CN108953888A - A kind of multiple damping cradle head device based on body feeling interaction - Google Patents
A kind of multiple damping cradle head device based on body feeling interaction Download PDFInfo
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- CN108953888A CN108953888A CN201810784871.5A CN201810784871A CN108953888A CN 108953888 A CN108953888 A CN 108953888A CN 201810784871 A CN201810784871 A CN 201810784871A CN 108953888 A CN108953888 A CN 108953888A
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- 238000013016 damping Methods 0.000 title claims abstract description 155
- 230000003993 interaction Effects 0.000 title claims abstract description 27
- 230000005540 biological transmission Effects 0.000 claims abstract description 39
- 230000033001 locomotion Effects 0.000 claims abstract description 37
- 239000000872 buffer Substances 0.000 claims abstract description 26
- 230000021715 photosynthesis, light harvesting Effects 0.000 claims abstract description 25
- 210000000245 forearm Anatomy 0.000 claims description 36
- 238000006073 displacement reaction Methods 0.000 claims description 24
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 20
- 230000007246 mechanism Effects 0.000 claims description 11
- 230000000694 effects Effects 0.000 claims description 8
- 238000006243 chemical reaction Methods 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 7
- 238000005096 rolling process Methods 0.000 claims description 7
- 230000035939 shock Effects 0.000 claims description 4
- 239000000284 extract Substances 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 3
- 238000011897 real-time detection Methods 0.000 claims description 3
- 238000010521 absorption reaction Methods 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims description 2
- 230000009916 joint effect Effects 0.000 claims 1
- 238000004891 communication Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 4
- 239000000571 coke Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009017 pursuit movement Effects 0.000 description 2
- 241000239290 Araneae Species 0.000 description 1
- 206010048669 Terminal state Diseases 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003238 somatosensory effect Effects 0.000 description 1
- -1 zoom Substances 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F7/00—Vibration-dampers; Shock-absorbers
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M2200/00—Details of stands or supports
- F16M2200/06—Arms
- F16M2200/066—Arms being part of the head
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Automation & Control Theory (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Accessories Of Cameras (AREA)
Abstract
The invention belongs to body feeling interaction control fields, and in particular to the multiple damping cradle head device based on body feeling interaction.Described device includes active vibration damping unit, passive energy dissipation unit, body-sensing handheld terminal unit and holder electronic control unit.Active vibration damping unit is fixed by passive energy dissipation unit with bracket, and passive energy dissipation unit buffers entire cradle head device；Holder electronic control unit is fixed on passive energy dissipation unit, and the motor driver in holder electronic control unit is connected with the motor in holder active vibration damping unit, is driven the motor in active vibration damping unit by motor driver, is realized the active movement of cradle head device.The present invention realizes entire cradle head device damping using the main damping modes passively mixed；The acquisition of human body attitude information is realized by holding body-sensing terminal, posture Position and attitude sensor has strong anti-interference ability, and the transmission of image is realized by wireless image transmission module, wireless image transmission strong antijamming capability, volume of transmitted data is big, long transmission distance.
Description
Technical field
The invention belongs to body feeling interaction control fields, and in particular to a kind of multiple damping holder dress based on body feeling interaction
It sets.
Background technique
Holder is the support equipment of installation, fixed video camera, and holder is broadly divided into fixed and electronic two kinds, fixed holder behaviour
Make the simple level that need to only manually adjust holder and is locked after pitch angle to suitable position, but fixed holder
Monitor that range is little, so the application range of fixed holder is very limited, electric platform is very widely used, can be artificial
Manipulation under realize large-scale scan tracing, electric platform is being photographed and there are very extensive application, damping cloud in the field of taking photo by plane
Platform can be described as the indispensable a part in the field of taking photo by plane.
At present on the market multiaxis holder be all controlled with rocking bar based on, rocking bar operation occupies both hands, and disperses manipulator
Attention, the use difficulty of user is increased, so that photographer entirely autonomous cannot control during controlling equipment
Composition, somatosensory operation can solve this problem.And with universal, following several kilometers of the nothing of the video technique of WirelessHD
Line chart biography can be arrived from being all that also will be one of the function of photography holder, but professional tripod head equipment is expensive, increases
The burden of user.
Summary of the invention
In order to overcome the above-mentioned prior art to occupy both hands, a large amount of scatter operation person's attentions, Wu Fashi in operation
Existing remote image transmission and operation, expensive problem, the multiple damping based on body feeling interaction that the present invention provides a kind of
Cradle head device.
Technical scheme is as follows:
A kind of multiple damping cradle head device based on body feeling interaction, including it is active vibration damping unit, passive energy dissipation unit, hand-held
Body-sensing terminal unit and holder electronic control unit.
The active vibration damping unit is fixed by passive energy dissipation unit with bracket, and passive energy dissipation unit buffers entire holder
Device；Holder electronic control unit is fixed on passive energy dissipation unit, and the motor driver in holder electronic control unit actively subtracts with holder
The motor shaken in unit is connected, and drives the motor in active vibration damping unit by motor driver, realizes the active of whole device
Movement.
