CN114151665A

CN114151665A - Camera bearing device and control method thereof

Info

Publication number: CN114151665A
Application number: CN202111513078.XA
Authority: CN
Inventors: 郑彦维
Original assignee: Beijing Zhuse Video Technology Co ltd
Current assignee: Beijing Zhuse Video Technology Co ltd
Priority date: 2021-12-12
Filing date: 2021-12-12
Publication date: 2022-03-08
Anticipated expiration: 2041-12-12
Also published as: CN114151665B

Abstract

The invention relates to a camera bearing device and a control method thereof, wherein the camera bearing device comprises: a lift arm assembly; the cradle head is arranged at the lifting end of the lifting arm assembly and is used for supporting the camera; the lifting arm assembly comprises a fixed arm and a plurality of stages of lifting arms, wherein a hollow lifting channel is formed in the fixed arm, the fixed arm is fixedly arranged, and the lifting arms and the fixed arm and the lifting arms at all stages are sleeved in a lifting and sliding manner; the lifting arm assembly further comprises a lifting steel cable mechanism and a linkage steel cable mechanism, the fixed arm and the lifting arms and the multi-stage lifting arms are in transmission connection through the lifting steel cable mechanism, and the lifting arms are driven to lift through the lifting steel cable mechanism; the fixed arm is in transmission connection with the lifting arms and the multi-stage lifting arms through a linkage steel cable mechanism, and synchronous lifting of the lifting arms at all stages is achieved through the linkage steel cable mechanism. The camera bearing device can perform more multi-stage transmission, lift in a wider range and be more stable and reliable.

Description

Camera bearing device and control method thereof

Technical Field

The invention relates to the technical field of imaging equipment, in particular to a camera bearing device and a control method thereof.

Background

In the broadcast television industry, there is a shooting requirement that a camera stably ascends or descends in the vertical height, the ascending or descending process is guaranteed, a whole picture can be used as a broadcast picture, and phenomena affecting the shooting effect such as shaking and swinging are not allowed to occur. This requires a camera carrying device to perform this function.

In the prior art, a mechanical structure of a lifting part is generally realized by adopting a screw rod. Generally, a multi-stage screw rod is manufactured, and in the structure, the lifting height depends on the odd number of the screw rods, the length of the screw rod, and the lifting speed depends on the rotating speed of a motor and the screw pitch of the screw rod. In actual production and processing, the longer the screw rod is, the greater the processing difficulty is, the rotating speed of the motor is limited, the lifting height and the lifting speed are broken through, a higher production process and a higher-speed driving motor are not practical, and a better structural design is needed.

In view of the above, the present invention is particularly proposed.

Disclosure of Invention

In order to solve the technical problem, the invention provides a camera bearing device and a control method thereof, and the specific technical scheme is as follows:

a camera carrying device comprising:

a lift arm assembly;

the cradle head is arranged at the lifting end of the lifting arm assembly and is used for supporting the camera;

the lifting arm assembly comprises a fixed arm and a plurality of stages of lifting arms, wherein a hollow lifting channel is formed in the fixed arm, the fixed arm is fixedly arranged, and the lifting arms and the fixed arm and the lifting arms at all stages are sleeved in a lifting and sliding manner;

the lifting arm assembly further comprises a lifting steel cable mechanism and a linkage steel cable mechanism, the fixed arm and the lifting arms and the multi-stage lifting arms are in transmission connection through the lifting steel cable mechanism, and the lifting arms are driven to lift through the lifting steel cable mechanism; the fixed arm is in transmission connection with the lifting arms and the multi-stage lifting arms through a linkage steel cable mechanism, and synchronous lifting of the lifting arms at all stages is achieved through the linkage steel cable mechanism.

