CN106078670A - A kind of auto heterodyne robot and self-timer method - Google Patents
A kind of auto heterodyne robot and self-timer method Download PDFInfo
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- CN106078670A CN106078670A CN201610538243.XA CN201610538243A CN106078670A CN 106078670 A CN106078670 A CN 106078670A CN 201610538243 A CN201610538243 A CN 201610538243A CN 106078670 A CN106078670 A CN 106078670A
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- auto heterodyne
- robot
- mobile phone
- smart mobile
- robot body
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
Abstract
A kind of auto heterodyne robot and self-timer method, it relates to robotics.It comprises auto heterodyne robot body, angle regulator, main control board, running gear, camera terminal, remote controller, support；Auto heterodyne robot body is internally provided with main control board, and the upper end of auto heterodyne robot body is provided with angle regulator, and angle regulator is provided with support, and the lower end of auto heterodyne robot body is provided with running gear；Camera terminal and support clamping, and camera terminal is connected with auto heterodyne robot body, remote controller passes through wireless signal and is connected with main control board, and angle regulator, running gear, camera terminal are all connected with main control board.It can liberate the both hands of user, it is achieved remote auto control, the remote auto regulation to camera terminal, thus realizes the function remotely autodyned.
Description
Technical field:
The present invention relates to robotics, be specifically related to a kind of auto heterodyne robot that can be automatically adjusted shooting distance.
Background technology:
Autodyne, nowadays had become as we daily in a requisite key element, more can deserve to be called by individual interconnect
One important milestone of networking.In the epoch of auto heterodyne, various intelligent movable equipment simple to operate can be passed through, record, edit
With the image of issue oneself, in other words, user obtains the manipulation power of self-image in cyberspace.Along with social networks
Development and the appearance of various auto heterodyne emperorship, autodyne while being evolving, also on the road of human social development, stay
The status of oneself and footprint.
Originally, it is all to hold smart mobile phone to clap to oneself that people autodyne, but owing to arm length is limited, also can only take certainly
Oneself head portrait or the upper part of the body shine.And the equipment such as the most so-called auto heterodyne emperorship, U.S. face camera, also simply figure image is carried out
Landscaping treatment, the distance limitation of auto heterodyne does not the most change, more cannot liberate the both hands of user, it is achieved autodyne freely.
Along with the development of science and technology, mobile phone periphery accessory industry is more intelligent, smart mobile phone a series of mobile phones week derived
Limit accessory is also filled with fresh blood for industry.
Based on this, in industry, derive a kind of self-shooting bar.Self-shooting bar has certain motility, can stretch, and can autodyne
Some scenes, if these scenes do not use self-shooting bar just cannot autodyne.But self-shooting bar is the most defective: can not be oversize, even if
Length can not take the photo of the most remote distance again.Also have some users use a kind of can by spider be fixed on the ground from
Dabber, thus need not be hand-held, and people can walk far, thus can take longer-distance photo.But fixing self-shooting bar
There is also following defect: if fixing preparation of user is autodyned, find that the position of self-shooting bar is the most right, or apart from improper, or
The angle that mobile phone is placed on self-shooting bar is the most right, and user will run over manual adjustment.So, user needs frequently to go to admittedly
It is adjusted before fixed self-shooting bar, the most inconvenient.
Have also appeared some robots for auto heterodyne at present on the market, but these auto heterodyne robots generally exist with autodyning
The defect that bar is the same, that is, can not be automatically adjusted, needs user to manually adjust distance.
Summary of the invention:
It is an object of the invention to provide a kind of auto heterodyne robot and self-timer method, it can liberate the both hands of user, it is achieved to shooting
The remote auto of terminal controls, remote auto regulation, thus realizes the function remotely autodyned.