The active vibration damping unit includes attachment device B, attachment device C, large arm, forearm and camera support device；Even
Connection device B, large arm, attachment device C, forearm and camera support device are sequentially connected.
The attachment device B includes upper junction plate B, lower connecting plate B, motor B, electric motor protecting support frame B and the axis of rolling
Hold B；Upper junction plate B, the lower connecting plate B and electric motor protecting support frame B constitute frame structure；Motor B is fixed on lower connection
On plate B, it is placed in frame structure；Motor B rotor, motor output shaft B and connecting flange B are sequentially connected, connecting flange B and passive
In vibration absorption unit second level damping lower connecting plate connection, realize active vibration damping unit around motor B axle to rotary motion.Upper connection
Plate B is connect with large arm arm plate.Forearm is to constitute an entirety by two blocks of forearm arm plates and forearm support column；Large arm is big by two pieces
Arm arm plate and large arm support column constitute an entirety；The attachment device C is identical as attachment device B structure, motor C rotor,
Motor output shaft C, connecting flange C and forearm connecting plate C are sequentially connected and form a whole, forearm connecting plate C and forearm arm plate
Connection, large arm connecting plate are connect with large arm arm plate, realize forearm around the rotary motion of motor C axial direction.
The camera support device includes motor A, motor output shaft A, motor support base, rotor plate, sliding bar, sleeve
With camera seat structure；The motor A is fixed in motor support base, and the motor output shaft A of motor A passes through rotor plate and tightening
The whole rotary motion around motor A axial direction of camera seat structure is realized in set connection；Sleeve covers on sliding bar, realizes camera
The fine tuning of seat structure upper and lower position, sleeve is for locking camera seat structure.Camera seat structure includes on camera support
Plate, camera support intermediate support plate, camera base-plate and counter weight device；The camera branch of sliding bar lower end and camera seat structure
Seat bottom plate is connected, and camera base-plate, camera support intermediate support plate and camera support upper plate are sequentially connected from the bottom to top, phase
Machine is placed on camera support upper plate, and counter weight device is connect with camera support intermediate support plate, counter weight device can front and back it is flexible,
To balance because camera weight unevenness bring is uneven, the fixation of camera is realized.Active damping device passes through motor A, motor B
The pursuit movement of camera is realized with the Collaborative Control of motor C.
The passive energy dissipation unit includes level-one damping device and two-step buffer；Two-step buffer includes four
Small damper, second level damping universal joint lower plate, the turning joint of second level damping universal joint, second level damping universal joint upper plate, second level subtract
Shake lower connecting plate, second level shock-absorbing support column；Second level damping universal joint lower plate, second level damping universal joint turning joint and second level damping
Universal joint upper plate is in turn connected to form a gimbal structure, may be implemented the activity of any direction, on second level damping universal joint
Plate is connect with second level damping universal joint lower plate by four small dampers, is driven when two-step buffer run-off the straight campaign small
Damper movement generates resistance, realizes two-step buffer damping；Second level damping universal joint upper plate is connect with balance element.
The level-one damping device includes the big support frame of level-one damping, big damper, connecting rod, big spring, spring pre-tightening
Mechanism, pedestal, big damper connecting rod and base support；Balance plate in the big support frame one end of level-one damping and two-step buffer
It is flexibly connected, the other end is connect with pedestal；Connecting rod one end is connect with balance plate, and the other end is connect with base support；Pedestal, company
Extension bar, balance plate and base support form a movable quadrangle, realize the kinematic mount of entire cradle head device up and down direction.
Pedestal, big spring, spring tightening mechanism and the big support frame of level-one damping are sequentially connected, and increase resistance for the movement of level-one damping device
Power, big damper one end are connect with the big support frame of level-one damping, and the other end is connect with big damper connecting rod, big damper connection
Bar connecting rod is fixed on base support, and band fluctuation dampers and spring movement when the movement of cradle head device up and down direction, spring produce
Raw resistance, big damper consumes energy, to realize the effect of cradle head device bumper and absorbing shock.
The holder electronic control unit is connect with hand-held body-sensing terminal unit, the body-sensing data that handheld terminal unit is acquired
It is sent to holder electronic control unit, holder electronic control unit issues the motor in control signal driving active vibration damping unit, realizes camera shooting
The following function of the target image of machine；Wireless image transmission transmitting terminal is connect with the camera being fixed on camera support device, acquires phase
Machine image information is sent to the wireless image transmission receiving end in hand-held body-sensing terminal unit, and on the touching display screen of handheld terminal
It shows camera image, finally realizes real-time human-computer interaction function.
