CN108044597A - Machinery performs structure and photography machine people - Google Patents
Machinery performs structure and photography machine people Download PDFInfo
- Publication number
- CN108044597A CN108044597A CN201711287974.2A CN201711287974A CN108044597A CN 108044597 A CN108044597 A CN 108044597A CN 201711287974 A CN201711287974 A CN 201711287974A CN 108044597 A CN108044597 A CN 108044597A
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- China
- Prior art keywords
- mechanical arm
- group
- pedestal
- controller
- machinery
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
Abstract
This application discloses a kind of machineries to perform structure and photography machine people.The machinery, which performs structure, includes mechanical arm group, operating platform and pedestal, and the mechanical arm group includes：First mechanical arm, second mechanical arm, three-mechanical arm, the 4th mechanical arm, the first mechanical arm, the second mechanical arm, the three-mechanical arm, the 4th mechanical arm pass sequentially through multiple rotate and fix axis connection；The operating platform is provided with mounting seat and manual lever；The mounting seat is connected with the 4th mechanical arm, and the manual lever is arranged at the mounting seat lower part；Storage groove is offered in the pedestal, fixed seat is installed on the storage groove, the fixed seat is connected with the first mechanical arm.Present application addresses photographic goods it is inconvenient to carry the technical issues of.
Description
Technical field
This application involves automation and artificial intelligence fields, and structure and video camera are performed in particular to a kind of machinery
Device people.
Background technology
Traditional photographic goods, it usually needs also needed by manual operation adjustment elevation angle, in travelling shot equipment
Rely on rail.
Inventor has found, if being susceptible to human error by manual operation adjustment elevation angle, order shooting, which has, owes essence
It is accurate；If rail is relied on, it is necessary to take debugging.In addition, photographic goods usually not Portable belt, be easy to cause labor in use
Damage.
For photographic goods in correlation technique it is inconvenient to carry the problem of, currently no effective solution has been proposed.
The content of the invention
The main purpose of the application is that providing a kind of machinery performs structure, and to solve, photographic goods are inconvenient to carry to ask
Topic.
To achieve these goals, according to the one side of the application, provide a kind of machinery and perform structure.
Performing structure according to the application machinery includes：Mechanical arm group, operating platform and pedestal,
The mechanical arm group includes：First mechanical arm, second mechanical arm, three-mechanical arm, the 4th mechanical arm, described first
Mechanical arm, the second mechanical arm, the three-mechanical arm, the 4th mechanical arm pass sequentially through multiple rotation fixing axles and connect
It connects；The operating platform is provided with mounting seat and manual lever；The mounting seat is connected with the 4th mechanical arm, institute
It states manual lever and is arranged at the mounting seat lower part；Storage groove is offered in the pedestal, is equipped on the storage groove
Fixed seat, the fixed seat are connected with the first mechanical arm.
Further, the pedestal offers multiple races, and multiple races are equipped with rotation movable pulley, the rotation
Movable pulley includes：First, which rotates movable pulley group and second, rotates movable pulley group；First rotates movable pulley group, including：The radius of gyration
One group of identical main rotating wheel；Second rotates movable pulley group, including：One group of identical auxiliary rotating wheel of the radius of gyration.
Further, the manual lever includes：Handheld Division and swing arm, the Handheld Division connect with the swing arm
It connects, for the operating platform to be driven to carry out preset displacement operation.
Further, the mechanical arm group is collapsibly arranged in the storage groove opened up in the pedestal.
To achieve these goals, according to the another aspect of the application, a kind of photography machine people is provided.
Included according to the photography machine people of the application：The machinery performs structure and control unit, the control unit are used for
The machine machinery is controlled to perform structure and performs predetermined registration operation；The machinery, which performs structure, to be included：Operating platform, mechanical arm group, bottom
Seat；The operating platform is connected by the mechanical arm group with the pedestal；The control unit includes：First controller and second
Controller；First controller, for controlling the operating platform displacement；And the second controller, for controlling
It states mechanical arm and assembles the conjunction base rotation.
