CN111578081A

CN111578081A - Cloud platform, remote control vehicle and remote control carrying system

Info

Publication number: CN111578081A
Application number: CN202010441295.1A
Authority: CN
Inventors: 贝世猛; 关毅骏
Original assignee: SZ DJI Osmo Technology Co Ltd
Current assignee: SZ DJI Osmo Technology Co Ltd
Priority date: 2015-09-06
Filing date: 2015-09-06
Publication date: 2020-08-25
Also published as: WO2017035842A1; CN107107976A

Abstract

A head (20a) comprises a platform part (20), the platform part (20) being intended to carry a load. The cloud platform (20a) further comprises a lifting mechanism (30) connected to the cloud platform part (20), and the lifting mechanism (30) drives the cloud platform part (20) to move up and down through moving up and down to realize the lifting of the load. The invention also relates to a remote control vehicle with the cradle head.

Description

Cloud platform, remote control vehicle and remote control carrying system

Technical Field

The invention relates to the field of photography, in particular to a holder, a remote control vehicle and a remote control carrying system.

Background

The holder is a supporting device for mounting and fixing image acquisition devices such as a camera and a video camera, most holders can only adjust the horizontal and pitching angles of the image acquisition devices through self structures at present, the height of the holders can not be adjusted, the up-and-down movement of the image acquisition devices can not be realized to shoot a shot object from top to bottom, and the visual range of the image acquisition devices is limited.

For example, at present, tracks or rocker arms used when some follow-up lenses are shot need to be operated by people for a long time, and the visual angle cannot be adjusted randomly, so that the existing requirements are not met more and more.

Disclosure of Invention

In view of the above, it is desirable to provide a height adjustable cradle head, a remote-controlled vehicle and a remote-controlled carrying system.

A remote control vehicle comprises a movable carrier and a cloud platform connected to the movable carrier and used for bearing a load, wherein the cloud platform comprises a cloud platform part, the load is installed on the cloud platform part, the cloud platform also comprises a lifting mechanism connected to the cloud platform part, and the lifting mechanism drives the cloud platform part to move up and down through moving up and down so as to realize the lifting of the load;

this elevating system includes rotary drive device and connects in this rotary drive device's bracing piece, and this rotary drive device is used for driving this bracing piece and rotates around the rotation axis of this rotary drive device perpendicular to this portable carrier, and this cloud platform portion hangs in this bracing piece one end of keeping away from this rotary drive device.

Further, this bracing piece is the telescopic link, and this elevating system adjusts the height of this cloud platform portion for this movable carrier through the length of adjusting this telescopic link.

Further, this cloud platform portion still includes cloud platform damper, and this cloud platform portion is connected in this bracing piece through this cloud platform damper and is kept away from this rotation driving device's one end.

Further, this cloud platform portion includes first support frame, with the rotatable second support frame of being connected of this first support frame and with the rotatable third support frame of being connected of this second support frame.

Further, the pan/tilt head further comprises a first driving member, a second driving member and a third driving member, wherein the first driving member is connected to the first support frame and used for driving the first support frame to rotate; the second support frame is rotatably connected with the first support frame through the second driving piece; the third support frame is rotatably connected to the second support frame through the third driving piece.

Further, this cloud platform damper connects in this first support frame and this elevating system.

Further, this cloud platform damper includes the shock attenuation body that is used for the vibration that this first support frame received, and this shock attenuation body is the hollow spheroid made by elastic material.

Further, this cloud platform damper includes upper plate and lower plate, and this upper plate sets up with this lower plate relative interval, and the both ends of this shock attenuation body are connected respectively in this upper plate and this lower plate.

Further, the movable carrier comprises a chassis, wheels connected to the chassis, and a shock-absorbing structure, wherein the wheels are connected to the chassis through the shock-absorbing structure, and the shock-absorbing structure is used for buffering the chassis from the vibration of the wheels.

Further, the remote control vehicle further comprises a controller for controlling the cradle head and the movable carrier.

Further, the remote control vehicle further includes a sensor for capturing a moving object,

the controller acquires the position information of the moving target captured by the sensor and controls the movement of the holder part, so that the load on the holder part moves along with the moving target; or

The controller acquires the position information of the moving target captured by the sensor so as to control the movement of the holder part and the lifting mechanism, so that the load on the holder part moves along with the moving target.

Further, the remote control vehicle further includes a sensor for capturing the heat-source object,

the controller controls the movement of the holder part according to the position information of the heat source object captured by the sensor, so that the load on the holder part automatically searches for the heat source object; or

The controller controls the movement of the holder part and the lifting mechanism according to the position information of the heat source object captured by the sensor, so that the load on the holder part automatically searches for the heat source object.

A cloud platform comprises a cloud platform part, a lifting mechanism and a control device, wherein the cloud platform part is used for bearing a load, the cloud platform also comprises the lifting mechanism connected to the cloud platform part, and the lifting mechanism drives the cloud platform part to move up and down through moving up and down so as to realize the lifting of the load;

this elevating system includes rotary drive device and connects in this rotary drive device's bracing piece, and this rotary drive device is used for driving this bracing piece and rotates around this rotary drive device's rotation axis, and this cloud platform portion hangs in this bracing piece and keeps away from this rotary drive device's one end.

Furthermore, the supporting rod is a telescopic rod, and the height of the cloud platform part is adjusted by adjusting the length of the telescopic rod through the lifting mechanism.