The holder electronic control unit includes motor driver, D/A conversion module, Arduino control unit A, wireless string
Mouth A, wireless image transmission transmitting terminal and posture displacement sensor A；Motor driver is connected with the motor in active vibration damping unit；
Arduino control unit A is connected by D/A conversion module with motor driver, the number letter that Arduino control unit A is sent
It number is converted to analog signal and is sent to motor driver, realize that motor driver controls motor；Posture displacement sensor A is fixed on
On the camera base-plate of camera support device, the angle and angular speed of real-time detection camera, posture displacement sensor A with
Arduino control unit A is communicated by IIC communication mode, and the data of acquisition are sent to by posture displacement sensor A
Arduino control unit A；Arduino control unit A is connect by way of serial communication with wireless serial A, wireless serial A
It is connect with hand-held body-sensing unit wireless, the wireless image transmission transmitting terminal of holder electronic control unit sends collected camera image information
To the wireless image transmission receiving end in handheld terminal, and then realize the interaction of body-sensing data and the acquisition of image data.
The hand-held body-sensing terminal unit includes microcomputer, touching display screen, Arduino control unit B, posture position
Displacement sensor B, wireless serial B, wireless image transmission receiving end, handle rocker external equipment.
Wireless image transmission receiving end is connect with microcomputer, and wireless image transmission receiving end will be received from wireless image transmission transmitting terminal
Image data is transferred on microcomputer, and microcomputer is connect by HDMI high definition line with touching display screen, is shown by touch-control
Screen shows the picture of camera, and the assistant interface of Image Acquisition is write by QT, realizes with coke, zoom, saves image
Data function.It is communicated between microcomputer and wireless serial B using UART communication protocol, microcomputer and Arduino are controlled
It is connected between unit B processed by usb communication mode, passes through IIC between posture displacement sensor B and Arduino control unit B
Communication mode realizes connection, connects between handle rocker external equipment and Arduino control unit B, and posture displacement sensor B is solid
It is scheduled in hand-held body-sensing terminal, acquires the posture information of hand-held body-sensing terminal, and posture information is sent to Arduino control list
First B, Arduino control unit B handle posture information, extract angle information, and angle information are sent to miniature
Angle information is sent to wireless serial A by wireless serial B by computer, microcomputer, to realize angle human body attitude letter
The acquisition and transmission of breath.
Subtract the invention has the benefit that the present invention realizes entire cradle head device using the main damping modes passively mixed
Shake makes entire holder be able to maintain that gentle movement axial up and down, the track up of camera is realized by motor；By hand-held
Body-sensing terminal realizes the acquisition of human body attitude information, and posture Position and attitude sensor has strong anti-interference ability, can be true
Body-sensing information is measured, the transmission of image, wireless image transmission strong antijamming capability, volume of transmitted data are realized by wireless image transmission module
Greatly, long transmission distance；The auxiliary operation interface of handheld terminal will be completed with operations such as coke, zoom, compositions by both hands, and manipulator is made
It takes into account in a short time more；The control strategy of the active control system of multiple damping holder uses PID control, is controlled using feedforward
It makes to improve the response speed of holder, using the noise of kalman filter removal sensor, ensure that the flatness, fast of movement
Speed and accuracy.Using Arduino open source hardware as controller, the cost of whole holder hardware greatly reduces.
Detailed description of the invention
Fig. 1 is body feeling interaction damping clouds terrace system schematic diagram of the present invention.
Fig. 2 is passive energy dissipation cellular construction schematic diagram.
Fig. 3 is the front view of Fig. 2.
Fig. 4 is attachment device B front view.
Fig. 5 is attachment device C front view.
Fig. 6 is camera support device front view.
Fig. 7 is holder electronic control unit schematic diagram of the present invention.
Fig. 8 is handheld terminal schematic diagram of the present invention.
In figure: 1 camera support device；2 forearm arm plates；3 attachment device B；4 passive energy dissipation units；5 hand-held body-sensing terminal lists
Member；6 holder electronic control unit；7 large arm arm plates；8 attachment device C；9 forearm support columns；10 second level damping lower connecting plates；11 second levels subtract
Shake support column；The 12 big support frames of level-one damping；13 big springs；14 pedestals；15 connecting rods；16 big dampers；17 big dampers connect
Extension bar；18 spring tightening mechanisms；19 base supports；20 balance elements；21 small dampers；22 second level damping universal joint lower plates；23 2
Grade damping universal joint turning joint；24 second level damping universal joint upper plates；25 lower connecting plate B；26 motor B；27 motor B rotors；28
Electric motor protecting support frame B；29 motor output shaft B；30 upper junction plate B；31 connecting flange B；32 rolling bearing B；The connection of 33 large arm
Plate C；34 motor C；35 electric motor protecting support frame C；36 motor output shaft C；37 upper junction plate C；38 forearm connecting plate C；39 connections
Flange C；40 rolling bearing C；41 motor C rotors；42 motor support bases；43 motor A；44 motor output shaft A；45 rolling bearing A；46
Bearing spider；47 rotor plates；48 sliding bars；49 sleeves；50 camera support upper plates；51 camera support intermediate support plates；52 match
Refitting is set；53 camera base-plates；54 motor drivers；55DA conversion module；56Arduino control unit A；57 wireless serials
A；58 posture displacement sensor A；59 wireless image transmission transmitting terminals；60 posture displacement sensor B；61Arduino control unit B；62
Microcomputer；63 touching display screens；64 wireless image transmission receiving ends；65 wireless serial B；66 handle rocker external equipments.