In order to solve the problem existing for background technology, the present invention is by the following technical solutions: it comprises auto heterodyne machine
Human agent, angle regulator, main control board, running gear, camera terminal, remote controller, support；Auto heterodyne robot body's
It is internally provided with main control board, and the upper end of auto heterodyne robot body is provided with angle regulator, on angle regulator
Being provided with support, the lower end of auto heterodyne robot body is provided with running gear；Camera terminal and support clamping, and camera terminal with
Auto heterodyne robot body connects, and remote controller is connected with main control board by wireless signal, angle regulator, running gear,
Camera terminal is all connected with main control board.
As a further improvement on the present invention, described main control board comprise master cpu module, auto heterodyne control module,
Power module, motor drive module, angle regulator drive module, and auto heterodyne control module is connected with each other with master cpu module；
Power module is connected with master cpu module；Master cpu module drives module with motor drive module, angle regulator respectively
Connecting, and angle regulator drives module to be connected with angle regulator, motor drive module is connected with running gear；Remote control
Device is connected with master cpu module by wireless signal.
As a further improvement on the present invention, described angle regulator uses the one in steering wheel or The Cloud Terrace.
As a further improvement on the present invention, described running gear uses the one in wheel, crawler belt or mechanical arm.
As a further improvement on the present invention, described camera terminal connects by docking cable with auto heterodyne robot body
Connect, the earpiece holes of camera terminal is connected by docking cable with the jack on auto heterodyne robot body, control of now autodyning
Molding block is audio interface modular converter.
As a further improvement on the present invention, described camera terminal and auto heterodyne robot body are wireless by bluetooth module
Docking, now auto heterodyne control module is bluetooth modular converter.
As a further improvement on the present invention, described camera terminal uses smart mobile phone.
As a further improvement on the present invention, described remote controller uses 2.4G remote controller.
As a further improvement on the present invention, described auto heterodyne robot also comprises smart mobile phone two, smart mobile phone two-way
Cross WIFI signal to be connected with the smart mobile phone pairing on support.
The principle of the present invention is: have running gear below auto heterodyne robot body, and master cpu module controls motor and drives mould
Block, thus drive running gear so that auto heterodyne robot body's entirety can advance, retreats, move left and right.Camera terminal is exactly
Smart mobile phone, this smart mobile phone is clamped on the support of auto heterodyne robot body, and this support is connected on angle regulator, main
Control CPU module controls angle regulator and drives module, thus drives angle regulator to move, so support can rotate,
Upset.
Remote controller with Remote master cpu module, and then can control auto heterodyne robot body, by controlling auto heterodyne machine
The movement of human agent, it is achieved the regulation of the coverage of smart mobile phone；By controlling angle regulator and the upset of support, real
The regulation of existing smart mobile phone shooting angle, thus realize common self-shooting bar and auto heterodyne effect that fixing self-shooting bar is not accomplished.Remote control
Device uses 2.4G telecontrol engineering, it is not necessary to Bluetooth pairing, eliminates the process of Bluetooth pairing, saves the time, easy to use.
It addition, if the user autodyned is when shooting distance photo farther out, its vision does not sees Chu's auto heterodyne machine in one's power
How the image that the upper smart mobile phone of human agent is shown, do not see its effect, and now, user can another intelligence hands hand-held
Machine, starts " auto heterodyne robot APP " by its smart mobile phone upper with auto heterodyne robot body simultaneously, passes through between two smart mobile phones
WIFI signal connects, and so, user, when shooting distance photo farther out, can check shooting by the smart mobile phone one in hands
Effect, thus as required auto heterodyne robot body is adjusted, until it reaches satisfied shooting effect.