As an optional implementation manner of the present invention, the lifting arm includes a primary lifting arm, a middle-stage lifting arm and a final-stage lifting arm, the primary lifting arm is slidably sleeved in the hollow lifting channel of the fixing arm, the final-stage lifting arm is located at the uppermost end for installing the holder, and a plurality of stages of the middle-stage lifting arms are slidably sleeved between the primary lifting arm and the final-stage lifting arm;

lifting steel cable mechanism including drawing out steel cable mechanism, drawing out steel cable mechanism including drawing out the steel cable, set up and be in the first pulley of the lower extreme of final stage lift arm, setting are in the second pulley and the setting of the upper end of fixed arm are in the upper end of elementary lift arm and intermediate level lift arm and the third pulley of lower extreme, the one end of drawing out the steel cable is fixed in the upper end of final stage lift arm, and the other end is extended downwards by the upper end of final stage lift arm and is walked around first pulley, upwards extends again and walks around the third pulley of intermediate level lift arm upper end, and after the third pulley at both ends about the circulation was reciprocal around all intermediate level lift arms and elementary lift arm, it walked around at last the second pulley downwardly extending of fixed arm upper end connects drive component.

As an optional embodiment of the present invention, the lifting cable mechanism comprises a pull-back cable mechanism, the pull-back cable mechanism comprises a pull-back cable, a fourth pulley disposed at the lower end of the fixing arm, and a fifth pulley disposed at the lower end of the primary lifting arm, one end of the pull-back cable is fixed on the primary lifting arm, and the other end of the pull-back cable extends downward and bypasses the first-stage fourth pulley, extends upward and bypasses the first-stage fifth pulley, extends downward and bypasses the second-stage fourth pulley, extends upward and bypasses the second-stage fifth pulley, … …, circulates and reciprocates to extend downward and bypasses the N-stage fourth pulley, extends upward and bypasses the N-stage fifth pulley, and extends downward and connects the driving component; the total number of the fourth pulley and the fifth pulley is equal to the total number of the lifting arms, namely-1.

As an optional embodiment of the invention, the lower end of the fixing arm is further provided with a sixth pulley and a seventh pulley, the pull-out steel cable passes through the second pulley at the upper end of the fixing arm and extends downwards to pass through the sixth pulley to be connected with the driving component, and the pull-back steel cable extends upwards to pass through the fifth pulley at the N stage and then extends downwards to pass through the seventh pulley to be connected with the driving component.

As an optional embodiment of the present invention, the driving component includes a driving motor and a driving roller connected to a motor shaft of the driving motor, the other ends of the pull-out steel cable and the pull-back steel cable are respectively fixedly connected to two ends of the driving roller, and the winding directions of the pull-out steel cable and the pull-back steel cable on the driving roller are opposite.

As an optional embodiment of the present invention, the linkage wire rope mechanism includes a linkage wire rope and an eighth pulley, the eighth pulley is respectively disposed at the lower ends of the primary lifting arm and the intermediate lifting arm, the adjacent two lifting arms are connected by the linkage wire rope, one end of the linkage wire rope is connected to the middle portion of the upper lifting arm, and the other end of the linkage wire rope extends downwards to pass through the eighth pulley and extends upwards to be connected to the lower portion of the lower lifting arm.

As an alternative embodiment of the invention, said pull out cable mechanism and pull back cable mechanism are arranged on two adjacent sides of said lift arm assembly, and said interlocking cable mechanism is arranged on the opposite side of said lift arm assembly to said pull out cable mechanism or said pull back cable mechanism.

As an optional implementation manner of the present invention, the primary lifting arm is eccentrically sleeved in the hollow lifting channel in the fixing arm, the middle lifting arm of the next stage is eccentrically sleeved in the hollow lifting channel of the middle lifting arm of the previous stage, and the final lifting arm is eccentrically sleeved in the hollow lifting channel of the middle lifting arm of the previous stage, and all of the primary lifting arm and the final lifting arm are offset towards one side where the pull-out wire rope mechanism, the pull-back wire rope mechanism and the linkage wire rope mechanism are not arranged.

The invention also provides a control method of the camera bearing device, which comprises the following steps:

controlling the lifting steel cable mechanism to execute a first action, wherein the lifting steel cable mechanism drives the lifting arm to ascend;

controlling the lifting steel cable mechanism to execute a second action, wherein the lifting steel cable mechanism drives the lifting arm to descend;

in the process of ascending or descending of the lifting arm, synchronous ascending and descending of the lifting arms at all levels are realized between the fixed arm and the lifting arm and between the lifting arms at multiple levels through a linkage steel cable mechanism.