Specific embodiment
The multiple damping holder of the invention based on body feeling interaction is filled below with reference to FIG. 1 to FIG. 8 and specific embodiment
It sets and is described in further detail.
A kind of multiple damping cradle head device based on body feeling interaction, including active vibration damping unit, passive energy dissipation unit 4, hand
Hold body-sensing terminal unit 5 and holder electronic control unit 6.
The active vibration damping unit is fixed by passive energy dissipation unit 4 with bracket, and passive energy dissipation unit 4 buffers entire cloud
Platform device；Holder electronic control unit 6 is fixed on passive energy dissipation unit 4,6 motor driver 54 and holder in holder electronic control unit
Motor in active vibration damping unit is connected, and drives the motor in active vibration damping unit by motor driver 54, realizes holder dress
The active movement set.
The active vibration damping unit includes attachment device B3, attachment device C8, large arm, forearm and camera support device 1；
Attachment device B3, large arm, attachment device C8, forearm and camera support device 1 are sequentially connected.
The attachment device B3 includes upper junction plate B30, lower connecting plate B25, motor B26, electric motor protecting support frame B28
With rolling bearing B32；Upper junction plate B30, the lower connecting plate B25 and electric motor protecting support frame B28 constitute frame structure；Electricity
Machine B26 is fixed on lower connecting plate B25, is placed in frame structure；Motor B rotor 27, motor output shaft B29 and connecting flange
B31 is sequentially connected, and connecting flange B31 is connect with the second level damping lower connecting plate 10 in passive energy dissipation unit 4, realizes active vibration damping
Rotary motion of the unit around motor B26 axial direction.Upper junction plate B30 is connect with large arm arm plate 7.Forearm is by two blocks of forearm arm plates 2
An entirety is constituted with forearm support column 9；Large arm is to constitute an entirety by two blocks of large arm arm plates 7 and large arm support column；It is described
Attachment device C8 it is identical as attachment device B3 structure, motor C rotor 41, motor output shaft C36, connecting flange C39 and forearm
Connecting plate C38, which is sequentially connected, to form a whole, and forearm connecting plate C38 is connect with forearm arm plate 2, large arm connecting plate 33 and large arm
Arm plate 7 connects, and realizes forearm around the rotary motion of motor C34 axial direction.
The camera support device 1 includes motor A43, motor output shaft A44, motor support base 42, rotor plate 47, sliding
Bar 48, sleeve 49 and camera seat structure；The motor A43 is fixed in motor support base 42, and motor output shaft A44 passes through
Rotor plate 47 is connect with sleeve 49, realizes the whole rotary motion around motor A axial direction of camera seat structure；49 sets of sleeve exists
On sliding bar 48, the fine tuning of camera seat structure upper and lower position is realized, sleeve 49 is for locking camera seat structure.Camera branch
Holder structure includes camera support upper plate 50, camera support intermediate support plate 51, camera base-plate 53 and counter weight device 52；Sliding
48 lower end of bar is connected with the camera base-plate 53 of camera seat structure, camera base-plate 53, camera support intermediate supports
Plate 51 and camera support upper plate 50 are sequentially connected from the bottom to top, and camera is placed on camera support upper plate 50, counter weight device 52 and phase
Machine support intermediate support plate 51 connects, counter weight device can front and back it is flexible, thus balance because of camera weight unevenness bring not
Balance, realizes the fixation of camera.Active damping device realizes phase by the Collaborative Control of motor A43, motor B26 and motor C34
The pursuit movement of machine.
The passive energy dissipation unit 4 includes level-one damping device and two-step buffer；Two-step buffer includes four
A small damper 21, second level damping universal joint lower plate 22, second level damping universal joint turning joint 23, second level damping universal joint upper plate
24, second level damping lower connecting plate 10, second level shock-absorbing support column 11；Second level damping universal joint lower plate 22, second level damping universal joint are living
Movable joint 23 and second level damping universal joint upper plate 24 are in turn connected to form a gimbal structure, and the work of any direction may be implemented
Dynamic, second level damping universal joint upper plate 24 is connect with second level damping universal joint lower plate 22 by four small damper 21, when second level subtracts
It drives the small movement of damper 21 to generate resistance when shaking device run-off the straight campaign, realizes two-step buffer damping；Second level damping
Universal joint upper plate 24 is connect with balance element 20.
The level-one damping device include the big support frame 12 of level-one damping, big damper 16, connecting rod 15, big spring 13,
Spring pretightening mechanism 18, pedestal 14, big damper connecting rod 17 and base support 19；Big 12 one end of support frame of level-one damping and two
Balance plate 20 is flexibly connected in grade damping device, and the other end is connect with pedestal 14；15 one end of connecting rod is connect with balance plate 20, separately
One end is connect with base support 19；Pedestal 14, connecting rod 15, balance plate 20 and base support 19 form movable four side
Shape realizes the kinematic mount of entire cradle head device up and down direction.Pedestal 14, big spring 13, spring tightening mechanism 18 and level-one subtract
It shakes big support frame 12 to be sequentially connected, increases resistance, big 16 one end of damper and the big branch of level-one damping for the movement of level-one damping device
Support 12 connects, and the other end is connect with big damper connecting rod 17, and big 17 connecting rod of damper connecting rod is fixed on base support
On 19, band fluctuation dampers and spring movement when the movement of cradle head device up and down direction, spring generate resistance, and big damper consumes energy
Amount, to realize the effect of cradle head device bumper and absorbing shock.
The hand-held body-sensing terminal unit 5 is connect with holder electronic control unit 6, the body-sensing number that handheld terminal unit is acquired
According to holder electronic control unit 6 is sent to, holder electronic control unit 6 issues the motor in control signal driving active vibration damping unit, realizes
The following function of the target image of video camera；Wireless image transmission transmitting terminal 59 is connect with the camera being fixed on camera support device 1,
Acquisition camera image information is sent to the wireless image transmission receiving end 64 in hand-held body-sensing terminal unit 5, and in the touching of handheld terminal
Camera image is shown on control display screen 63, finally realizes real-time human-computer interaction function.
The holder electronic control unit 6 include motor driver 54, D/A conversion module 55, Arduino control unit A56,
Wireless serial A57, wireless image transmission transmitting terminal 59 and posture displacement sensor A58；In motor driver 54 and active vibration damping unit
Motor be connected；Arduino control unit A56 is connected by D/A conversion module 55 with motor driver 54, Arduino control
The digital signal that unit A processed is sent is converted to analog signal and is sent to motor driver 54, realizes that motor driver 54 controls electricity
Machine；Posture displacement sensor A58 is fixed on the camera base-plate 53 of camera support device 1, the angle of real-time detection camera
And angular speed, posture displacement sensor A58 are communicated with Arduino control unit A56 by IIC communication mode, posture position
The data of acquisition are sent to Arduino control unit A56 by displacement sensor A58；Arduino control unit A56 is logical by serial ports
The mode of letter is connect with wireless serial A57, and wireless serial A57 and hand-held body-sensing unit 5 are wirelessly connected, holder electronic control unit 6
Collected camera image information is sent to the wireless image transmission receiving end 64 in handheld terminal 5 by wireless image transmission transmitting terminal 59, into
And realize the interaction of body-sensing data and the acquisition of image data.
The hand-held body-sensing terminal unit 5 includes microcomputer 62, touching display screen 63, Arduino control unit
B61, posture displacement sensor B60, wireless serial B65, wireless image transmission receiving end 64, handle rocker external equipment 66.
Wireless image transmission receiving end 64 is connect with microcomputer 62, and wireless image transmission receiving end 64 will be from wireless image transmission transmitting terminal 59
The image data received is transferred on microcomputer 62, and microcomputer is connect by HDMI high definition line with touching display screen 63,
The picture of camera is shown by touching display screen 63, and writes the assistant interface of Image Acquisition by QT, realize with it is burnt,
Zoom saves image data function.Led between microcomputer 62 and wireless serial B65 using UART serial communication protocol
Letter, is connected between microcomputer 62 and Arduino control unit B61 by usb communication mode, posture displacement sensor B60
Connection is realized by IIC communication mode between Arduino control unit B61, handle rocker external equipment 66 and Arduino are controlled
It is connected between unit B 61 processed, posture displacement sensor B60 is fixed in hand-held body-sensing terminal, acquires the appearance of hand-held body-sensing terminal
State information, and posture information is sent to Arduino control unit B61, Arduino control unit B61, posture information is carried out
Processing extracts angle information, and angle information is sent to microcomputer 62, and microcomputer 62 will by wireless serial B65
Angle information is sent to wireless serial A57, to realize the acquisition and transmission of angle human body attitude information.
Claims (10)
1. a kind of multiple damping cradle head device based on body feeling interaction, which is characterized in that including active vibration damping unit, passive energy dissipation
Unit (4), hand-held body-sensing terminal unit (5) and holder electronic control unit (6)；
The active vibration damping unit is fixed by passive energy dissipation unit (4) with bracket, and passive energy dissipation unit (4) buffers entire cloud
Platform device；Passive energy dissipation unit (4) is fixed on holder electronic control unit (6), the motor driver of (6) in holder electronic control unit
(54) it is connected with the motor in holder active vibration damping unit, drives the electricity in active vibration damping unit by motor driver (54)
Machine realizes the active movement of whole device；
The active vibration damping unit includes attachment device B (3), attachment device C (8), large arm, forearm and camera support device
(1)；Attachment device B (3), large arm, attachment device C (8), forearm and camera support device (1) are sequentially connected；
The holder electronic control unit (6) is connect with hand-held body-sensing terminal unit (5), the body that handheld terminal unit (5) are acquired
Sense data are sent to holder electronic control unit (6), and holder electronic control unit (6) issues the electricity in control signal driving active vibration damping unit
Machine；Wireless image transmission transmitting terminal (59) in hand-held body-sensing terminal unit (5) connects with the camera being fixed on camera support device (1)
It connects, acquisition camera image information is sent to the wireless image transmission receiving end (64) in hand-held body-sensing terminal unit (5), and hand-held whole
Camera image is shown on the touching display screen (63) at end, realizes real-time human-computer interaction function.
2. a kind of multiple damping cradle head device based on body feeling interaction as described in claim 1, which is characterized in that the cloud
Platform electronic control unit (6) includes motor driver (54), D/A conversion module (55), Arduino control unit A (56), wireless serial
A (57), wireless image transmission transmitting terminal (59) and posture displacement sensor A (58)；In motor driver (54) and active vibration damping unit
Motor be connected；Arduino control unit A (56) is connected by D/A conversion module (55) with motor driver (54),
The digital signal that Arduino control unit A (56) is sent is converted to analog signal and is sent to motor driver (54), realizes motor
Driver (54) controls motor；Arduino control unit A (56) is connected with posture displacement sensor A (58), posture displacement sensing
Device A (58) is fixed on the camera base-plate (53) of camera support device (1), the angle and angular speed of real-time detection camera,
The data of acquisition are sent to Arduino control unit A (56) by posture displacement sensor A (58)；Arduino control unit A
(56) it is connect with wireless serial A (57), wireless serial A (57) and hand-held body-sensing unit (5) are wirelessly connected, holder electronic control unit
(6) wireless image transmission transmitting terminal (59) connects the wireless image transmission that collected camera image information is sent in handheld terminal (5)
Receiving end (64), and then realize the interaction of body-sensing data and the acquisition of image data.
3. a kind of multiple damping cradle head device based on body feeling interaction as claimed in claim 1 or 2, which is characterized in that described
Hand-held body-sensing terminal unit (5) include microcomputer (62), touching display screen (63), Arduino control unit B (61), appearance
State displacement sensor B (60), wireless serial B (65), wireless image transmission receiving end (64) and handle rocker external equipment (66)；Wirelessly
Figure passes receiving end (64) and connect with microcomputer (62), and wireless image transmission receiving end (64) will be from the wireless of holder electronic control unit (6)
Figure passes the image data that transmitting terminal (59) receive and is transferred on microcomputer (62), and microcomputer and touching display screen (63) are even
It connects, is shown the picture of camera by touching display screen (63)；Microcomputer (62) is connected with wireless serial B (65), micro-
Type computer (62) is connected with Arduino control unit B (61), posture displacement sensor B (60) and Arduino control unit B
(61) it connects, handle rocker external equipment (66) is connect with Arduino control unit B (61)；Posture displacement sensor B (60) is solid
It is scheduled in hand-held body-sensing terminal, posture displacement sensor B (60) acquires the posture information of hand-held body-sensing terminal, and by posture information
It is sent to Arduino control unit B (61), Arduino control unit B (61) handles posture information, extracts angle
Information, and angle information is sent to microcomputer (62), microcomputer (62) is sent out angle information by wireless serial B (65)
Wireless serial A (57) are given, to realize the acquisition and transmission of angle human body attitude information.
4. a kind of multiple damping cradle head device based on body feeling interaction as claimed in claim 1 or 2, which is characterized in that described
Forearm be to constitute an entirety by two pieces of forearm arm plates (2) and forearm support column (9)；Large arm is by two pieces of large arm arm plates (7)
An entirety is constituted with large arm support column；Attachment device B (3) includes upper junction plate B (30), lower connecting plate B (25), motor B
(26), electric motor protecting support frame B (28) and rolling bearing B (32)；Upper junction plate B (30), lower connecting plate B (25) and the electricity
Machine protects support frame B (28) to constitute frame structure；Motor B (26) is fixed on lower connecting plate B (25), is placed in frame structure；
Motor B rotor (27), motor output shaft B (29) and connecting flange B (31) are sequentially connected, connecting flange B (31) and passive energy dissipation
Second level damping lower connecting plate (10) connection in unit (4) realizes that active vibration damping unit is transported around the revolution of motor B (26) axial direction
It is dynamic；Upper junction plate B (30) is connect with large arm arm plate (7)；The attachment device C (8) is identical as attachment device B (3) structure, electricity
It is whole that machine C rotor (41), motor output shaft C (36), connecting flange C (39) and forearm connecting plate C (38) are sequentially connected composition one
Body, forearm connecting plate C (38) are connect with forearm arm plate (2), and large arm connecting plate (33) is connect with large arm arm plate (7), realize forearm
Around the rotary motion of motor C (34) axial direction.