A remote-controlled vehicle comprising a movable carrier and a head connected to the movable carrier and adapted to carry a load, the head comprising a head portion on which the load is mounted, characterized in that: the cradle head also comprises a lifting mechanism connected with the cradle head part, and the lifting mechanism drives the cradle head part to move up and down through moving up and down so as to realize the lifting of the load;

this elevating system includes flexible drive arrangement and connects in this flexible drive arrangement's bracing piece, and the middle part of this bracing piece can rotate in order to form lever structure around a strong point, and this cloud platform portion connects in the one end that this flexible drive arrangement was kept away from to this bracing piece, and this flexible drive arrangement is used for driving this bracing piece and keeps away from the one end perk of this flexible drive arrangement and adjusts the height of this cloud platform portion for this portable carrier.

Furthermore, the lifting mechanism comprises a supporting rod, one end of the supporting rod is fixed on the movable carrier, and the other end of the supporting rod is connected to the middle part of the supporting rod so as to provide the supporting point for the supporting rod; the holder part is hung at one end of the support rod, and the other end of the support rod is connected with the telescopic driving device.

Further, this bracing piece is the telescopic link, and this elevating system adjusts the height of this cloud platform portion for this movable carrier through this length of adjusting this bracing piece.

Further, this cloud platform portion still includes cloud platform damper, and this cloud platform portion is connected in this bracing piece through this cloud platform damper and is kept away from this telescopic driving device's one end.

this elevating system includes flexible drive arrangement and connects in this flexible drive arrangement's bracing piece, and the middle part of this bracing piece can rotate in order to form lever structure around a strong point, and this cloud platform portion connects in the one end that this flexible drive arrangement was kept away from to this bracing piece, and this flexible drive arrangement is used for driving this bracing piece and keeps away from the one end perk of this flexible drive arrangement and adjusts the height of this cloud platform portion.

Furthermore, the lifting mechanism comprises a supporting rod, and one end of the supporting rod is connected to the middle part of the supporting rod to provide the supporting point for the supporting rod; the holder part is hung at one end of the support rod, and the other end of the support rod is connected with the telescopic driving device.

Further, this bracing piece is the telescopic link, and this elevating system adjusts the height of this cloud platform portion through this length of adjusting this bracing piece.

A remote control vehicle comprises a movable carrier and a cloud platform part connected with the movable carrier and used for bearing a load, wherein the cloud platform comprises a cloud platform part, the load is installed on the cloud platform part, the cloud platform also comprises a lifting mechanism connected with the cloud platform part, and the lifting mechanism drives the cloud platform part to move up and down through moving up and down to realize the lifting of the load;

the holder part comprises a first support frame, a second support frame which is rotatably connected with the first support frame and a third support frame which is rotatably connected with the second support frame;

the holder part also comprises a first driving piece, a second driving piece and a third driving piece, wherein the first driving piece is connected to the first support frame and is used for driving the first support frame to rotate; the second support frame is rotatably connected with the first support frame through the second driving piece; the third support frame is rotatably connected to the second support frame through the third driving piece;

the second support frame is basically in a concave shape and comprises two support arms which are oppositely arranged; the third support frame is rotatably connected with the two support arms and is positioned between the two support arms.

Further, in the initial state, the driving shaft of the first driving member, the driving shaft of the second driving member and the driving shaft of the third driving member are perpendicular to each other.

Further, this cloud platform portion still includes the cloud platform damper who connects in this first support frame and this elevating system.

Furthermore, the driving shaft of the first driving member penetrates through the lower base plate and the upper base plate from one side of the lower base plate and is connected to the first supporting frame.

Further, this elevating system is including connecting in the crane of this portable carrier, and this cloud platform damper connects in this crane, and this crane can drive this cloud platform damper and reciprocate.

Further, this elevating system still including connect in the crane and can bear the frame for this crane removes, this cloud platform damper connects in this bears the frame, should bear the frame and drive this cloud platform damper and reciprocate.

Further, the lifting mechanism also comprises a lifting driving device for driving the bearing frame to move relative to the lifting frame.

Further, the lifting mechanism further comprises a transmission mechanism, and the lifting driving device drives the bearing frame to move through the transmission mechanism.

Further, this drive mechanism still includes conveyer belt and two band pulleys, and one of them band pulley is connected in this lift drive arrangement's drive shaft, and another band pulley is connected in this crane, and this conveyer belt cover is established on these two band pulleys, should bear frame and this conveyer belt fixed connection.

Furthermore, this elevating system still includes the connecting piece, and this connecting piece is slidable for this crane, and this bears frame through this connecting piece and this conveyer belt fixed connection.

Furthermore, the connecting piece comprises a sliding sleeve, a clamping part and a connecting part for connecting the sliding sleeve and the clamping part, and the sliding sleeve is sleeved on the lifting frame and can slide along the lifting frame; the clamping portion clamps the conveyor belt and moves with the conveyor belt.

Furthermore, the transmission mechanism comprises a chain and two chain wheels; the two chain wheels are oppositely arranged at intervals, the chain is sleeved on the two chain wheels, the lifting driving device drives one chain wheel to rotate, and the other chain wheel is driven to rotate by the chain; the bearing frame is connected with the chain and moves along with the chain;

or, the transmission mechanism comprises a chain and a chain wheel; the chain is wound on the chain wheel, and the lifting driving device drives the chain wheel to rotate; the carriage is coupled to the chain and moves with the chain.