As an optional embodiment of the present invention, the control method includes:

controlling the driving motor to rotate in the forward direction, driving the driving roller to wind the pull-out steel cable by the driving motor, synchronously pulling out the lifting arms at all levels in the process of winding and tightening the pull-out steel cable, and releasing the pull-back steel cable to realize the lifting of the lifting arm assembly;

and controlling the driving motor to rotate reversely, driving the driving roller to wind the pull-back steel cable, synchronously pulling back the lifting arms at all levels in the process of winding and tightening the pull-back steel cable, and releasing the pull-out steel cable to realize the descending of the lifting arm assembly.

Compared with the prior art, the invention has the beneficial effects that:

the camera bearing device drives the cradle head to carry out lifting motion through the lifting arm component, so that the lifting shooting requirements of the camera mounted on the cradle head are met. Therefore, the steel cable meeting the strength requirement can be suitable for more stages of lifting movement by only selecting the steel cable, and the lifting requirement of a camera in a wider range is met. The existing lifting arm component is driven to lift by adopting a lead screw mode, and because each stage of lead screw needs a thicker lead screw and a thinner lead screw to be sleeved, the processing difficulty is very high, so that the lifting stage number is about three stages in a common lead screw structure.

The linkage steel cable mechanism is adopted to drive and connect the lifting arms at all levels, synchronous motion of the lifting arms at all levels in the lifting process is realized, the lifting arms at all levels are simultaneously stressed, instead of one-level driving one-level step-by-step transmission, the initial one-level stress is gradually increased along with the increase of the level number in the step-by-step transmission, requirements on assembly, strength and power of the lifting arms at the initial level and driving parts are met, the linkage steel cable mechanism drives the lifting arms at all levels to synchronously move for lifting, the stress at all levels is balanced, stress concentration is avoided, and the lifting arm assembly is lifted more stably. The linkage wire rope mechanism is adopted, the lifting speed completely depends on the rotating speed of the motor, and under the same structure, the lifting speed can be influenced only by equivalent screw pitch of the screw rod due to the rotating speed of the screw rod, so that the linkage wire rope mechanism is obviously easier to realize high speed under the condition of certain rotating speed of the motor and is much faster than the screw rod mode.

Therefore, the camera bearing device drives the lifting arms to lift through the lifting steel cable mechanism, realizes synchronous lifting of the lifting arms at all levels through the linkage steel cable mechanism, and can perform more-level transmission and lifting in a wider range; moreover, the lifting speed is higher, and the lifting process is more stable and reliable.

Description of the drawings:

FIG. 1 is a schematic illustration of the lift cable mechanism of the camera carrier of the present invention;

FIG. 2 is a schematic view of the deployment principle of the pull-back cable mechanism of the camera carrier of the present invention;

FIG. 3 is a schematic view of the linkage cable mechanism of the camera carrier of the present invention;

FIG. 4 is a schematic view of a camera carrying device according to the present invention with the lift arm assembly retracted;

FIG. 5 is a schematic view of a camera carrying device according to the present invention with the lift arm assembly retracted;

FIG. 6 is a schematic view of a lift arm assembly of the camera support apparatus of the present invention in an extended position;

fig. 7 is a schematic perspective view of a camera carrying device according to a first embodiment of the present invention;

fig. 8 is a schematic view of a second three-dimensional structure of the camera carrying device in a use state (the fixing arm is removed);

fig. 9 is a schematic three-dimensional structure diagram (with the fixed arm removed) of the camera carrying device in the use state of the present invention;

fig. 10 is a schematic perspective view of a camera track robot according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments.