5. a kind of multiple damping cradle head device based on body feeling interaction as claimed in claim 3, which is characterized in that described is small
Arm is to constitute an entirety by two pieces of forearm arm plates (2) and forearm support column (9)；Large arm is by two pieces of large arm arm plates (7) and big
Arm support column constitutes an entirety；Attachment device B (3) includes upper junction plate B (30), lower connecting plate B (25), motor B (26), electricity
Machine protects support frame B (28) and rolling bearing B (32)；Upper junction plate B (30), lower connecting plate B (25) and the electric motor protecting
Support frame B (28) constitutes frame structure；Motor B (26) is fixed on lower connecting plate B (25), is placed in frame structure；Motor B turns
Sub (27), motor output shaft B (29) and connecting flange B (31) are sequentially connected, connecting flange B (31) and passive energy dissipation unit (4)
In second level damping lower connecting plate (10) connection, realize active vibration damping unit around motor B (26) axial direction rotary motion；Upper connection
Plate B (30) is connect with large arm arm plate (7)；The attachment device C (8) is identical as attachment device B (3) structure, motor C rotor
(41), motor output shaft C (36), connecting flange C (39) and forearm connecting plate C (38) are sequentially connected and form a whole, forearm
Connecting plate C (38) is connect with forearm arm plate (2), and large arm connecting plate (33) is connect with large arm arm plate (7), realizes forearm around motor C
(34) axial rotary motion.
6. a kind of multiple damping cradle head device based on body feeling interaction as claimed in claim 1 or 2, which is characterized in that described
Camera support device (1) include motor A (43), motor output shaft A (44), motor support base (42), rotor plate (47), sliding bar
(48), sleeve (49) and camera seat structure；The motor A (43) is fixed in motor support base (42), motor A's (43)
Motor output shaft A (44) is connect by rotor plate (47) with sleeve (49), realizes that camera seat structure is whole around motor A (43)
Axial rotary motion；Sleeve (49) covers on sliding bar (48), realizes the fine tuning of camera seat structure upper and lower position, tightening
Set (49) is for locking camera seat structure；Camera seat structure includes camera support upper plate (50), camera support intermediate supports
Plate (51), camera base-plate (53) and counter weight device (52)；The camera support of sliding bar (48) lower end and camera seat structure
Bottom plate (53) is connected, and camera base-plate (53), camera support intermediate support plate (51) and camera support upper plate (50) are under
Supreme to be sequentially connected, camera is placed on camera support upper plate (50), counter weight device (52) and camera support intermediate support plate (51)
Connection, counter weight device (52) balance realize the fixation of camera because camera weight unevenness bring is uneven.
7. a kind of multiple damping cradle head device based on body feeling interaction as claimed in claim 3, which is characterized in that the phase
Machine support device (1) includes motor A (43), motor output shaft A (44), motor support base (42), rotor plate (47), sliding bar
(48), sleeve (49) and camera seat structure；The motor A (43) is fixed in motor support base (42), motor A's (43)
Motor output shaft A (44) is connect by rotor plate (47) with sleeve (49), realizes that camera seat structure is whole around motor A (43)
Axial rotary motion；Sleeve (49) covers on sliding bar (48), realizes the fine tuning of camera seat structure upper and lower position, tightening
Set (49) is for locking camera seat structure；Camera seat structure includes camera support upper plate (50), camera support intermediate supports
Plate (51), camera base-plate (53) and counter weight device (52)；The camera support of sliding bar (48) lower end and camera seat structure
Bottom plate (53) is connected, and camera base-plate (53), camera support intermediate support plate (51) and camera support upper plate (50) are under
Supreme to be sequentially connected, camera is placed on camera support upper plate (50), counter weight device (52) and camera support intermediate support plate (51)
Connection, counter weight device (52) balance realize the fixation of camera because camera weight unevenness bring is uneven.
8. a kind of multiple damping cradle head device based on body feeling interaction as claimed in claim 1 or 2, which is characterized in that described
Passive energy dissipation unit (4) include level-one damping device and two-step buffer；Two-step buffer includes four small dampers
(21), second level damping universal joint lower plate (22), second level damping universal joint turning joint (23), second level damping universal joint upper plate
(24), second level damping lower connecting plate (10), second level shock-absorbing support column (11)；Second level damping universal joint lower plate (22), second level damping
Universal joint turning joint (23) and second level damping universal joint upper plate (24) are in turn connected to form a gimbal structure, realize any
The activity in direction, second level damping universal joint upper plate (24) and second level damping universal joint lower plate (22) pass through four small damper (21)
Connection drives small damper (21) movement to generate resistance when two-step buffer run-off the straight campaign, realizes second level damping dress
Set damping；Second level damping universal joint upper plate (24) is connect with balance element (20)；
The level-one damping device includes the big support frame of level-one damping (12), big damper (16), connecting rod (15), big spring
(13), spring pretightening mechanism (18), pedestal (14), big damper connecting rod (17) and base support (19)；The big branch of level-one damping
Support (12) one end is flexibly connected with balance plate in two-step buffer (20), and the other end is connect with pedestal (14)；Connecting rod
(15) one end is connect with balance plate (20), and the other end is connect with base support (19)；Pedestal (14), connecting rod (15), balance plate
(20) and base support (19) forms a movable quadrangle, realizes the kinematic mount of entire cradle head device up and down direction；Bottom
Seat (14), big spring (13), spring tightening mechanism (18) and the big support frame of level-one damping (12) are sequentially connected, and are filled for level-one damping
It sets movement and increases resistance, big damper (16) one end is connect with the big support frame of level-one damping (12), and the other end and big damper connect
Extension bar (17) connection, big damper connecting rod (17) connecting rod is fixed on base support (19), when cradle head device up and down direction
Band fluctuation dampers and spring movement when movement, spring generate resistance, and big damper consumes energy, to realize that cradle head device buffers
The effect of damping.