Furthermore, this drive mechanism includes the lead screw, and this lead screw includes lead screw and the cover is established on this lead screw and with this lead screw thread fit's screw, should bear the frame and be connected with this screw to move along with this screw, this lift drive is used for driving this lead screw and rotates.

Further, the transmission mechanism comprises a gear and a rack meshed with the gear, the lifting driving device is used for driving the gear to rotate, and the bearing frame is connected with the rack and moves together with the rack.

Further, the lifting drive device comprises a linear motor, and the bearing frame is connected with a moving primary or a moving secondary of the linear motor;

or the lifting driving device comprises a hydraulic driving device, and a driving shaft of the hydraulic driving device is connected with the bearing frame and used for driving the bearing frame to move;

or the lifting driving device comprises a pneumatic driving device, and a driving shaft of the pneumatic driving device is connected with the bearing frame and used for driving the bearing frame to move.

A remotely controlled vehicle system, comprising:

the handheld cloud platform is used for bearing loads and is provided with a first operating handle for holding;

a remote control vehicle for carrying on this handheld cloud platform, this remote control vehicle can carry this handheld cloud platform and move together, and this remote control vehicle includes: the device comprises a movable carrier, a lifting mechanism arranged on the movable carrier, a holder damping mechanism connected to the movable carrier through the lifting mechanism and a detachable structure detachably arranged on the holder damping mechanism;

when the handheld cloud platform is used independently, the handheld cloud platform can be separated from the remote control vehicle by operating the detachable structure; when a vehicle needs to be remotely controlled to carry the handheld cloud deck for use, the handheld cloud deck can be fixed on the movable carrier through the detachable structure;

this detachable construction is used for pressing from both sides the clamping device of this handheld cloud platform including, and this clamping device is used for this first handle of centre gripping.

Further, the detachable structure further comprises a holding induction sensor for sensing whether the handheld holder is held.

Furthermore, the detachable structure also comprises an interface which is used for being connected with the handheld cloud deck in an inserting mode.

Further, the remote control vehicle comprises a vehicle power battery for providing a power supply for the movable carrier to move, and the vehicle power battery can provide a cruising power supply for the handheld holder through the interface.

Further, this handheld cloud platform is equipped with cloud platform power battery, and this vehicle power battery can charge for this cloud platform power battery.

Further, this cloud platform damper is including being used for the shock attenuation body of the vibration that this handheld cloud platform received, and this shock attenuation body is the hollow spheroid of being made by elastic material.

Further, this elevating system includes rotary drive device and connects in this rotary drive device's bracing piece, and this rotary drive device is used for driving this bracing piece and rotates around the rotation axis of this rotary drive device perpendicular to this portable carrier, and this handheld cloud platform hangs in this bracing piece one end of keeping away from this rotary drive device.

Further, this bracing piece is the telescopic link, and this elevating system adjusts this handheld cloud platform for the height of this movable carrier through the length of adjusting this telescopic link.

Further, this handheld cloud platform passes through this cloud platform damper to be connected in this bracing piece and keeps away from this rotation driving device's one end.

Further, this elevating system includes flexible drive arrangement and connects in this flexible drive arrangement's bracing piece, and the middle part of this bracing piece can rotate in order to form lever structure around a strong point, and this handheld cloud platform is connected in this bracing piece and is kept away from this flexible drive arrangement's one end, and this flexible drive arrangement is used for driving this bracing piece and keeps away from this flexible drive arrangement's one end perk and adjusts this handheld cloud platform for the height of this movable carrier.

Further, this bracing piece is the telescopic link, and this elevating system adjusts the height of this handheld cloud platform for this movable carrier through this length of adjusting this bracing piece.

Further, this handheld cloud platform passes through this cloud platform damper to be connected in this bracing piece and keeps away from this telescopic drive device's one end.

Further, the remote control vehicle further comprises a controller for controlling the handheld cradle head and the movable carrier.

the controller acquires the position information of the moving target captured by the sensor and controls the handheld cloud platform to move, so that the load on the handheld cloud platform moves along with the moving target; or

The controller acquires the position information of the moving target captured by the sensor so as to control the handheld cloud platform and the lifting mechanism to move, and the load on the handheld cloud platform moves along with the moving target.

the controller controls the handheld cloud deck to move according to the position information of the heat source object captured by the sensor, so that the load on the handheld cloud deck automatically searches for the heat source object; or

The controller controls the handheld cloud platform and the lifting mechanism to move according to the position information of the heat source object captured by the sensor, so that the load on the handheld cloud platform automatically searches for the heat source object.

A remote-controlled vehicle for carrying a hand-held pan-tilt and moving together with the hand-held pan-tilt, the remote-controlled vehicle comprising:

the device comprises a movable carrier, a lifting mechanism arranged on the movable carrier, a holder damping mechanism connected to the movable carrier through the lifting mechanism and a detachable structure detachably arranged on the holder damping mechanism;

this detachable construction is used for the first handle of this handheld cloud platform of centre gripping including being used for pressing from both sides the clamping device of this handheld cloud platform, this clamping device.

By adopting the cradle head, the remote control vehicle and the remote control carrying system, the cradle head also comprises a lifting mechanism connected to the cradle head part, the lifting mechanism drives the cradle head part to move up and down by moving up and down, the height of the cradle head is adjusted, and the up and down movement of the image acquisition device is realized.