Thus, the following detailed description of the embodiments of the invention is not intended to limit the scope of the invention as claimed, but is merely representative of some embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the embodiments of the present invention and the features and technical solutions thereof may be combined with each other without conflict.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "upper", "lower", and the like refer to orientations or positional relationships based on those shown in the drawings, or orientations or positional relationships that are conventionally arranged when the products of the present invention are used, or orientations or positional relationships that are conventionally understood by those skilled in the art, and such terms are used for convenience of description and simplification of the description, and do not refer to or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

Referring to fig. 1 to 4, schematic diagrams of a camera carrying device provided in this embodiment are shown, and the camera carrying device of this embodiment includes:

a lift arm assembly;

the lifting arm assembly comprises a fixed arm 201 and multiple stages of lifting arms (202, 203 and 204), wherein a hollow lifting channel is formed in the fixed arm 201, the fixed arm 201 is fixedly arranged, and the lifting arms (202, 203 and 204) and the fixed arm 201 and the lifting arms (202, 203 and 204) at all stages are sleeved in a lifting and sliding manner;

the lifting arm assembly further comprises a lifting steel cable mechanism and a linkage steel cable mechanism, the fixed arm 201 is in transmission connection with the lifting arms (202, 203 and 204) and the multi-stage lifting arms (202, 203 and 204) through the lifting steel cable mechanism, and the lifting arms are driven to lift through the lifting steel cable mechanism; the fixed arm 201 is in transmission connection with the lifting arms (202, 203 and 204) and the multi-stage lifting arms (202, 203 and 204) through a linkage steel cable mechanism, and synchronous lifting of the lifting arms at all stages is realized through the linkage steel cable mechanism.

The camera of this embodiment bears the device and drives the cloud platform through the lift arm subassembly and carry out elevating movement, thereby the requirement is shot in the lift of the camera of realization installation on the cloud platform, the creative adoption of this embodiment goes up and down steel cable mechanism and as the drive mechanism of lift arm, only need can realize the elevating movement of lift arm through pulling the steel cable, steel cable mechanism transmission connected mode is simple and stable, carry out the example with six grades of transmission (driven progression is fixed arm number + lift arm number) in this embodiment picture, consequently, as long as select the steel cable that satisfies the intensity requirement just can be applicable in more multistage elevating movement, satisfy the more extensive lift requirement that the camera was shot. The existing lifting arm component is driven to lift by adopting a lead screw mode, and because each stage of lead screw needs a thicker lead screw and a thinner lead screw to be sleeved, the processing difficulty is very high, so that the lifting stage number is about 3 stages in a common lead screw structure.

This embodiment adopts linkage wire rope mechanism to carry out the transmission with the lifing arm (202, 203, 204) at all levels simultaneously and connects, realized the lifing arm (202 at all levels, 203, 204) at lifting process synchronous motion at all levels, lifing arm (202 at all levels, 203, 204) at all levels are atress simultaneously, but not the one-level drives the step-by-step transmission of one-level, the transmission can lead to initial one-level atress to increase gradually along with the increase of progression step-by-step, assembly to initial stage lifing arm and driver part, intensity and power all can have the requirement, this embodiment drives lifing arm (202 at all levels (203, 204) synchronous motion through linkage wire rope mechanism and goes up and down, the atress at all levels is balanced, avoid the atress to concentrate, whole lifing arm subassembly goes up and down more stably. The linkage wire rope mechanism is adopted, the lifting speed completely depends on the rotating speed of the motor, and under the same structure, the lifting speed can be influenced only by equivalent screw pitch of the screw rod due to the rotating speed of the screw rod, so that the linkage wire rope mechanism is obviously easier to realize high speed under the condition of certain rotating speed of the motor and is much faster than the screw rod mode.

The lifting arm component of this embodiment is owing to adopt lift steel cable mechanism and linkage steel cable mechanism, and its lift height depends on steel cable length and lifting arm height, and steel cable length can easily reach hectometer meter, and the lifting arm also reaches tens meters easily, can have higher height.

And, adopt lift wire rope mechanism and linkage wire rope mechanism, can easily realize multistage linkage such as 5 grades, 6 grades, 7 grades and so on, all realize very easily, and adopt the mode of lead screw, because every grade lead screw all needs thicker lead screw and thin lead screw to do cup joint, the processing degree of difficulty is very big, so common lead screw structure, the lift progression all is about 3 grades.