The invention still further relates to a kind of self-timer method, its concrete operation step is:
(a), first, user is placed on the smart mobile phone one of oneself on the support of auto heterodyne robot body, and blocks good stable,
Do not fall out；
B (), then, is attached smart mobile phone one and auto heterodyne robot body；
C (), then, opens the power supply of auto heterodyne robot body, smart mobile phone one is adjusted to camera function simultaneously, now, and use
Family may exit off auto heterodyne robot body；
D (), then, subscriber station is on front side of auto heterodyne robot body, with naked eyes it can be seen that auto heterodyne robot body upper intelligence hands
The picture effect that machine one is autodyned, now, starts the remote controller in hands, and this remote controller realizes and the docking of auto heterodyne robot body,
Without pairing, the most tested the when of dispatching from the factory, as long as opening the power supply of remote controller；
E () if the user find that the distance of auto heterodyne robot body is improper, then passes through the remote controller in hands, before pressing it,
Afterwards, left and right button, control auto heterodyne robot body move, rotate, reach optimal distance；
If f angle that () user's body finds the smart mobile phone one on auto heterodyne robot body is the most right, then realized by remote controller
The angular adjustment of angle regulator above auto heterodyne robot body, it is achieved the rotation of whole smart mobile phone one, reaches optimal
Shooting angle；
G (), now, if user adjusts the distance, angle is the most satisfied, can press the shoot button of remote controller, it is achieved take pictures；
(h), use during, if people is a lot, or user wishes that auto heterodyne robot photographed more landscape, it is necessary to allow auto heterodyne
The distance of robot body is farther, and now, naked eyes do not see the picture on smart mobile phone one, start the smart mobile phone in user's hands
Two, this smart mobile phone two, auto heterodyne robot body smart mobile phone one on simultaneously start " auto heterodyne robot APP "；
WIFI is used to be attached between (i), two smart mobile phones: the smart mobile phone one of auto heterodyne robot body is set to WIFI
Focus, allows the smart mobile phone two in user's hands connect the WIFI hot spot of smart mobile phone one, the most just can start to start image and
Transmission of video, remotely it can be seen that, it is also possible to realize controlling；
(j), by " auto heterodyne robot APP ", user can see the image captured by smart mobile phone one from smart mobile phone two,
If dissatisfied, auto heterodyne robot master can be adjusted in real time by " the auto heterodyne robot APP " on remote controller or smart mobile phone two
Distance, regulation auto heterodyne robot body's upper angle adjusting means and the angle of support between body and user；
(k), by " auto heterodyne robot APP " function upgrading, add the machine vision functions such as recognition of face, can realize automatically capturing
With the function such as face snap: user up jumps, during jumping, press the button of taking pictures of remote controller at any time, or
" auto heterodyne robot APP " is allowed automatically to be captured by recognition of face, it is achieved the function that self-shooting bar cannot realize in the past.
The method have the advantages that
1, by the advance of remote controller the most remote controlled auto heterodyne robot body, retreat, move left and right, it is not necessary to user manually adjusts
Beat photographic range；
2, the luffing angle of angle regulator and camera terminal can remotely be controlled by remote controller, it is not necessary to user manually regulates
Shooting angle；
3, remote controller uses 2.4G telecontrol engineering, it is not necessary to Bluetooth pairing, eliminates the process of Bluetooth pairing, saves the time, uses
Convenient；
4, the smart mobile phone on auto heterodyne robot body and the smart mobile phone in user's hands are docked by WIFI, and start simultaneously
" auto heterodyne robot APP " can realize situation and the effect of real time inspection remote photographic.
Accompanying drawing illustrates:
Fig. 1 is the structural representation of the specific embodiment of the invention one；
Fig. 2 is the schematic diagram of governor circuit in the specific embodiment of the invention one；
Fig. 3 is the structural representation of the specific embodiment of the invention two；
Reference:
1 auto heterodyne robot car；2 steering wheels；3 main control boards；4 wheels；5 smart mobile phones one；6 2.4G remote controls
Device；7 docking cables；8 handset mountings；9 master cpu modules；10 audio interface modular converters；11 power modules；
12 motor drive modules；13 servo driving modules；14 smart mobile phones two.
Detailed description of the invention:
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with the drawings and the specific embodiments,
The present invention is further elaborated.Should be appreciated that detailed description of the invention described herein only in order to explain the present invention,
It is not intended to limit the present invention.