Drawings

Fig. 1 is a schematic structural diagram of a remote-controlled vehicle according to a first embodiment of the present invention.

Fig. 2 is a front view of the remote-controlled vehicle in fig. 1.

Fig. 3 is a right side view of the remotely controlled vehicle of fig. 1.

Fig. 4 is a bottom view of the remotely controlled vehicle of fig. 1.

Fig. 5 is a schematic structural diagram of a remote-controlled vehicle according to a second embodiment of the present invention.

Fig. 6 is a schematic structural diagram of a remote-controlled vehicle according to a third embodiment of the present invention.

Fig. 7 is a schematic structural diagram of a remote-controlled vehicle according to a fourth embodiment of the present invention.

Fig. 8 is a schematic structural diagram of a remote-controlled vehicle according to a fifth embodiment of the present invention.

Fig. 9 is a schematic structural diagram of a remote-controlled vehicle according to a sixth embodiment of the present invention.

Fig. 10 is a schematic structural view of a remote controlled vehicle according to a seventh embodiment of the present invention.

Fig. 11 is a schematic structural diagram of a remote-controlled vehicle according to an eighth embodiment of the present invention.

Fig. 12 is a schematic structural diagram of a remote-controlled vehicle according to a ninth embodiment of the present invention.

Fig. 13 is a schematic structural diagram of a remote control carrying system according to a tenth embodiment of the present invention.

Fig. 14 is a schematic structural diagram of a handheld pan/tilt head of the remote control carrying system in fig. 13.

Description of the main elements

The following detailed description will further illustrate the invention in conjunction with the above-described figures.

Detailed Description

Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

Referring to fig. 1 to 4, a remote control vehicle 100 according to a first embodiment of the present invention includes a movable carrier 10 and a cradle head 20a, where the cradle head 20a is used for carrying a load, and the load may be an image capturing device, a heat source detecting device, a life detecting device, etc. In the present embodiment, the load is the image acquisition device 40, for example, the image acquisition device 40 may be a camera; it is understood that in other embodiments, the image capturing device 40 may be other imaging devices, such as an ultrasound imaging device.

The movable carrier 10 is used for carrying the pan/tilt head 20a, and can drive the pan/tilt head 20a to translate and rotate in any direction. The movable carrier 10 includes a chassis 11, a shock absorbing structure 12, wheels 13, and a wheel power device 14. The chassis 11 is used for carrying the pan/tilt head 20 a. The damping structure 12 is connected to the chassis 11 and the wheels 13, and is used for damping vibration of the chassis 11 from the wheels 13. The wheel power unit 14 is fixedly connected to the chassis 11 and is used for providing power for the movement of the wheels 13. In the present embodiment, the damper structure 12 is a suspension type damper mechanism.

In this embodiment, the wheels 13 may be omni-wheels with an angle of 45 degrees, and the number of the omni-wheels is four; the wheel power devices 14 are motors, and the number of the wheel power devices is two; the two wheel power devices 14 are respectively used for driving the two wheels 13 positioned at the front end of the chassis 11; the movable carrier 10 further includes a steering power device (not shown) for driving the two wheels 13 at the rear end of the chassis 11 to steer; the number of the shock absorbing structures 12 is two, two shock absorbing structures 12 are respectively connected to two ends of the chassis 11, each shock absorbing structure 12 is connected to two wheels 13, and four wheels 13 are respectively located at four vertexes of a rectangle. It is understood that in other embodiments, each wheel 13 may be provided with a separate shock absorbing structure.

It is understood that in other embodiments, the movable carrier 10 may adopt one of the following ways according to actual needs: the wheels 13 are all-directional wheels with 90-degree angles, the number of the wheels is three, the wheel power devices 14 are motors, the number of the wheel power devices 14 is three, the three wheel power devices 14 are respectively used for driving the three wheels 13, the three wheels 13 are uniformly arranged along a circle, and the three wheels 13 are respectively positioned at three vertexes of an equilateral triangle; the number of the wheels 13 is four, two of the four wheels 13 are connected to the front end of the chassis 11, the other two of the four wheels 13 are connected to the rear end of the chassis 11 opposite to the front end, the movable carrier 10 further comprises a steering power device, the steering power device can be a motor or an ostrich, the number of the steering power device is two, the movable carrier 10 further comprises a transmission device connected to the chassis 11, the wheel power device 14 drives the two wheels 13 connected to the rear end of the chassis 11 to translate through the transmission device, and the two steering power devices are respectively used for driving the two wheels 13 connected to the front end of the chassis 11 to steer. The number of the wheels 13 is multiple, the wheels 13 are respectively mounted on the left side and the right side of the chassis 11, the number of the wheel power devices 14 is two, the two wheel power devices 14 respectively drive the wheels 13 located on the left side and the right side of the chassis 11 to form differential drive, and the movable carrier 10 further comprises two crawler belts respectively sleeved on the wheels 13 located on the left side and the right side of the chassis 11.

The cradle head 20a is detachably connected to the movable carrier 10, and is used for carrying the image capturing device 40. The cradle head 20a includes a cradle head portion 20 and a lifting mechanism 30 capable of driving the cradle head portion 20 to move up and down synchronously.

The pan/tilt head 20 includes a first driving member 21, a pan/tilt head damping mechanism 22, a first supporting frame 23, a second supporting frame 24, a second driving member 25, a third driving member 26, and a third supporting frame 27. The driving shaft of the first driving member 21 passes through the pan-tilt damping mechanism 22 and is connected to the first supporting frame 23, and is used for driving the first supporting frame 23 to drive the shooting device 40 to rotate synchronously. The pan/tilt head damping mechanism 22 is used for damping the vibration of the first support frame 23 from the movable carrier 10 and the lifting mechanism 30. The second driving member 25 is fixed to the first support frame 23, and its driving shaft is connected to the second support frame 24 to drive the second support frame 24 to rotate. The third driving member 26 is fixedly connected to the second supporting frame 24, and its driving shaft is connected to the third supporting frame 27 to drive the third supporting frame 27 to rotate. The third supporting frame 27 is rotatably connected to the second supporting frame 24, and the image capturing device 40 is mounted on the third supporting frame 27.

This pan/tilt head unit 20 includes a translation axis mechanism and a pitch axis mechanism. In the present embodiment, the translation axis mechanism includes the first support frame 23, and the pitch axis mechanism includes the third driving member 26 and the third support frame 27.

This pan/tilt head damping mechanism 22 includes at least one of the following damping mechanisms: the damping device comprises a steel wire rope damping mechanism, a hydraulic damping mechanism, an air pressure damping mechanism, an elastic sheet damping mechanism and an elastic ball damping mechanism. In this embodiment, the holder damping mechanism 22 includes a lower plate 221, an upper plate 222 spaced from the lower plate 221 by a predetermined distance, and a damping body 223 connecting the lower plate 221 and the upper plate 222. In the present embodiment, the damper body 223 is a hollow sphere made of an elastic material. The driving shaft of the first driving member 21 passes through the lower plate 221 and the upper plate 222 from one side of the lower plate 221 and is connected to the first supporting frame 23.

The specific structure of the second supporting frame 24 can be designed according to different requirements, for example, in the illustrated embodiment, the second supporting frame 24 is substantially in the shape of a Chinese character 'ao', and includes two supporting arms 241 oppositely disposed. The third supporting frame 27 is rotatably connected to two supporting arms 241, and is located between the two supporting arms 241. The third driving member 26 is fixed to the supporting arm 241.

In the present embodiment, the first driving member 21, the second driving member 25 and the third driving member 26 are all motors. It is understood that in other embodiments, the first driving member 21, the second driving member 25 and the third driving member 26 can be other types of drivers, such as motors; in the initial state, the driving shaft of the first driving member 21, the driving shaft of the second driving member 25 and the driving shaft of the third driving member 26 may be perpendicular to each other, and the driving shaft of the first driving member 21 is perpendicular to the central axis of the wheel 13. The driving shaft of the first driving member 21 and the driving shaft of the second driving member 25 are always perpendicular, and the driving shaft of the second driving member 25 and the driving shaft of the third driving member 26 are always perpendicular. The drive shaft of the first drive member 21 and the drive shaft of the third drive member 26 may be perpendicular or diagonal.

The lifting mechanism 30 is detachably connected to the chassis 11 of the movable carrier 10, and includes a base 31, a lifting driving device 32, a lifting frame 33, a connecting member 34, a carriage 35, a conveyor belt 36, and a pulley 37. The belt 36 and the belt wheel 37 constitute a transmission mechanism, and the lifting driving device 32 drives the carriage 35 to move through the transmission mechanism. The lifting drive device 32 is fixed to the base 31, and its driving shaft is connected to the pulley 37. The lifting frame 33 is connected with the loading frame 35 through the connecting piece 34. In this embodiment, the number of the pulleys 37 is two, one of the two pulleys 37 is connected to the elevation driving unit 32, and the other of the two pulleys 37 is fixed to the elevation frame 33. The belt 36 is looped over two of the pulleys 37, which are fixedly connected to the connecting member 36. The lifting driving device 32 drives the belt wheel 37 to rotate so as to drive the conveyor belt 36 to rotate, the conveyor belt 36 drives the loading frame 35 to move up and down through the connecting piece 34, and the connecting piece 34 can slide along the lifting frame 33.

The base 31 includes a fixing plate 311 and two supporting plates 312 fixed on the fixing plate 311 at intervals, and the supporting plates 312 are provided with a shaft hole 3121. The elevation driving device 32 includes a driving shaft 321, and the driving shaft 321 is accommodated in the shaft hole 3121. The drive shaft 321 passes through one of the pulleys 37, the pulley 37 being located between the two support plates 312. In the present embodiment, the elevation driving device 32 is a motor.

The specific structure of the crane 33 can be designed according to different requirements, for example, in the illustrated embodiment, the crane 33 is substantially in the shape of a Chinese character 'ao', which includes a first connecting rod 331, a supporting rod 332, and a hanger 333 for rotatably connecting the pulley 37. In this embodiment, the number of the support rods 332 is two; the first connecting rod 331 includes a fixing surface 3311, and two supporting rods 332 are fixed on the fixing surface 3311 at intervals. The first connecting rod 331 is fixed on the fixing surface 3311 and located between the two support rods 332. It is understood that in other embodiments, the base 31 and the lifting frame 33 may be a unitary structure.

The connecting member 34 is slidably connected to the lifting frame 33, and includes a connecting portion 341, a clamping portion 342 fixedly connected to the conveyor belt 36, and a sliding sleeve 343, in the embodiment where the connecting portion 341 connects the clamping portion 342 and the sliding sleeve 343, the number of the sliding sleeves 343 is two, and two sliding sleeves 343 are fixed to the connecting portion 341 at intervals. The clamping portion 342 is fixed on the connecting portion 341, and is located between the two sliding sleeves 343. The two sliding sleeves 343 are respectively sleeved on the two support rods 332 of the lifting frame 33, and can slide along the support rods 332.

The bearing frame 35 is used for bearing the pan/tilt head 20, and includes a second connecting rod 351 and a bearing rod 352 fixedly connected to the second connecting rod 351. In this embodiment, the number of the carrier bars 352 is two, and two second connecting bars 352 are spaced apart from each other. The two second connecting rods 352 are respectively fixedly connected to the two sliding sleeves 343 of the connecting member 34, and the carriage 35 moves up and down along with the conveyor belt 36 via the connecting member 34.

The base 31 of the lifting mechanism 30 is fixed on the chassis 11 of the movable carrier 10, the two support rods 332 of the lifting frame 33 are fixed on the chassis 11, and the base 31 is located between the two support rods 332.

The remotely controlled vehicle 100 also includes a controller (not shown) disposed on the chassis 11 for controlling the wheel power unit 14 to effect the immobilization, translation or rotation of the movable carrier 10. The controller is further configured to control the first driving element 21, the second driving element 25 and the third driving element 26 to realize the static or rotation of the first support frame 23, the second support frame 24 and the third support frame 27, and further realize the static or rotation of the image capturing device 40. In this embodiment, the controller is further configured to control the lifting driving device 32 to realize the static or rotation of the pulley 37, and further realize the static and up-down movement of the image capturing device 40, so as to expand the visible range of the remote control vehicle 100. The controller can also control the translation axis mechanism to move along the translation axis direction along with the movable carrier 10, and the pitch axis mechanism to move along the pitch axis direction along with the movable carrier 10, so as to conveniently control the position of the load.

In one embodiment, the remote-controlled vehicle 100 further includes a sensor for capturing a moving target, and the controller obtains the position information of the moving target and correspondingly controls the movable carrier 10, the pan/tilt head 20 and/or the lifting mechanism 30 to move, so that the image obtaining device 40 on the pan/tilt head 20a moves along with the moving target, thereby achieving automatic tracking of the moving target.

It is understood that in other embodiments, the controller may include a sensor for capturing a heat source object, and the controller controls the motion of the pan/tilt head 20 according to the position information of the heat source object captured by the sensor, so that the image capturing device 40 on the pan/tilt head 20 automatically searches for the heat source object. The sensor may be a thermal imaging device, such as a thermal infrared imager.

The controller includes a carrier controller for controlling the movable carrier 10 and a pan/tilt controller for controlling the pan/tilt head 20a, and the carrier controller and the pan/tilt controller are respectively and independently disposed and respectively receive external control signals. The pan/tilt controller can control the pan/tilt head 20a to drive the image capturing device 40 to perform pitching and rotating movements.

When the remote control vehicle 100 is in operation, the controller can control the lifting driving device 32 to drive the belt wheel 37 to rotate through the driving shaft 321, and the belt wheel 37 drives the conveyor belt 36 to move up and down. This conveyer belt 36 drives this connecting piece 34 and slides from top to bottom along this bracing piece 332, and this connecting piece 34 drives the cloud platform portion 20 that this bears 35 and bore simultaneously and reciprocates, realizes this image acquisition device 40's reciprocating, and this image acquisition device 40 shoots the object of shooing from top to bottom. Meanwhile, the controller can also control the first driving element 21, the second driving element 25 and the third driving element 26 to realize the rotation of the image capturing device 40, so that the image capturing device 40 can capture the subject in multiple directions. In this embodiment, the first connecting rod 331 of the lifting frame 33 and the supporting plate 312 of the base 31 limit the sliding of the connecting member 34.

Referring to fig. 5, a remote-controlled vehicle 200 according to a second embodiment of the present invention is substantially the same as the remote-controlled vehicle 100, except that a lifting mechanism 210 of the remote-controlled vehicle 200 is different from a transmission mechanism of the remote-controlled vehicle 100 in a transmission mechanism of the lifting mechanism 210. The lifting mechanism 210 includes a lifting driving device 201 and a screw 204, and the screw 204 constitutes a transmission mechanism of the lifting mechanism 210. The lifting driving device 201 drives the loading frame 35, the pan/tilt head 20 and the image capturing device 40 to lift synchronously through the lead screw 204. The lead screw 204 includes a nut 202 and a lead screw 203 threadedly engaged with the nut 202. The carrier 35 is connected to the nut 202. The lead screw 203 is connected to the lifting driving device 201, and the lifting driving device 201 is used for driving the lead screw 203 to rotate so as to drive the image capturing device 40 to lift through the screw 202, the bearing frame 35 and the pan/tilt head 20.

Referring to fig. 6, a remote-controlled vehicle 300 according to a third embodiment of the present invention is substantially the same as the remote-controlled vehicle 100, except that a lifting mechanism 310 of the remote-controlled vehicle 300 is different from a transmission mechanism of the remote-controlled vehicle 100 in a transmission mechanism of the lifting mechanism 310. The transmission mechanism of the lifting mechanism 310 includes a gear 302 and a rack 303 engaged with the gear 302, and the lifting driving device 301 of the lifting mechanism 310 drives the carrier 35, the pan/tilt head 20 and the image capturing device 40 to lift synchronously via the gear 302 and the rack 303. The lifting driving device 301 drives the gear 302 to rotate, the carriage 35 is connected to the rack 303, and the rack 303 drives the carriage 35 to move together.

Referring to fig. 7, a remote-controlled vehicle 400 according to a fourth embodiment of the present invention is substantially the same as the remote-controlled vehicle 100, except that a lifting mechanism 410 of the remote-controlled vehicle 400 is different from a transmission mechanism of the remote-controlled vehicle 100 in a transmission mechanism of the lifting mechanism 410. The transmission mechanism of the lifting mechanism 410 includes two sprockets 402 and a chain 403. The two sprockets 402 are spaced apart from each other, and the chain 403 is looped over the two sprockets 402. The lifting mechanism 410 further comprises a lifting driving device 401, wherein the lifting driving device 401 is used for driving one of the two chain wheels 402 to rotate so as to drive the other chain wheel 402 to rotate through the chain 403. The bearing frame 35 is connected to the chain 403, and the chain 403 can drive the bearing frame 35, the pan/tilt head 20 and the image capturing device 40 to synchronously lift.

Referring to fig. 8, a remote-controlled vehicle 500 according to a fifth embodiment of the present invention is substantially the same as the remote-controlled vehicle 400, except that a transmission mechanism of a lifting mechanism 510 of the remote-controlled vehicle 500 includes a sprocket 502 and a chain 503, one end of the chain 503 is wound around the sprocket 502, and the other end is connected to the carriage 35. The lifting mechanism 510 further includes a lifting driving device 501, the lifting driving device 501 drives the chain wheel 502 to rotate, and the chain wheel 502 drives the carriage 35, the pan/tilt head 20 and the image capturing device 40 to move together through the chain 503.

Referring to fig. 9, a remote-controlled vehicle 600 according to a sixth embodiment of the present invention is substantially the same as the remote-controlled vehicle 100, except for a lifting mechanism 610 of the remote-controlled vehicle 600. The lifting mechanism 610 includes a lifting driving device 601, and the lifting driving device 601 is a linear motor, which drives the image capturing device 40 to move through the bearing frame 35 and the pan/tilt head 20. The carriage 35 is connected to the moving primary 602 of the lifting drive 601 or to the moving secondary 601 of the lifting drive 603.

Referring to fig. 10, a remote-controlled vehicle 700 according to a seventh embodiment of the present invention is substantially the same as the remote-controlled vehicle 100, except for a lifting mechanism 710 of the remote-controlled vehicle 700. The lifting mechanism 710 includes a lifting drive 701. The lifting driving device 701 is a hydraulic driving device or a pneumatic driving device, such as a hydraulic telescopic cylinder. The lifting driving device 701 drives the image capturing device 40 to move through the bearing frame 35 and the pan/tilt head 20. The lifting driving device 701 includes a push rod 702, and the push rod 702 is connected to the carriage 35.

Referring to fig. 11, a remote control vehicle 800 according to an eighth embodiment of the present invention is substantially the same as the remote control vehicle 100, and is different from the remote control vehicle 800 in a lifting mechanism 810 and a pan/tilt head 20. The lifting mechanism 810 includes a rotation driving device 801 and a supporting rod 802, wherein the rotation driving device 801 is used for driving the supporting rod 802 to rotate around a rotation axis of the rotation driving device 801 perpendicular to the movable carrier 10. One end of the support rod 802 is connected to the rotation driving device 801, and the pan/tilt head 20 is suspended at the other end of the support rod 802 far away from the rotation driving device 801 through the pan/tilt head damping mechanism 22. The supporting rod 802 is a telescopic rod, and the lifting mechanism 810 adjusts the height of the pan/tilt head 20 relative to the movable carrier 10 by adjusting the length of the supporting rod 802.

Referring to fig. 12, a remote-controlled vehicle 900 according to a ninth embodiment of the present invention is substantially the same as the remote-controlled vehicle 800, except for a lifting mechanism 910 of the remote-controlled vehicle 900. The lifting mechanism 910 includes a telescopic driving device 901, a supporting rod 902 and a supporting rod 903. The rod 903 has one end fixed to the movable carrier 10 and the other end connected to the middle of the supporting rod 902 to provide a supporting point for the supporting rod 902, and the supporting rod 902 can rotate around the supporting point to form a lever structure. The pan/tilt head 20 is suspended at one end of the supporting rod 902 through the pan/tilt head damping mechanism 22, and the other end of the supporting rod 902 is connected to the telescopic driving device 901. The telescopic driving device 901 drives one end of the supporting rod 902 far from the telescopic driving device 901 to tilt up so as to adjust the height of the pan/tilt head 20 relative to the movable carrier 10.

Referring to fig. 13 and 14, a remote control carrying system 1000 according to a tenth embodiment of the present invention is substantially the same as the remote control vehicle 100. The remote control carrying system 1000 includes a handheld cradle 50 and a remote control vehicle 100 a. The handheld tripod head 50 is mounted on the remote control vehicle 100a, and the remote control vehicle 100a can be moved together with the handheld tripod head 50.