Further, it is provided on the pedestal：Second controller, for manually performing the default behaviour of shooting
Make；First connector, for providing power supply and data communication interface；Mounting seat, for providing the peace of the smart machine
Fill pedestal and signal transmission interface.
Further, photography machine people further includes：Intelligent photographic equipment, the intelligent photographic equipment include：First sensing
Device, for detecting ambient image information data；Second sensor, for detecting environmental voice information data；It further includes：First electricity
Road plate, the first circuit board include：First communication module group, arithmetic system and programing system；First communication module group is used
Control instruction is shot in receiving first；The arithmetic system, for handling the first sensor and/or second sensor detection
Data；The programing system, for the intelligent photographic equipment to be controlled to perform default shooting operation.
Further, it is provided on the pedestal：First power supply, for being removable installed in the pedestal；It further includes：
Second circuit board, the second circuit board include：Power controller, the second communication module group, self-balancing controller, rotation control
Device, the power controller perform predetermined registration operation for stablizing the mechanical arm group；Second communication module group, for receiving
Second shooting control instruction；The self-balancing controller, for controlling the pedestal displacement；The pivoting controller, for controlling
It makes the mechanical arm group and performs default moving operation.
Further, photography machine people further includes：Remote control terminal, the remote control terminal are equipped with application in advance
Program in the remote control terminal, goes out default control to the photography machine human hair for passing through communication and refers to
Order；The control instruction is used to that the operating platform displacement and/or the mechanical arm to be controlled to assemble and close the base rotation.
Further, the operating platform further includes：It is multiple movement fixing axles and mostly with moving wheel, it is multiple it is described movement consolidate
Dead axle is used to that multiple moving wheels to be coordinated to perform preset displacements；The mechanical arm group includes：Multiple rotation fixing axles and multiple
The sub- arm of mechanical rotation, multiple rotation fixing axles are used to that the sub- arm of multiple mechanical rotations to be coordinated to perform deliberate action.
Machinery performs structure in the embodiment of the present application, by the way of mechanical arm group, operating platform and base combination,
By operating platform and pedestal, achieve the purpose that be freely rotated and move, it is achieved thereby that being convenient for carrying the skill of photographic goods
Art effect, and then solve the technical issues of photographic goods are inconvenient to carry.
In the embodiment of the present application, the side that the mechanical movement portion is controlled to perform predetermined registration operation is used for using the control unit
Formula by the first controller and second controller, has reached the control operating platform displacement and the mechanical arm is controlled to assemble
The purpose of the base rotation is closed, it is achieved thereby that the technique effect automatically shot, and then solve photographic goods inconvenience
The technical issues of carrying.To solve the deficiency of existing flowing professional photographic apparatus, the application is remotely controlled by central control system
Photographer robot processed reaches shooting automation, specialization.
Description of the drawings
The attached drawing for forming the part of the application is used for providing further understanding of the present application so that the application's is other
Feature, objects and advantages become more apparent upon.The illustrative examples attached drawing and its explanation of the application is for explaining the application, not
Form the improper restriction to the application.In the accompanying drawings：
Fig. 1 is to perform structure diagram according to the machinery of the application first embodiment；
Fig. 2 is to perform structure diagram according to the machinery of the application second embodiment；
Fig. 3 is to perform structure diagram according to the machinery of the application 3rd embodiment；
Fig. 4 is photography machine people's schematic diagram according to the application first embodiment；
Fig. 5 is photography machine people's schematic internal view according to the application first embodiment；
Fig. 6 is photography machine people's close-up schematic view according to the application first embodiment；
Fig. 7 is photography machine people's internal structure schematic diagram according to the application first embodiment；
Fig. 8 is photography machine people's internal structure schematic diagram according to the application second embodiment；
Fig. 9 is photography machine people's external structure schematic diagram according to the application second embodiment
Figure 10 is photography machine people's structure diagram according to the application 3rd embodiment；
Figure 11 is photography machine people's internal structure schematic diagram according to the application 3rd embodiment；
Figure 12 is photography machine people's structure diagram according to the application fourth embodiment；
Figure 13 is photography machine people's structure diagram according to the 5th embodiment of the application；And
Figure 14 is photography machine people's structure diagram according to the application sixth embodiment.