Detailed description of the invention one: referring to Fig. 1-Fig. 2, this detailed description of the invention by the following technical solutions: it comprises auto heterodyne
Robot car 1, steering wheel 2, main control board 3, wheel 4, smart mobile phone 1,2.4G remote controller 6, docking cable 7, mobile phone prop up
Frame 8；Wherein, main control board 3 comprises master cpu module 9, audio interface modular converter 10, power module 11, motor driving mould
Block 12, servo driving module 13, audio interface modular converter 10 is connected with each other with master cpu module 9, and audio interface modulus of conversion
Block 10 connects the jack on auto heterodyne robot car 1；Power module 11 is connected with master cpu module 9；Master cpu module 9 is respectively
Being connected with motor drive module 12, servo driving module 13,2.4G remote controller 6 is by wireless signal with master cpu module 9 even
Connect.Wheel 4 can be common wheel, it is also possible to be Mecanum wheel.
Main control board 3 is arranged on the inside of auto heterodyne robot car 1, and the upper end of auto heterodyne robot car 1 is provided with
Steering wheel 2, steering wheel 2 is connected with servo driving module 13, and is provided with handset mounting 8 on steering wheel 2, and smart mobile phone 1 is connected to hands
On machine support 8, the earphone jack of smart mobile phone 1 is connected with the jack on auto heterodyne robot car 1 by docking cable 7, and
This jack is connected with audio interface modular converter 10；The lower end of auto heterodyne robot car 1 is provided with four wheels 4, four wheels 4
Wheel shaft be all connected with motor drive module 12.
The use flow process of this detailed description of the invention is:
A, first, user is placed on the smart mobile phone 1 of oneself on the handset mounting 8 of auto heterodyne robot car 1, and blocks good steady
Fixed, do not fall out；
B, then, earpiece holes and the jack of auto heterodyne robot car 1 of this smart mobile phone 1, is carried out by docking cable 7
Connect, it is achieved smart mobile phone 1 and the connection of auto heterodyne robot car 1；
C, then, opens the power supply of auto heterodyne robot car 1, smart mobile phone 1 is adjusted to camera function simultaneously, now, and use
Family may exit off auto heterodyne robot car 1；
D, then, subscriber station is on front side of auto heterodyne robot car 1, with naked eyes it can be seen that intelligence hands on auto heterodyne robot car 1
The picture effect that machine 1 is autodyned, now, starts the 2.4G remote controller 6 in hands, and this 2.4G remote controller 6 realizes and autodyne robot
The docking of dolly 1, it is not necessary to pairing, the most tested the when of dispatching from the factory, as long as opening the power supply of 2.4G remote controller 6；
E if the user find that the distance of auto heterodyne robot car 1 is improper, then by the 2.4G remote controller 6 in hands, presses it
Front, rear, left and right button, controls auto heterodyne robot car 1 and moves, reach optimal distance；
If the angle that f user's body finds the smart mobile phone 1 on auto heterodyne robot car 1 is the most right, then by 2.4G remote controller
6 realize the angular adjustment of steering wheel 2 above auto heterodyne robot car 1, it is achieved the rotation of whole smart mobile phone 1, reach optimal
Shooting angle；
G, now, if user adjusts the distance, angle is the most satisfied, can press the shoot button of 2.4G remote controller 6, it is achieved take pictures.
As can be seen here, this detailed description of the invention is convenient to use, is truly realized the auto heterodyne of liberation user's both hands.
Detailed description of the invention two: referring to Fig. 3, this detailed description of the invention is with the difference of detailed description of the invention one:
It also comprises smart mobile phone 2 14, and smart mobile phone 2 14 is connected with smart mobile phone 1 pairing by WIFI signal.Other composition and
Annexation is all identical with detailed description of the invention one.