The lifting arm component of this embodiment is owing to adopt lift steel cable mechanism and linkage steel cable mechanism, in lifting speed, depends on the rotational speed of motor completely, and under the same structure, because the rotational speed of lead screw, need the equivalence become the lead screw pitch, just can influence lifting speed, and obvious under the certain condition of motor speed, lift steel cable mechanism will realize high-speed more easily to than the lead screw mode, it is many fast.

Therefore, the camera carrying device of the embodiment drives the lifting arms to lift through the lifting steel cable mechanism, and realizes synchronous lifting of the lifting arms at all levels through the linkage steel cable mechanism, so that more stages of transmission and lifting within a wider range can be realized; moreover, the lifting speed is higher, and the lifting process is more stable and reliable.

Further, referring to fig. 1, the lifting arm of this embodiment includes a primary lifting arm 202, a middle-stage lifting arm 203 and a final-stage lifting arm 204, the primary lifting arm 202 is slidably sleeved in the hollow lifting channel of the fixing arm 201 in a lifting manner, the final-stage lifting arm 204 is located at the uppermost end and is used for installing the holder, and a plurality of stages of the middle-stage lifting arm 203 is slidably sleeved between the primary lifting arm 202 and the final-stage lifting arm 204 in a lifting manner.

The lifting wire rope mechanism according to the present embodiment includes a pull-out wire rope mechanism including a pull-out wire rope 205, a first pulley 206 provided at the lower end of the final lifting arm 204, a second pulley 207 provided at the upper end of the fixing arm 201, and third pulleys 208 provided at the upper and lower ends of the primary lifting arm 202 and the intermediate lifting arm 203, one end of the pull-out wire rope 205 is fixed to the upper end of the final stage lift arm 204, and the other end extends downward from the upper end of the final stage lift arm 204, passes around the first pulley 206, extends upward around the third pulley 208 at the upper end of the intermediate stage lift arm 203, extends downward around the third pulley 208 at the lower end of the intermediate stage lift arm 203, and circularly passes around all the intermediate stage lift arms 203 and the third pulleys 208 at the upper and lower ends of the primary stage lift arm 202, finally, a second pulley 207, which passes around the upper end of the fixing arm 201, extends downward to be connected with a driving part.

The wire rope pulling mechanism of the embodiment is used for pulling out the lifting arm, the pulling-out wire rope 205 is pulled by the driving part, the pulling-out wire rope 205 is pulled down and wound by the driving part, the pulling-out wire ropes 205 between the lifting arms and the fixing arm are gradually shortened, the lifting arm is pulled out under the pulling of the pulling-out wire rope 205, and the lifting arm is lifted. In addition, after the lifting arm is completely pulled out, the driving component needs to keep the pull-out steel cable 205 in a fixed state, or lock the pull-out steel cable 205, so that the lifting arm keeps the current lifting height unchanged to meet the shooting requirement of the camera.

Referring to fig. 1 and 2, the lifting cable mechanism of the present embodiment includes a pull-back cable mechanism, the pull-back cable mechanism includes a pull-back cable 209, a fourth pulley 210 disposed at the lower end of the fixing arm 201, and a fifth pulley 211 disposed at the lower end of the primary lifting arm 202, one end of the pull-back cable 209 is fixed on the primary lifting arm 202, and the other end extends downward and bypasses the first-stage fourth pulley 210-1, extends upward and bypasses the first-stage fifth pulley 211-1, extends downward and bypasses the second-stage fourth pulley 210-2, extends upward and bypasses the second-stage fifth pulleys 211-2, … …, circulates and extends downward and bypasses the N-stage fourth pulley, extends upward and bypasses the N-stage fifth pulley, and then extends downward and connects with the driving component; the total number of the fourth pulley 210 and the fifth pulley 211 is equal to the total number of stages-1 of the lifting arm. In fig. 1 and 2, the pull-back cable 209 is connected at its a-end to the primary lifting arm 202 and at its B-end to the drive member.