The handheld cradle head 50 includes a support body 51, a plummer 52 and a mounting rod 53 respectively disposed on the support body 51, and a second operation handle 54 and a first operation handle 55 connected to the mounting rod. The platform 52 is used for mounting electronic devices such as a video camera and a camera. In this embodiment, the handheld cradle head 50 is provided with a cradle head power battery. The first operation handle 55 and the second operation handle 54 are used for providing a part for holding operation for a photographer or providing a part for mounting connection for connecting to other parts, and the first operation handle 55 is a handle.

The detachable structure 60 further includes a holding induction sensor (not shown) for sensing whether the handheld cradle 50 has been held, and the holding induction sensor may be a pressure sensor, a proximity sensor, or the like. The detachable structure 60 further includes an interface (not shown) for connecting with the handheld cradle head 50, and the interface can be used for communicating with the handheld cradle head 50 to transmit control signals, image data, and the like. It is understood that the external power source can also supply power to the handheld cradle 50 through the interface.

The remote control vehicle 100a includes a movable carrier 10, a lifting mechanism 30 mounted on the movable carrier 10, a pan-tilt damping mechanism 22 connected to the movable carrier 10 via the lifting mechanism 30, and a detachable structure 60 detachably mounted on the pan-tilt damping mechanism 22. The movable carrier 10 is adapted to accept remote control commands and move in accordance with the remote control commands. The detachable structure 60 is used for fixing the handheld tripod head 50, and includes a clamping device (not shown) for clamping the handheld tripod head 50, and the clamping device is used for clamping the first operating handle 55.

When the handheld cradle head 50 is used alone, the handheld cradle head 50 can be separated from the remote-controlled vehicle 100a by operating the detachable structure 60; when the vehicle 100a is required to be remotely controlled to carry the handheld cloud deck 50 for use, the handheld cloud deck 50 can be fixed on the movable carrier 10 through the detachable structure 60

The remote-controlled vehicle 100a also includes a vehicle-powered battery that supplies power to the remote-controlled vehicle 100 a. This vehicle power battery can charge for this cloud platform power battery who holds cloud platform 50, provides the continuation of the journey power for this handheld cloud platform 50. The vehicle power battery can be a material battery, a solar battery or a lithium battery.

In addition, those skilled in the art should recognize that the foregoing embodiments are illustrative only and not limiting, and that appropriate changes and modifications can be made without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. A remote-controlled vehicle comprising a movable carrier and a head connected to the movable carrier and adapted to carry a load, the head comprising a head portion on which the load is mounted, characterized in that: the cradle head also comprises a lifting mechanism connected with the cradle head part, and the lifting mechanism drives the cradle head part to move up and down through moving up and down so as to realize the lifting of the load;

2. The remotely controlled vehicle as claimed in claim 1, wherein the support rod is a telescopic rod, and the lifting mechanism adjusts the height of the head portion relative to the movable carrier by adjusting the length of the telescopic rod.

3. The remotely controlled vehicle as set forth in claim 1, wherein: this cloud platform portion still includes cloud platform damper, and this cloud platform portion is connected in this bracing piece through this cloud platform damper and is kept away from this rotation driving device's one end.

4. The remotely controlled vehicle of claim 3, wherein: the holder part comprises a first support frame, a second support frame which is rotatably connected with the first support frame and a third support frame which is rotatably connected with the second support frame.

5. The remotely controlled vehicle of claim 4, wherein: the holder part also comprises a first driving piece, a second driving piece and a third driving piece, wherein the first driving piece is connected to the first support frame and is used for driving the first support frame to rotate; the second support frame is rotatably connected with the first support frame through the second driving piece; the third support frame is rotatably connected to the second support frame through the third driving piece.

6. The remotely controlled vehicle of claim 4, wherein: this cloud platform damper connects in this first support frame and this elevating system.

7. The remotely controlled vehicle of claim 6, wherein: this cloud platform damper is including being used for buffering the damper of the vibration that this first support frame received, and this damper is the hollow spheroid of making by elastic material.

8. The remotely controlled vehicle as set forth in claim 7, wherein: this cloud platform damper includes upper plate and lower plate, and this upper plate sets up with this lower plate relative interval, and the both ends of this shock attenuation body are connected respectively in this upper plate and this lower plate.

9. The remotely controlled vehicle as set forth in claim 1, wherein: the movable carrier comprises a chassis, wheels connected to the chassis and a damping structure, wherein the wheels are connected to the chassis through the damping structure, and the damping structure is used for damping vibration from the wheels to the chassis.

10. The remotely controlled vehicle as set forth in claim 1, wherein: the remote control vehicle further comprises a controller for controlling the cradle head and the movable carrier.

11. The remotely controlled vehicle as set forth in claim 10, wherein: the remote control vehicle further comprises a sensor for capturing a moving object,

12. The remotely controlled vehicle as set forth in claim 10, wherein: the remote controlled vehicle further includes a sensor for capturing the heat source object,

13. A cloud platform, its includes cloud platform portion, and this cloud platform portion is used for bearing load, its characterized in that: the cradle head also comprises a lifting mechanism connected with the cradle head part, and the lifting mechanism drives the cradle head part to move up and down through moving up and down so as to realize the lifting of the load;

14. A head according to claim 13, wherein the support rods are telescopic rods and the height of the platform is adjustable by adjusting the length of the telescopic rods.

15. A head according to claim 13, wherein: this cloud platform portion still includes cloud platform damper, and this cloud platform portion is connected in this bracing piece through this cloud platform damper and is kept away from this rotation driving device's one end.