The use flow process of this detailed description of the invention is:
, during use, if people is a lot, or user wishes that auto heterodyne robot photographed more landscape, it is necessary to allow self-timer
The distance of device people's dolly 1 is farther, and now, naked eyes do not see the picture on smart mobile phone 1, start the smart mobile phone in user's hands
2 14, this smart mobile phone 2 14, auto heterodyne robot car 1 smart mobile phone 1 on simultaneously start " auto heterodyne robot APP "；
, be to use WIFI to be attached between two smart mobile phones: the smart mobile phone 1 of auto heterodyne robot car 1 is set to
WIFI hot spot, allows the smart mobile phone 2 14 in user's hands connect the WIFI hot spot of smart mobile phone 1, the most just can start startup
Image and transmission of video, remotely it can be seen that, it is also possible to realize controlling；
, by " auto heterodyne robot APP ", user can see the figure captured by smart mobile phone 1 from smart mobile phone 2 14
Picture, if dissatisfied, can be adjusted certainly by " the auto heterodyne robot APP " on 2.4G remote controller 6 or smart mobile phone 2 14 in real time
Clap steering wheel 2 and the angle of handset mounting 8 on the distance between robot car 1 and user, regulation auto heterodyne robot car 1；
, by " auto heterodyne robot APP " function upgrading, add the machine vision functions such as recognition of face, can realize automatically capturing
With the function such as face snap: user up jumps, during jumping, press the button of taking pictures of remote controller at any time, or
" auto heterodyne robot APP " is allowed automatically to be captured by recognition of face, it is achieved the function that self-shooting bar cannot realize in the past.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of the spirit or essential attributes of the present invention, it is possible to realize the present invention in other specific forms.Therefore, no matter
From the point of view of which point, all should regard embodiment as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit requires rather than described above limits, it is intended that all by fall in the implication of equivalency and scope of claim
Change is included in the present invention.Should not be considered as limiting involved claim by any reference in claim.
Although moreover, it will be appreciated that this specification is been described by according to embodiment, but the most each embodiment only wraps
Containing an independent technical scheme, this narrating mode of description is only that for clarity sake those skilled in the art should
Description can also be formed those skilled in the art through appropriately combined as an entirety, the technical scheme in each embodiment
May be appreciated other embodiments.
Claims (10)
1. an auto heterodyne robot, it is characterised in that it comprise auto heterodyne robot body, angle regulator, main control board,
Running gear, camera terminal, remote controller, support；Auto heterodyne robot body is internally provided with main control board, and auto heterodyne machine
The upper end of human agent is provided with angle regulator, and angle regulator is provided with support, the lower end of auto heterodyne robot body
It is provided with running gear；Camera terminal and support clamping, and camera terminal is connected with auto heterodyne robot body, remote controller passes through nothing
Line signal is connected with main control board, and angle regulator, running gear, camera terminal are all connected with main control board.
A kind of auto heterodyne robot the most according to claim 1, it is characterised in that described main control board comprises master cpu
Module, auto heterodyne control module, power module, motor drive module, angle regulator drive module, auto heterodyne control module and master
Control CPU module is connected with each other；Power module is connected with master cpu module；Master cpu module respectively with motor drive module, angle
Degree adjusting means drives module to connect, and angle regulator drives module to be connected with angle regulator, motor drive module
It is connected with running gear；Remote controller is connected with master cpu module by wireless signal.
A kind of auto heterodyne robot the most according to claim 1, it is characterised in that described angle regulator uses steering wheel
Or the one in The Cloud Terrace.
A kind of auto heterodyne robot the most according to claim 1, it is characterised in that described running gear uses wheel, crawler belt
Or the one in mechanical arm.
A kind of auto heterodyne robot the most according to claim 1, it is characterised in that described camera terminal and auto heterodyne robot
Main body is connected by docking cable, by the earpiece holes of camera terminal with the jack on auto heterodyne robot body by docking cable even
Connecing, now auto heterodyne control module is audio interface modular converter.
A kind of auto heterodyne robot the most according to claim 5, it is characterised in that described camera terminal and auto heterodyne robot
Main body replaces with by the wireless docking of bluetooth module, and now auto heterodyne control module is bluetooth modular converter.
A kind of auto heterodyne robot the most according to claim 1, it is characterised in that described camera terminal uses smart mobile phone.
A kind of auto heterodyne robot the most according to claim 1, it is characterised in that described remote controller uses 2.4G remote controller.
A kind of auto heterodyne robot the most according to claim 1, it is characterised in that described auto heterodyne robot also comprises intelligence
Mobile phone two, smart mobile phone two is connected with the smart mobile phone pairing on support by WIFI signal.
10. a self-timer method, it is characterised in that its concrete operation step is:
A (), first, user is placed on the smart mobile phone one of oneself on the support of auto heterodyne robot body, and blocks good stable, no
Can drop；
B (), then, is attached smart mobile phone one and auto heterodyne robot body；
C (), then, opens the power supply of auto heterodyne robot body, smart mobile phone one is adjusted to camera function simultaneously, now, and use
Family may exit off auto heterodyne robot body；
D (), then, subscriber station is on front side of auto heterodyne robot body, with naked eyes it can be seen that auto heterodyne robot body upper intelligence hands
The picture effect that machine one is autodyned, now, starts the remote controller in hands, and this remote controller realizes and the docking of auto heterodyne robot body,
Without pairing, the most tested the when of dispatching from the factory, as long as opening the power supply of remote controller；
E () if the user find that the distance of auto heterodyne robot body is improper, then passes through the remote controller in hands, before pressing it,
Afterwards, left and right button, control auto heterodyne robot body move, rotate, reach optimal distance；
If f angle that () user's body finds the smart mobile phone one on auto heterodyne robot body is the most right, then realized by remote controller
The angular adjustment of angle regulator above auto heterodyne robot body, it is achieved the rotation of whole smart mobile phone one, reaches optimal
Shooting angle；
G (), now, if user adjusts the distance, angle is the most satisfied, can press the shoot button of remote controller, it is achieved take pictures；
(h), use during, if people is a lot, or user wishes that auto heterodyne robot photographed more landscape, it is necessary to allow auto heterodyne
The distance of robot body is farther, and now, naked eyes do not see the picture on smart mobile phone one, start the smart mobile phone in user's hands
Two, this smart mobile phone two, auto heterodyne robot body smart mobile phone one on simultaneously start " auto heterodyne robot APP "；
WIFI is used to be attached between (i), two smart mobile phones: the smart mobile phone one of auto heterodyne robot body is set to WIFI
Focus, allows the smart mobile phone two in user's hands connect the WIFI hot spot of smart mobile phone one, the most just can start to start image and
Transmission of video, remotely it can be seen that, it is also possible to realize controlling；
(j), by " auto heterodyne robot APP ", user can see the image captured by smart mobile phone one from smart mobile phone two,
If dissatisfied, auto heterodyne robot master can be adjusted in real time by " the auto heterodyne robot APP " on remote controller or smart mobile phone two
Distance, regulation auto heterodyne robot body's upper angle adjusting means and the angle of support between body and user；
(k), by " auto heterodyne robot APP " function upgrading, add recognition of face machine visual performance, can realize automatically capturing and
Face snap function: user up jumps, during jumping, presses the button of taking pictures of remote controller at any time, or allows " certainly
Clap robot APP " automatically captured by recognition of face, it is achieved the function that self-shooting bar cannot realize in the past.
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| CN107127758A (en) * | 2017-06-01 | 2017-09-05 | 深圳市悠响声学科技有限公司 | Automatic identification photographic method and its system based on intelligent robot |
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| TWI768630B (en) * | 2020-12-29 | 2022-06-21 | 財團法人工業技術研究院 | Movable photographing system and photography composition control method |
| US11368628B2 (en) | 2020-10-19 | 2022-06-21 | Light Wave Technology Inc. | System for tracking a user during a videotelephony session and method of use thereof |
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