The pull-back wire rope mechanism of the embodiment only needs to be connected to the primary lifting arm 202, when pulling back, the pull-out wire rope 205 needs to be released first, the driving component pulls the pull-back wire rope 209, the pull-out wire rope 205 is released synchronously in the descending process of the primary lifting arm 202, and the lifting components at all levels descend synchronously, so that the descending of the lifting arm is realized.

Fig. 2 of the present embodiment is a planar expanded view of the pull-back cable mechanism at S in fig. 1, the winding length of the pull-out cable 205 should be equal to the length of the pull-back cable 209 released during the pull-out process of the pull-back cable mechanism, the winding length of the pull-back cable 209 should be equal to the length of the pull-out cable 205 released during the pull-back process of the pull-back cable mechanism, and the pull-back cable 209 of the present embodiment is connected to the primary lifting arm 202 only, so in order to meet the length requirement of the pull-back cable 209, the present embodiment fixedly connects to the primary lifting arm 202 after the pull-back cable 209 is wound back and forth on the fourth pulley 210 and the fifth pulley 211 to reach the length requirement.

In addition, since the installation space is limited in the inside of the lift arm, when the number of pulley stages required for the pull-back cable mechanism is large, the fourth pulley 210 and the fifth pulley 211 may be respectively disposed on both side surfaces of the lift arm, the pull-back cable 209 may be sequentially wound around the fourth pulley 210 and the fifth pulley 211 disposed on both side surfaces, and the pull-back cable 209 may be guided from one side surface to the other side surface by inclining the fourth pulley 210 or the fifth pulley 211, so that the overall size of the fixing arm 201 may be reduced.

Referring to fig. 1, the lower end of the fixing arm 201 of this embodiment is further provided with a sixth pulley 212 and a seventh pulley 213, the pull-out cable 204 is wound around the second pulley 207 at the upper end of the fixing arm 201, extends downward around the sixth pulley 212 and is connected with the driving member, and the pull-back cable 209 is extended upward around the N-stage fifth pulley 211 and then extends downward around the seventh pulley 213 and is connected with the driving member.

The pull-out steel cable 204 and the pull-back steel cable 209 of the present embodiment may be connected to different driving members, or may be connected to the same driving member, and when driven by the same driving member, as shown in fig. 6, 7 and 8, the driving member includes a driving motor 216 and a driving roller 217 connected to a motor shaft of the driving motor 216, the other ends of the pull-out steel cable 205 and the pull-back steel cable 209 are respectively and fixedly connected to two ends of the driving roller 217, and the winding directions of the pull-out steel cable 205 and the pull-back steel cable 209 on the driving roller 217 are opposite. Thus, when the driving motor 216 is controlled to rotate forwards, the driving motor 216 drives the driving roller 217 to wind the pull-out steel cable 205, the lifting arms at all stages are synchronously pulled out in the process that the pull-out steel cable 205 is wound and tightened, the pull-back steel cable 209 is released, and the lifting arm assembly is lifted; and controlling the driving motor 216 to rotate reversely, driving the driving roller 217 to wind the pull-back steel cable 209 by the driving motor 216, synchronously pulling back the lifting arms at all levels in the process that the pull-back steel cable 209 is wound and tightened, and releasing the pull-out steel cable 205 to realize the descending of the lifting arm assembly.

It should be noted that fig. 5-8 of the present embodiment are schematic structural diagrams of the camera carrying device of the present embodiment, but the camera carrying device shown in fig. 5-8 is a four-stage transmission, which is different from the six-stage transmission in the schematic diagrams of fig. 1-4 only in the number of transmission stages.

Referring to fig. 3, the linkage wire rope mechanism according to the present embodiment includes a linkage wire rope 214 and an eighth pulley 215, the eighth pulley 215 is disposed at the lower end of each of the primary lifting arm 202 and the intermediate lifting arm 203, the adjacent two lifting arms are connected by the linkage wire rope 214, one end of the linkage wire rope 214 is connected to the middle portion of the upper lifting arm, and the other end extends downward and bypasses the eighth pulley 215 to extend upward and connect to the lower portion of the lower lifting arm.