Specific embodiment
In order to which those skilled in the art is made to more fully understand application scheme, below in conjunction in the embodiment of the present application
The technical solution in the embodiment of the present application is clearly and completely described in attached drawing, it is clear that described embodiment is only
The embodiment of the application part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's all other embodiments obtained without making creative work should all belong to the model of the application protection
It encloses.
It should be noted that term " first " in the description and claims of this application and above-mentioned attached drawing, "
Two " etc. be the object for distinguishing similar, without being used to describe specific order or precedence.It should be appreciated that it so uses
Data can exchange in the appropriate case, so as to embodiments herein described herein.In addition, term " comprising " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing series of steps or unit
Process, method, system, product or equipment are not necessarily limited to those steps or unit clearly listed, but may include without clear
It is listing to Chu or for the intrinsic other steps of these processes, method, product or equipment or unit.
In this application, term " on ", " under ", "left", "right", "front", "rear", " top ", " bottom ", " interior ", " outer ",
" in ", " vertical ", " level ", " transverse direction ", the orientation of the instructions such as " longitudinal direction " or position relationship be based on orientation shown in the drawings or
Position relationship.These terms are not intended to limit indicated dress primarily to preferably describe the application and embodiment
It puts, element or component must have particular orientation or constructed and operated with particular orientation.
Also, above-mentioned part term is in addition to it can be used to indicate that orientation or position relationship, it is also possible to for representing it
His meaning, such as term " on " also be likely used for representing certain relations of dependence or connection relation in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in this application can be understood as the case may be.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " connected ", " socket " should be interpreted broadly.For example,
Can be fixedly connected, be detachably connected or monolithic construction；Can be mechanical connection or electrical connection；It can be direct phase
It is indirectly connected even or by intermediary or is the connections of two inside between device, element or component.
For those of ordinary skills, the concrete meaning of above-mentioned term in this application can be understood as the case may be.
It should be noted that in the case where there is no conflict, the feature in embodiment and embodiment in the application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As shown in Figs. 1-3, this application involves a kind of machineries to perform structure, which, which performs structure, includes：Mechanical arm group, behaviour
Make platform and pedestal, the mechanical arm group includes：First mechanical arm 1, second mechanical arm 2, the 3, the 4th machinery of three-mechanical arm
Arm 4, the first mechanical arm 1, the second mechanical arm 2, the three-mechanical arm 3, the 4th mechanical arm 4 pass sequentially through more
It is a to rotate fixed axis connection；The operating platform is provided with mounting seat 5 and manual lever 6；The mounting seat 5 with it is described
4th mechanical arm 4 is connected, and the manual lever 6 is arranged at 5 lower part of mounting seat；Storage groove is offered in the pedestal
8, fixed seat 7 is installed on the storage groove 8, the fixed seat 7 is connected with the first mechanical arm 1.Implement as the application
Preferred in example, the mechanical arm group is collapsibly arranged in the storage groove opened up in the pedestal, convenient for the storage of device.
Meanwhile first mechanical arm 1, second mechanical arm 2, three-mechanical arm 3,4 freely adjustable height of the 4th mechanical arm, position, direction
And angle etc..Displacement and autobalance can be realized by the pedestal, correlation can be completed without relying on rail
Predetermined registration operation.
As preferred in the embodiment of the present application, the pedestal offers multiple races, and multiple races, which are equipped with, to be turned
Dynamic movable pulley, the rotation movable pulley include：First, which rotates movable pulley group and second, rotates movable pulley group；First rotates movable pulley
Group, including：One group of identical main rotating wheel (9,10) of the radius of gyration；Second rotates movable pulley group, including：The radius of gyration is identical
One group of auxiliary rotating wheel (11,12).Coordinate the main rotating wheel and auxiliary rotating wheel can be with the displacement of realization device.
As preferred in the embodiment of the present application, the manual lever 6 includes：Handheld Division 61 and swing arm 62, it is described
Handheld Division 61 is connected with the swing arm 62, for the operating platform to be driven to carry out preset displacement operation.Pass through Handheld Division 61
Swing arm 62 can be operated, so as to be debugged manually.
As shown in fig. 4-5, this application involves a kind of photography machine people, photography machine people includes：Mechanical movement portion and
Control unit, the control unit are used to that the mechanical movement portion to be controlled to perform predetermined registration operation；The mechanical movement portion includes：Operation is flat
Platform 200, mechanical arm group 100, pedestal 300；The operating platform 200 passes through the mechanical arm group 100 and 300 phase of pedestal
Even；The control unit includes：First controller 20 and second controller 30；First controller 20, for controlling the behaviour
Make 200 displacement of platform；And the second controller 30, for the mechanical arm group 100 to be controlled to coordinate 300 turns of the pedestal
It is dynamic.By first controller 20 operating platform 200 can be controlled to be subjected to displacement in the horizontal direction and in displacement
The balance control carried out in the process.By the second controller 30 the tool cursor 100 can be controlled to match somebody with somebody with stating pedestal 300
Conjunction is rotated, and adjusts position, height and angle of capture apparatus etc..
As preferred in the present embodiment, first controller 20, it is additionally operable to control four in the operating platform 200
Axial displacement balances；Four axis are specifically four axial displacements of position movement occur.The second controller 30 is additionally operable to control institute
It states six axis in mechanical arm group 100 and rotates lifting, six axis are specifically to rotate, lift to six axis to rotate.
As shown in fig. 6-7, it is provided on the operating platform 200 in photography machine people：Personal control 2001 is used
Predetermined registration operation is shot in manually performing；First connector 2002, for providing power supply and data communication interface；Peace
Pedestal 2003 is filled, for providing the mounting seat of the smart machine and signal transmission interface.It is further included in photography machine people：
Intelligent photographic equipment, the intelligent photographic equipment include：First sensor 2006, for detecting ambient image information data；The
Two sensors 2007, for detecting environmental voice information data；It further includes：First circuit board 3001, the first circuit board
3001 include：First communication module group 2008, arithmetic system 2009 and programing system 2010；First communication module group 2008,
For receiving the first shooting control instruction；The arithmetic system 2009, for handling the first sensor and/or the second sensing
The data of device detection；The programing system 2010, for the intelligent photographic equipment to be controlled to perform default shooting operation.Default behaviour
Work includes but not limited to, and position, angle, height adjusts and change in displacement.
The personal control 2001 may be used as human hand tune compared with direction, angle, brightness, speed, white balance and other bats
Take the photograph setting.
The pedestal of different instruments can be converted and installed to the mounting seat 2003.The mounting seat 2003 is to conduct
Can install the pedestal of different instruments can connect and carry the video-photographic equipments such as artificial intelligence equipment, camera, smart phone, other
Smart machine simultaneously transfers signal to equipment thereon.
First connector 2002 has communication and power supply connector, to carry out data transmission or power supply.
The first sensor 2006 in the intelligent photographic equipment can be 3D lens sensors.Second sensing
Device 2007 can be with 3D function of radio receiver arithmetic units.
The first circuit board 3001 includes：First communication module group 2008, arithmetic system 2009 and programing system 2010；
Arithmetic system 2009 is used to be connected with the first sensor 2006；Arithmetic system 2009 is used for and the second sensor 2007
Connection.
For example, be connected using 3D lens sensors arithmetic system with 3D lens sensors, 3D function of radio receiver arithmetic system with
The connection of 3D function of radio receiver arithmetic unit, ISP (Integrated System of Photography) systems and photographic/camera equipment
Connection.
In some embodiments, the 3D lens sensors arithmetic system is used for automatic tracing and 3D people face identification function.
In some embodiments, arithmetic system is for collecting and integrating the data such as people's region feature, brightness, height, angle, certainly
Row calculates optimal screening-mode.
In some embodiments, the 3D function of radio receiver arithmetic system for it is multi-faceted, have apart from radio reception.
In some embodiments, communication module is sent out for receiving by bluetooth, WI-FI by preassembled application program
The instruction gone out.
In some embodiments, ISP (Integrated System of Photography) system for automatically adjust compared with
Aperture, shutter, white balance, survey light, focusing, lens technology, auto color regulation technology.
For example, message can be transferred and received by the first communication module group 2008, the power in photography machine people is controlled
Device is for example, motor control module, autobalance module, angle/rotating speed/course changing control module enable intelligent photographic equipment to grasp
Control mechanical arm cooperation shooting.
As Figure 8-9, it is provided on the pedestal in the device：First power supply 3001, for being removably disposed
In the pedestal；It further includes：Second circuit board 3006, the second circuit board 3006 include：Power controller 3005, second is logical
Interrogate module 2002, self-balancing controller 3003, pivoting controller 3004, the power controller 3005, for stablizing the machine
Tool arm group performs predetermined registration operation；Second communication module group 2002, for receiving the second shooting control instruction；The self-balancing control
Device 3003 processed, for controlling the pedestal displacement；The pivoting controller 3004, it is default for the mechanical arm group to be controlled to perform
Moving operation.
Second communication module group 2002 passes through bluetooth, WI-FI to install the finger that application program is sent in advance for reception
Order.
The power controller 3005 may be employed the mode that multi-motor is controlled and perform.
The pivoting controller 3004 for completing angle/rotating speed/course changing control, can be used for setting mechanical arm group
Highly, angle, rotating speed, steering, reach automatic lifting move ahead left and right.
For example, in pedestal internal battery, circuit board, circuit board includes：Communication module, autobalance module.To Thomas
The power controller up to connected property, to control the power controller of angle/rotating speed/steering respectively with the operation
The fixed axis connection of the multiple movements in top of platform；Autobalance module rotates fixed axis connection with multiple below pedestal.
The self-balancing controller 3003 is used to independently calculate multiple movement fixing axle height automatically, mutual coordinated balance,
Enable four axis smooth ambulations, realize that trackless is set.
For example, connected and coordination of the pivoting controller 3004 for each axis (31,32,33,34) in stabilizing mechanical arm
Torsion, power, it is ensured that the flexibility of mechanical arm group, it can be smooth placidly movable.
Preferably, the pedestal and mechanical arm group be using light and handy material, and it is flexibly movable to help mechanical arm, prevents from dropping.
As shown in figs. 10-11, photography machine people further includes：Remote control terminal 400, the remote control terminal 400 are pre-
Application program is first installed, in the remote control terminal 400, for passing through communication to the photography machine human hair
Go out default control instruction；The control instruction is used to that the operating platform displacement and/or the mechanical arm to be controlled to assemble and close institute
State base rotation.
Photography machine people includes mechanical arm group and intelligent photographic equipment, except artificial intelligence full-automatic operates, separately sets manual control
Device processed is equipped with tablet computer and independently developed application program to perform human hand operation mode, is with center control
System (24) is operated on tablet computer, remote control photography machine people.
As preferred in the present embodiment, the remote control terminal 400 includes：Previewing module 4001 and live streaming module
4002, the previewing module 4001, the motion action performed for photography machine people described in preview；The live streaming module 4002,
For the motion action that the photography machine people performs to be broadcast live.
Photography machine people in the embodiment of the present application：Including mechanical movement portion and intelligent photographic equipment, except intelligent photographic is set
It is standby to be automatically brought into operation, separately set the human hand operation mode of personal control.Remote control terminal 400 can be equipped with tablet computer and
Independently developed application program, and operated with central control system on tablet computer, by distant away from control video camera
Device people.
For example, can be connected by mechanical arm group with pedestal, the axis of rolling is arranged on the lower section of pedestal, can carry out autobalance.
In addition rotation axis (31,32,33,34) forms the top that multigroup mechanical arm group structure is arranged on operating platform, and controllable controlling angle turns
Speed turns to.In addition, pedestal internal battery, circuit board, multiple being connected property of motor control modules, communication can be installed in circuit board
Module, autobalance module, angle/rotating speed/course changing control module.Meanwhile by by being connected property of multi-motor control module, angle
Degree/rotating speed/course changing control module and the rotation axis connection above pedestal；The rotation axis of the lower section of autobalance module and pedestal connects
It connects.
For example, personal control, the pedestal that can convert and install different instruments, communication can be just installed on the operational platform
And power supply connector, intelligent photographic equipment.Wherein, personal control is used for human hand tune compared with direction, angle, brightness, speed, Bai Ping
Weighing apparatus and other shooting settings.Can convert and install the pedestal of different instruments can connect and carry intelligent photographic equipment.Intelligence is taken the photograph
Shadow equipment includes but not limited to, the video-photographic equipments such as camera, smart phone, other smart machines and to its transmission signal.Intelligence
Energy photographic equipment can include：3D lens sensors, 3D function of radio receiver arithmetic unit, circuit board include communication mould in the circuit board
Block, artificial intelligence arithmetic system, 3D lens sensors arithmetic system, 3D function of radio receiver arithmetic system, ISP programing systems.Specifically
Ground, 3D lens sensors arithmetic system is connected with 3D lens sensors, 3D function of radio receiver arithmetic system and 3D function of radio receiver computings
Device connection, ISP (Integrated System of Photography) service system are connected with video-photographic equipment.
In specific implementation process, by remote control terminal 400, user opens preassembled application program, long-range
In control terminal 400 with central control system (CPU, Central Processing UnitCPU/MCU,
Microcontroller Unit；MCU) shooting instruction is set, then be remotely sent to the shooting instruction by bluetooth, WI-FI
Photography machine people.Then, by battery power, communication module is used to receive shooting instruction the circuit board in the pedestal；It is automatic flat
The module that weighs is for the automatic independent height for calculating the axis of rolling, the mutual coordinated balance of the axis of rolling, smooth ambulation, realize trackless set,
Stabilized optical system.Using angle/rotating speed/course changing control module for setting the height of mechanical arm group, angle, rotating speed, steering,
Mechanical arm group automatic lifting, which moves ahead, to be controlled.Again by each in being connected property of multi-motor control module such as cascade machine stabilizing mechanical arm
Connected and coordination torsion, the power of rotation axis (31,32,33,34), it is ensured that mechanical arm can be flexible, smooth, undisturbedly movable.
In some embodiments, central control system is gone out by bluetooth, WI-FI by application program to photography machine human hair
Instruction, while multiple electro-motors are controlled, it is distant away from control to reach multiple spot.
In some embodiments, central control system is gone out by bluetooth, WI-FI by application program to photography machine human hair
Instruction, controls the intelligent photographic equipment to be automatically snapped.
When it is implemented, central control system can control multiple motors simultaneously, it is distant away from control to reach multiple spot.For example, user
Live preview or live streaming can be carried out on tablet computer.Can be connected on the operating platform video-photographic equipments such as camera,
Smart phone, other smart machines.
Meanwhile the circuit board in intelligent photographic equipment, by battery power, communication module is used to receive shooting instruction；Operation is flat
First connector of platform is being connected for acting on communication and power supply connector, the mounting seat for connecting filming apparatus and pedestal
Shooting signal is transferred after power supply to intelligent photographic equipment；By connecting first circuit board and second circuit board, passed with communication module
Pass and receive message, so as to control being connected property of multi-motor control module (cascade machine), autobalance module, angle/rotating speed/turn
To control module, intelligent photographic equipment is enable to manipulate mechanical arm cooperation shooting.It can include in intelligent photographic equipment：3D camera lenses
Sensor arithmetic system identifies for automatic tracing and 3D people face, and controls 3D lens sensors that the people face specified is followed to move；
3D function of radio receiver arithmetic systems, for it is multi-faceted, have apart from radio reception；ISP(Integrated System of
Photography the integrated system system of) photographing is for including but not limited to automatic adjust compared with aperture, shutter, white balance, survey light, right
Coke, lens technology, auto color adjust predetermined registration operation, are shot automatically；Arithmetic system can be used for collecting and integrate people face
The data such as feature, brightness, height, angle voluntarily calculate optimal screening-mode.
All movements or shooting instruction are all exported by central control system in the embodiment of the present application, specific implementation process
In, intelligent photographic equipment can voluntarily manipulate the height and balance of the lifting of mechanical arm group, angle, rotating speed, steering and four axis, from
And coordinate shooting.
As shown in figs. 12-14, the operating platform in the embodiment of the present application further includes：Multiple movement fixing axles and more
A moving wheel (40,41,42,43), multiple movement fixing axles are used to that multiple moving wheels (40,41,42,43) to be coordinated to hold
Row preset displacement.The mechanical arm group in the embodiment of the present application includes：Multiple rotation fixing axles (31,32,33,34) and more
A sub- arm of mechanical rotation, multiple rotation fixing axles are used to that the sub- arm of multiple mechanical rotations to be coordinated to perform deliberate action.
For example, multiple moving wheels (40,41,42,43) are connected with pedestal, multiple moving wheels (40,41,42,43) are arranged on bottom
The lower section of seat, to autobalance.In addition, multiple rotation fixing axles (31,32,33,34), which form multigroup mechanical arm, is arranged on pedestal
Top can control height, angle, rotating speed, steering.
The foregoing is merely the preferred embodiments of the application, are not limited to the application, for the skill of this field
For art personnel, the application can have various modifications and variations.It is all within spirit herein and principle, made any repair
Change, equivalent substitution, improvement etc., should be included within the protection domain of the application.
Claims (10)
1. a kind of machinery performs structure, which is characterized in that including：Mechanical arm group, operating platform and pedestal,
The mechanical arm group includes：First mechanical arm, second mechanical arm, three-mechanical arm, the 4th mechanical arm, first machinery
Arm, the second mechanical arm, the three-mechanical arm, the 4th mechanical arm pass sequentially through multiple rotate and fix axis connection；
The operating platform is provided with mounting seat and manual lever；The mounting seat is connected with the 4th mechanical arm,
The manual lever is arranged at the mounting seat lower part；
Storage groove is offered in the pedestal, fixed seat, the fixed seat and the described first machinery are installed on the storage groove
Arm connects.
2. machinery according to claim 1 performs structure, which is characterized in that the pedestal offers multiple races, multiple
The race is equipped with rotation movable pulley, and the rotation movable pulley includes：First, which rotates movable pulley group and second, rotates movable pulley
Group；
First rotates movable pulley group, including：One group of identical main rotating wheel of the radius of gyration；
Second rotates movable pulley group, including：One group of identical auxiliary rotating wheel of the radius of gyration.
3. machinery according to claim 1 performs structure, which is characterized in that the manual lever includes：Handheld Division and
Swing arm,
The Handheld Division is connected with the swing arm, for the operating platform to be driven to carry out preset displacement operation.
4. machinery according to claim 1 performs structure, which is characterized in that the mechanical arm group is collapsibly arranged at institute
It states in the storage groove opened up in pedestal.
5. a kind of photography machine people, which is characterized in that including：Machinery as described in claim 1-4 performs structure and control unit,
The control unit performs predetermined registration operation for the machine machinery to be controlled to perform structure；
The machinery, which performs structure, to be included：Operating platform, mechanical arm group, pedestal；The operating platform passes through the mechanical arm group
It is connected with the pedestal；
The control unit includes：First controller and second controller；
First controller, for controlling the operating platform displacement；And
The second controller closes the base rotation for the mechanical arm to be controlled to assemble.
6. photography machine people according to claim 5, which is characterized in that be provided on the pedestal：
Second controller, for manually performing shooting predetermined registration operation；
First connector, for providing power supply and data communication interface；
Mounting seat, for providing the mounting seat of the smart machine and signal transmission interface.
7. photography machine people according to claim 6, which is characterized in that further include：Intelligent photographic equipment, the intelligence are taken the photograph
Shadow equipment includes：
First sensor, for detecting ambient image information data；
Second sensor, for detecting environmental voice information data；
It further includes：First circuit board,
The first circuit board includes：First communication module group, arithmetic system and programing system；
First communication module group, for receiving the first shooting control instruction；
The arithmetic system, for handling the data of the first sensor and/or second sensor detection；
The programing system, for the intelligent photographic equipment to be controlled to perform default shooting operation.
8. photography machine people according to claim 6, which is characterized in that be provided on the pedestal：
First power supply, for being removable installed in the pedestal；
It further includes：Second circuit board,
The second circuit board includes：Power controller, the second communication module group, self-balancing controller, pivoting controller,
The power controller performs predetermined registration operation for stablizing the mechanical arm group；
Second communication module group, for receiving the second shooting control instruction；
The self-balancing controller, for controlling the pedestal displacement；
The pivoting controller, for the mechanical arm group to be controlled to perform default moving operation.
9. photography machine people according to claim 5, which is characterized in that further include：Remote control terminal, the long-range control
Terminal processed is equipped with application program in advance,
In the remote control terminal, go out default control to the photography machine human hair for passing through communication and refer to
Order；
The control instruction is used to that the operating platform displacement and/or the mechanical arm to be controlled to assemble and close the base rotation.
10. according to claim 5-9 any one of them photography machine people, which is characterized in that
The operating platform further includes：Multiple movement fixing axles and mostly and moving wheel, multiple movement fixing axles are used to coordinate
Multiple moving wheels perform preset displacement；
The mechanical arm group includes：Multiple rotation fixing axles and the sub- arm of multiple mechanical rotations, multiple rotation fixing axles are used for
The sub- arm of multiple mechanical rotations is coordinated to perform deliberate action.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711287974.2A CN108044597A (en) | 2017-12-07 | 2017-12-07 | Machinery performs structure and photography machine people |
| PCT/CN2018/118120 WO2019109847A1 (en) | 2017-12-07 | 2018-11-29 | Mechanical actuating structure and photographic robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711287974.2A CN108044597A (en) | 2017-12-07 | 2017-12-07 | Machinery performs structure and photography machine people |
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| CN201711287974.2A Pending CN108044597A (en) | 2017-12-07 | 2017-12-07 | Machinery performs structure and photography machine people |
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| Country | Link |
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| CN (1) | CN108044597A (en) |
| WO (1) | WO2019109847A1 (en) |
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| WO2019109847A1 (en) * | 2017-12-07 | 2019-06-13 | 真善美创新科技有限公司 | Mechanical actuating structure and photographic robot |
| WO2019109846A1 (en) * | 2017-12-07 | 2019-06-13 | 真善美创新科技有限公司 | Photographic robot |
| CN109990177A (en) * | 2019-05-10 | 2019-07-09 | 安徽理工大学 | A kind of mobile bracket of view-based access control model |
| WO2021103768A1 (en) * | 2020-06-28 | 2021-06-03 | 中铁九局集团电务工程有限公司 | Hole-drilling mechanical arm |
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Application publication date: 20180518 |