9. a kind of multiple damping cradle head device based on body feeling interaction as claimed in claim 3, which is characterized in that the quilt
Dynamic vibration absorption unit (4) include level-one damping device and two-step buffer；Two-step buffer include four small damper (21),
Second level damping universal joint lower plate (22), second level damping universal joint turning joint (23), second level damping universal joint upper plate (24), second level
Damping lower connecting plate (10), second level shock-absorbing support column (11)；Second level damping universal joint lower plate (22), second level damping universal joint activity
Joint (23) and second level damping universal joint upper plate (24) are in turn connected to form a gimbal structure, realize the work of any direction
Dynamic, second level damping universal joint upper plate (24) is connect with second level damping universal joint lower plate (22) by four small damper (21), when
It drives small damper (21) movement to generate resistance when two-step buffer run-off the straight campaign, realizes two-step buffer damping；
Second level damping universal joint upper plate (24) is connect with balance element (20)；
The level-one damping device includes the big support frame of level-one damping (12), big damper (16), connecting rod (15), big spring
(13), spring pretightening mechanism (18), pedestal (14), big damper connecting rod (17) and base support (19)；The big branch of level-one damping
Support (12) one end is flexibly connected with balance plate in two-step buffer (20), and the other end is connect with pedestal (14)；Connecting rod
(15) one end is connect with balance plate (20), and the other end is connect with base support (19)；Pedestal (14), connecting rod (15), balance plate
(20) and base support (19) forms a movable quadrangle, realizes the kinematic mount of entire cradle head device up and down direction；Bottom
Seat (14), big spring (13), spring tightening mechanism (18) and the big support frame of level-one damping (12) are sequentially connected, and are filled for level-one damping
It sets movement and increases resistance, big damper (16) one end is connect with the big support frame of level-one damping (12), and the other end and big damper connect
Extension bar (17) connection, big damper connecting rod (17) connecting rod is fixed on base support (19), when cradle head device up and down direction
Band fluctuation dampers and spring movement when movement, spring generate resistance, realize the effect of cradle head device bumper and absorbing shock.
10. a kind of multiple damping cradle head device based on body feeling interaction as described in claim 5 or 7, which is characterized in that described
Passive energy dissipation unit (4) include level-one damping device and two-step buffer；Two-step buffer includes four small dampers
(21), second level damping universal joint lower plate (22), second level damping universal joint turning joint (23), second level damping universal joint upper plate
(24), second level damping lower connecting plate (10), second level shock-absorbing support column (11)；Second level damping universal joint lower plate (22), second level damping
Universal joint turning joint (23) and second level damping universal joint upper plate (24) are in turn connected to form a gimbal structure, realize any
The activity in direction, second level damping universal joint upper plate (24) and second level damping universal joint lower plate (22) pass through four small damper (21)
Connection drives small damper (21) movement to generate resistance when two-step buffer run-off the straight campaign, realizes second level damping dress
Set damping；Second level damping universal joint upper plate (24) is connect with balance element (20)；
The level-one damping device includes the big support frame of level-one damping (12), big damper (16), connecting rod (15), big spring
(13), spring pretightening mechanism (18), pedestal (14), big damper connecting rod (17) and base support (19)；The big branch of level-one damping
Support (12) one end is flexibly connected with balance plate in two-step buffer (20), and the other end is connect with pedestal (14)；Connecting rod
(15) one end is connect with balance plate (20), and the other end is connect with base support (19)；Pedestal (14), connecting rod (15), balance plate
(20) and base support (19) forms a movable quadrangle, realizes the kinematic mount of entire cradle head device up and down direction；Bottom
Seat (14), big spring (13), spring tightening mechanism (18) and the big support frame of level-one damping (12) are sequentially connected, and are filled for level-one damping
It sets movement and increases resistance, big damper (16) one end is connect with the big support frame of level-one damping (12), and the other end and big damper connect
Extension bar (17) connection, big damper connecting rod (17) connecting rod is fixed on base support (19), when cradle head device up and down direction
Band fluctuation dampers and spring movement when movement, spring generate resistance, realize the effect of cradle head device bumper and absorbing shock.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810784871.5A CN108953888B (en) | 2018-07-17 | 2018-07-17 | A kind of multiple damping cradle head device based on body feeling interaction |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810784871.5A CN108953888B (en) | 2018-07-17 | 2018-07-17 | A kind of multiple damping cradle head device based on body feeling interaction |
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| CN108953888B CN108953888B (en) | 2019-06-28 |
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| CN201810784871.5A Expired - Fee Related CN108953888B (en) | 2018-07-17 | 2018-07-17 | A kind of multiple damping cradle head device based on body feeling interaction |
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| CN109915704A (en) * | 2019-03-27 | 2019-06-21 | 南京理工大学 | A kind of automatically controlled holder and its movement technique with electromagnetic damping system |
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