The linkage wire cable 214 of the embodiment realizes the linkage between two adjacent lifting arms, and in the process of pulling out and pulling back the lifting arms, the lifting arms at all levels are driven by the linkage wire cable mechanism to synchronously ascend or descend.

As an alternative embodiment of this embodiment, the pull-out wire cable mechanism and the pull-back wire cable mechanism of this embodiment are disposed on two adjacent sides of the lifting arm assembly, and the linkage wire cable mechanism is disposed on the opposite side of the lifting arm assembly from the pull-out wire cable mechanism or the pull-back wire cable mechanism, which mainly depends on the space inside the lifting arm assembly, and the pull-out wire cable mechanism, the pull-back wire cable mechanism and the linkage wire cable mechanism can be arranged according to the space inside.

This embodiment elementary lift arm 202 eccentric sleeve is established in the cavity lift passageway in fixed arm 201, next stage the eccentric cover of intermediate level lift arm 203 is established at last one-stage in the cavity lift passageway of intermediate level lift arm 203, last stage lift arm 204 eccentric sleeve is established at last one-stage in the cavity lift passageway of intermediate level lift arm 203, and all towards not setting up pull out steel cable mechanism, pull back steel cable mechanism, one side skew of linkage steel cable mechanism. Therefore, the embodiment eccentrically arranges the lifting arm according to the practical situation that the pull-out steel cable mechanism, the pull-back steel cable mechanism and the linkage steel cable mechanism are arranged in the lifting arm component, so that the whole size of the lifting arm component is reduced, and the whole structure is more compact.

The camera carrying device of the embodiment can be subjected to forward installation and inverted installation, wherein the forward installation is to vertically place the lifting arm assembly, and the fixed arm 201 of the lifting arm assembly is fixed on a support part on the ground; the flip-chip is to invert the lift arm assembly, whose fixed arm 201 is fixed to a support member above the suspended ground, such as a roof.

Referring to fig. 10, the camera carrying device of the present embodiment is specifically a camera rail robot, and includes a rail 100, a camera truck 400, a lifting column 200 and a pan/tilt head 300, where the camera truck 400 is disposed on the rail 100 and can reciprocate along the rail, the lifting column 200 is disposed on the camera truck 400 and can move up and down, the pan/tilt head 300 is disposed at an upper end of the lifting column 200, and the camera 500 is mounted on the pan/tilt head 300.

The present embodiment also provides a method for controlling a camera supporting apparatus, including:

Further, the control method according to this embodiment includes:

The present embodiment also provides a computer-readable storage medium storing a computer-executable program that, when executed, implements a control method of the camera-mounted device.

The computer readable storage medium of the present embodiments may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable storage medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

The present embodiment also provides an electronic device including a processor and a memory, the memory storing a computer-executable program, and the processor executing the control method of the camera-carrying apparatus when the computer program is executed by the processor.

The electronic device is in the form of a general purpose computing device. The processor can be one or more and can work together. The invention also does not exclude that distributed processing is performed, i.e. the processors may be distributed over different physical devices. The electronic device of the present invention is not limited to a single entity, and may be a sum of a plurality of entity devices.

The memory stores a computer executable program, typically machine readable code. The computer readable program may be executed by the processor to enable an electronic device to perform the method of the invention, or at least some of the steps of the method.

The memory may include volatile memory, such as Random Access Memory (RAM) and/or cache memory, and may also be non-volatile memory, such as read-only memory (ROM).

It should be understood that elements or components not shown in the above examples may also be included in the electronic device of the present invention. For example, some electronic devices further include a display unit such as a display screen, and some electronic devices further include a human-computer interaction element such as a button, a keyboard, and the like. Electronic devices are considered to be covered by the present invention as long as the electronic devices are capable of executing a computer-readable program in a memory to implement the method of the present invention or at least a part of the steps of the method. From the above description of the embodiments, those skilled in the art will readily appreciate that the present invention can be implemented by hardware capable of executing a specific computer program, such as the system of the present invention, and electronic processing units, servers, clients, mobile phones, control units, processors, etc. included in the system. The invention may also be implemented by computer software for performing the method of the invention, e.g. control software executed by a microprocessor, an electronic control unit, a client, a server, etc. It should be noted that the computer software for executing the method of the present invention is not limited to be executed by one or a specific hardware entity, and can also be realized in a distributed manner by non-specific hardware. For computer software, the software product may be stored in a computer readable storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.) or may be distributed over a network, as long as it enables the electronic device to perform the method according to the present invention.

