is provided with fastening sleeve pipe, and expansion set male cone (strobilus masculinus) is in contact with fastening sleeve pipe inner tubal wall, described tight Gu sleeve pipe outer tube wall is provided with external screw thread, fastening sleeve pipe is connected with nut, nut lower surface and expansion set upper surface by external screw thread Fit.
2. a kind of all-around mobile head robot according to claim 1, it is characterised in that:In the side-sway drive shaft On be provided with spacing catch at two, spacing deck, limiting card seat are provided with the main mounting bracket immediately below side-sway drive shaft Between spacing catch at two;Angle at described two between spacing catch is 90 °.
3. a kind of all-around mobile head robot according to claim 1, it is characterised in that:Fixed in the video camera It is connected by multi-diameter shaft between frame and pitching pedestal, positive stop lug boss is provided with camera fixing frame, on pitching pedestal Arc-shaped limit groove is provided with, positive stop lug boss is located in arc-shaped limit groove;The arc angle of the arc-shaped limit groove is 180 °.
4. a kind of all-around mobile head robot according to claim 1, it is characterised in that:On the main mounting bracket Disc type electric machine power supply is provided with, first disc type electric machine, the second disc type electric machine and the 3rd disc type electric machine pass through disc type Motor power supply is powered;Motor power supply is provided with the chassis, motor is powered by motor Power supply is powered.
5. a kind of all-around mobile head robot according to claim 1, it is characterised in that:In the wheel of the omni-directional wheel Encoder is fitted with axle, gyro is fitted with the adjustable cradle head part of the Three Degree Of Freedom and all-around mobile foot stool part Instrument.
6. a kind of all-around mobile head robot according to claim 1, it is characterised in that:Described all-around mobile Head robot is fitted with remote-control handle, wireless control signal emitter, wireless control signal receiver, wireless image signal hair Penetrate machine, wireless image signal receiver, host computer and slave computer, the signal output part and wireless control signal of the remote-control handle The signal input part of emitter is connected, the signal output part of wireless control signal emitter and the letter of wireless control signal receiver Number input wireless connection, the signal output part of wireless control signal receiver by slave computer and electric telescopic stand, drive The control end of motor, the first disc type electric machine, the second disc type electric machine and the 3rd disc type electric machine is connected;The signal output of the video camera End is connected with the signal input part of wireless image signal transmitter, the signal output part of wireless image signal transmitter and without line chart As the signal input part wireless connection of signal receiver, the signal output part of wireless image signal receiver is connected with display, And the signal output part of wireless image signal receiver is connected with host computer, host computer and slave computer wireless connection, host computer lead to Cross the control of slave computer and electric telescopic stand, motor, the first disc type electric machine, the second disc type electric machine and the 3rd disc type electric machine End is connected.
CN201510054697.5A 2015-02-02 2015-02-02 A kind of all-around mobile head robot CN104679003B (en)

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CN104679003B true CN104679003B (en) 2017-06-13

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CN105276348B (en) * 2015-10-19 2019-01-04 中山大学 Parallel connection increases steady Omni-mobile platform
ITUA20162681A1 (en) * 2016-04-18 2016-07-18 Marco Ferrante Robot for miking distance.
CN106291909B (en) * 2016-10-20 2019-02-19 国网安徽省电力公司安庆供电公司 A kind of portable power utility check industrial endoscope electric operating bar
CN109186770A (en) * 2018-09-04 2019-01-11 中国科学院光电研究院 A kind of multi-functional hemisphere sky polarized imaging system
CN109231065A (en) * 2018-09-28 2019-01-18 北京卫星制造厂有限公司 A kind of six degree of freedom posture adjusting system based on Omni-mobile module

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EP0176765B1 (en) * 1984-09-19 1989-07-26 Sachtler Aktiengesellschaft - Kommunikationstechnik Pedestal for a video or film camera
US7077369B2 (en) * 2003-07-23 2006-07-18 Hardin Optical Co. Stable tripod for telescope
EP1921369B1 (en) * 2006-11-13 2013-05-22 Cartoni S.p.A. Tripod
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