The above embodiments are only used for illustrating the invention and not for limiting the technical solutions described in the invention, and although the present invention has been described in detail in the present specification with reference to the above embodiments, the present invention is not limited to the above embodiments, and therefore, any modification or equivalent replacement of the present invention is made; all such modifications and variations are intended to be included herein within the scope of this disclosure and the appended claims.

Claims

1. A camera carrying device, comprising:

a lift arm assembly;

2. The camera carrying device as claimed in claim 1, wherein the lifting arm comprises a primary lifting arm, a middle lifting arm and a final lifting arm, the primary lifting arm is slidably sleeved in the hollow lifting channel of the fixing arm in a lifting manner, the final lifting arm is positioned at the uppermost end for mounting the holder, and a plurality of stages of the middle lifting arm are slidably sleeved between the primary lifting arm and the final lifting arm in a lifting manner;

3. The camera carrier device of claim 2, wherein said lift cable mechanism comprises a pull-back cable mechanism, said pull-back cable mechanism comprising a pull-back cable, a fourth pulley disposed at a lower end of said fixed arm, and a fifth pulley disposed at a lower end of said primary lift arm, said pull-back cable having one end fixed to said primary lift arm and another end extending downwardly around said primary fourth pulley, upwardly around said primary fifth pulley, downwardly around said secondary fourth pulley, upwardly around said secondary fifth pulley, … …, cyclically reciprocating to and extending downwardly around said N-stage fourth pulley, upwardly around said N-stage fifth pulley and downwardly to connect said drive member; the total number of the fourth pulley and the fifth pulley is equal to the total number of the lifting arms, namely-1.

4. The camera carrying device according to claim 3, wherein the lower end of the fixing arm is further provided with a sixth pulley and a seventh pulley, the pull-out cable is connected with the driving member after passing around the second pulley at the upper end of the fixing arm and extending downwards around the sixth pulley, and the pull-back cable is connected with the driving member after passing around the fifth pulley at the N-stage and extending downwards around the seventh pulley.

5. The camera carrying device according to claim 4, wherein the driving unit includes a driving motor and a driving roller connected to a motor shaft of the driving motor, the other ends of the pull-out cable and the pull-back cable are respectively fixedly connected to two ends of the driving roller, and the pull-out cable and the pull-back cable are wound around the driving roller in opposite directions.

6. The camera carrying device according to claim 3, wherein the linkage cable mechanism comprises a linkage cable and an eighth pulley, the eighth pulley is provided at the lower end of each of the primary lifting arm and the intermediate lifting arm, the adjacent two lifting arms are connected by the linkage cable, one end of the linkage cable is connected to the middle part of the upper lifting arm, and the other end of the linkage cable extends downwards to pass around the eighth pulley and extends upwards to be connected to the lower part of the lower lifting arm.

7. A camera carrying device according to claim 6, wherein the pull out cable mechanism and the pull back cable mechanism are provided on two adjacent sides of the lift arm assembly, the linkage cable mechanism being provided on the opposite side of the lift arm assembly to the pull out cable mechanism or the pull back cable mechanism.

8. The camera carrying device according to claim 6, wherein the primary lifting arm is eccentrically sleeved in the hollow lifting channel in the fixing arm, the middle lifting arm of the next stage is eccentrically sleeved in the hollow lifting channel of the middle lifting arm of the previous stage, and the last lifting arm is eccentrically sleeved in the hollow lifting channel of the middle lifting arm of the previous stage, and is biased towards a side where the pull-out wire cable mechanism, the pull-back wire cable mechanism and the linkage wire cable mechanism are not arranged.

9. A method of controlling a camera carrying device according to any one of claims 1 to 8, comprising:

10. The control method according to claim 9, characterized by comprising: