CN205037040U - 360 robot device is gathered to degree panorama - Google Patents
360 robot device is gathered to degree panorama Download PDFInfo
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- CN205037040U CN205037040U CN201520719350.3U CN201520719350U CN205037040U CN 205037040 U CN205037040 U CN 205037040U CN 201520719350 U CN201520719350 U CN 201520719350U CN 205037040 U CN205037040 U CN 205037040U
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Abstract
The utility model provides a 360 robot device is gathered to degree panorama. The device mainly includes: head, health subtotal chassis, the health part is upwards supporting the head is connected with the chassis downwards, and the head includes the cloud platform, and the cloud bench sets up the arm, and 360 degrees rotary motion on the plane are to fixed mounting camera on the arm, cloud platform, and the arm is done 270 degrees rotations of facade and is removed the motion with controlling. The utility model discloses utilize cloud platform controller control machinery arm to do rotation all around, face upward and bow and concertina movement, but this cloud platform plane rotation a week, and the scope of facing upward the angle of depression is between - 45~225 degrees. 60 degrees time -outs of the every rotation of collection process medium cloud platform are once gathered, have gathered whole circle back, automatic upwards 90 degrees respectively gather one " heaven and earth " with - 45 degrees or 225 degrees (the left and right sides) downwards, the integrality that gathered in the guarantee space. Intelligent control system has, the collection of the walking of whole robot, lift, cloud platform, and all settings of camera can be controlled by main control unit all.
Description
Technical field
The utility model relates to panorama acquisition technique field, particularly relates to a kind of 360 degree of panorama collection robot devices.
Background technique
Traditional artistic scene is limited to room and time only can meet limited people's site visit, and 360 panorama digital virtual exhibition rooms become entity art scene and well supplement and expansion, are become the exhibition never lowered the curtain by internet.Add in 360 panorama digital virtual exhibition rooms and visit reservation, navigation, guide to visitors, the mutual function such as (word, picture, audio frequency, video, threedimensional model), comment, promote artistic scene, the communication effect of puting on display works and social value substantially, make public's site visit, virtual visit can obtain more Interactive Experience and artistic knowledge.
Existing panorama acquisition method, mainly with being manually main, having and goes to take pictures by face in venue by camera, and then later stage synthesis.Employing equipment is mainly the shooting of GoPro360 spherical panorama or many camera lenses one panorama collecting device (Google's streetscape wheelbarrow).The shortcoming of above-mentioned existing panorama acquisition method is: cost of labor is high, inefficiency, and the picture precision of collection is not high, and image quality is not good, and poor image quality, resolution are low, is only applicable to map streetscape and browses.
Model utility content
Embodiment of the present utility model provides a kind of 360 degree of panorama collection robot devices, to realize carrying out effective 360 degree of panorama collections.
To achieve these goals, the utility model takes following technological scheme.
A kind of 360 degree of panoramas gather robot device, comprise: head, body part and chassis, described body part upwards supports described head, be connected with described chassis downwards, described head comprises The Cloud Terrace, described The Cloud Terrace arranges mechanical arm, described mechanical arm fixedly mounts photographic camera, described mechanical arm does facade rotary motion.
Preferably, described mechanical arm also moves left and right motion.
Preferably, described The Cloud Terrace arranges turntable, described mechanical arm is arranged on described turntable, and described turntable carries out 360 degree of rotations.
Preferably, described head also comprises: head shell, and this head shell is by described The Cloud Terrace, camera encapsulation, and the Fish eye lens of described camera is exposed in the front of described head shell.
Preferably, described head also comprises: cradle head controllor, and described cradle head controllor is arranged on described head shell rear or side, and described cradle head controllor controls the motion of described mechanical arm and described turntable.
Preferably, described body part comprises: master controller, flexible rod, and described master controller is connected with described camera circuitry, and described head integrated installation, on described flexible rod, uses turn-knob to connect described head and described flexible rod.
Preferably, the top of described body part is provided with vision sensor, described vision sensor is connected with described main controller circuit, and the specific action signal of people caught by described vision sensor, gives described master controller by this specific action Signal transmissions.
Preferably, sensor of placing obstacles in described chassis, described obstacle sensor is connected with described main controller circuit, and described obstacle sensor detects and the obstacle that robot runs into obstacle signal is transferred to described master controller.
Preferably, described chassis arranges the supporting pillar of described flexible rod, described flexible rod is fixed in described supporting pillar, the unrestricted motion in described supporting pillar of described flexible rod.
Preferably, described chassis is four-wheel differentia driving structure, comprises two driving wheels, and two auxiliary wheels, described four wheels is equipped with snap close.
The technological scheme provided as can be seen from above-mentioned embodiment of the present utility model, the utility model embodiment, by arranging mechanical arm on the turntable of The Cloud Terrace, fixedly mounts photographic camera on the robotic arm; Turntable can circle by automatic rotary; Utilize cradle head controllor controller mechanical arm to do facade and rotate (i.e. upper and lower pitching movement) and left and right displacement motion, the scope of its pitch angle is between-45 ~ 225 degree.In gatherer process, The Cloud Terrace often rotates 60 degree and suspends, gathers, after having gathered a whole circle, and upwards 90 degree and-45 degree or 225 degree (left and right sides) respectively gather one " heaven and earth ", the integrity of guarantee space acquisition downwards automatically.Have intelligentized control system, the collection of the walking of whole robot, lifting, The Cloud Terrace, all settings of camera, all can be controlled by master controller.
The aspect that the utility model is additional and advantage will part provide in the following description, and these will become obvious from the following description, or be recognized by practice of the present utility model.
Accompanying drawing explanation
In order to be illustrated more clearly in the technological scheme of the utility model embodiment, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
A kind of 360 degree of panoramas that Fig. 1 provides for the utility model embodiment gather in the overall structure schematic diagram figure of robot, 1-camera lens, 2-head shell, 3-flexible rod, 4-telescopic rail, 5-stepper motor, 6-battery, 7-chassis, 8-body part;
The partial structurtes schematic diagram of the head of Fig. 2, the 3 a kind of panorama collection robots provided for the utility model embodiment, in figure, robotic arm 9, turntable 10, cradle head controllor 11 and photographic camera 12.
Embodiment
Be described below in detail mode of execution of the present utility model, the example of described mode of execution is shown in the drawings, and wherein same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.Being exemplary below by the mode of execution be described with reference to the drawings, only for explaining the utility model, and can not being interpreted as restriction of the present utility model.
Those skilled in the art of the present technique are appreciated that unless expressly stated, and singulative used herein " ", " one ", " described " and " being somebody's turn to do " also can comprise plural form.Should be further understood that, the wording used in specification of the present utility model " comprises " and refers to there is described feature, integer, step, operation, element and/or assembly, but does not get rid of and exist or add other features one or more, integer, step, operation, element, assembly and/or their group.Should be appreciated that, when we claim element to be " connected " or " coupling " to another element time, it can be directly connected or coupled to other elements, or also can there is intermediary element.In addition, " connection " used herein or " coupling " can comprise wireless connections or couple.Wording "and/or" used herein comprises one or more arbitrary unit listing item be associated and all combinations.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, and all terms used herein (comprising technical term and scientific terminology) have the meaning identical with the general understanding of the those of ordinary skill in field belonging to the utility model.Should also be understood that those terms defined in such as general dictionary should be understood to have the meaning consistent with the meaning in the context of prior art, unless and define as here, can not explain by idealized or too formal implication.
For ease of to understanding of the present utility model, be further explained explanation below in conjunction with accompanying drawing for several specific embodiment, and each embodiment is not formed to restriction of the present utility model.
A kind of panorama that the utility model embodiment provides gathers the structural drawing of robot as shown in Figure 1, comprising: camera lens 1, head shell 2, flexible rod 3, telescopic rail 4, stepper motor 5, battery 6, chassis 7, body part 8.Described body part upwards supports described head, be connected with described chassis downwards, described head comprises The Cloud Terrace, the turntable of described The Cloud Terrace arranges mechanical arm, described mechanical arm fixedly mounts photographic camera 5, and mechanical arm 4 can do facade rotary motion (i.e. upper and lower pitching movement) and left and right displacement motion.Flexible rod is provided with in body part.
The entirety that panorama gathers robot is high 1.4 meters, and head can stretch up and down, and distance of stretch out and draw back is 500mm, be of a size of 1400X590X520mm, moulded is straight tube shape, without arm, only have head (eyes), health and chassis, mainly can match colors as black, blue, white, grey.
Introduce the various piece that above-mentioned panorama gathers robot below respectively.
1: head
Head comprises: be with the periods such as the The Cloud Terrace of turntable, head shell, cradle head controllor, mechanical arm and photographic camera, a kind of panorama that the utility model embodiment provides gathers the partial structurtes schematic diagram of the head of robot as shown in Figures 2 and 3, in figure, robotic arm 9, turntable 10, cradle head controllor 11 and photographic camera 12
The turntable of The Cloud Terrace arranges mechanical arm, and photographic camera fixed installation on the robotic arm.Cradle head controllor is arranged on head shell rear or side.Flat after head shell forecourt, controller is push key type.Cradle head controllor can control the motion of above-mentioned mechanical arm, and above-mentioned mechanical arm arranges two degrees of freedom, pitching (-45 ° ,+225 °) and linear displacement, and namely the mechanical arm of The Cloud Terrace can do the linear displacement motion of facade rotary motion and left and right both direction; Turntable on The Cloud Terrace can carry out 360 ° of automatic rotations; Namely realize camera by the motion (rotation of turntable and mechanical arm and displacement) of The Cloud Terrace and be close to 720 ° of panorama collections.Cradle head controllor also can be arranged on other positions of robot as required, as the body part of robot.
The Cloud Terrace and photographic camera encapsulate by head shell, and head shell can not block coverage, can not block the camera lens of photographic camera, can not the motion of limiting camera.This camera lens is also as the eyes of robot.
On the flexible rod of whole head integrated installation on health, use quick turn-knob connection header and flexible rod, realize fast assembling-disassembling.
Photographic camera type selecting can be (Nikon D810).
2, health
Body part comprises: master controller, flexible rod, telescopic rail, stepper motor, display screen and vision sensor.Body part upwards supports The Cloud Terrace, is connected with robot chassis downwards.Master controller is connected with camera circuitry, after photo taken by camera, by circuit by picture transmission to master controller, master controller comparison film carries out arranging and storing.Master controller also when camera initialization, arranges the acquisition parameters of camera.
Stepper motor is connected with flexible rod, telescopic rail circuit, and flexible rod is arranged on telescopic rail, then under the promotion of stepper motor, telescopic rail slidably reciprocates, thus the height of the head of adjustment robot.
Body part arranges vision sensor, realizes following people's walking function.Use three locking nuts to fix between body part and chassis, realize fast assembling-disassembling.Also arrange display screen at body part, this display screen is connected with main controller circuit,
3, chassis
Chassis installs additional the supporting pillar of flexible rod, and flexible rod is fixed in the supporting pillar on chassis, fixes between flexible rod and supporting pillar with hexagon socket head cap screw, and flexible rod freely stretches up and down in supporting pillar.Flexible rod is by main controller controls.
Chassis is four-wheel differentia driving structure, comprises two driving wheels, two auxiliary wheels.Rear wheel drive, front-wheel steer.When robot stops mobile, when starting acquisition state, four-wheel all has snap close to be pinned, and ensures the stability of robot when gathering.The profile on chassis can be the various shapes such as cylindrical, hemisphere, taper shape, outstanding science and technology sense outward appearance.
Chassis carrying body part also makes conveniently detachable structure with body part.
The top of robot body part is provided with vision sensor, vision sensor is connected with main controller circuit, the specific action signal of people caught by vision sensor, and by this specific action Signal transmissions to master controller, master controller is according to above-mentioned specific action unblanking follow the mode.
Chassis installs additional and keeps away barrier sensor, obstacle sensor is connected with main controller circuit, and obstacle sensor detects and the obstacle that robot runs into obstacle signal is transferred to master controller, the driving structure that master controller controls chassis again gets around obstacle, allows robot cut-through.
Under above-mentioned panorama collection robot can be operated in follow the mode and screening-mode, when follow the mode,, 1.5 meters to 2 meters, robot front is stood in after the follow the mode of robot is opened in start, lift that right hand large arm is outwards flat stretches; forearm upwards; palm, just to robot, namely opens follow the mode, and now robot can follow human motion and move.Repeat when not needing robot to follow to open hand formula.Also can set other actions and open follow the mode as actuating signal.
At screening-mode, comprise manually shooting and automatic shooting.Start is defaulted as manual shooting, by master controller flat board regulate above-mentioned mechanical arm flexible, to rotate and best angle of shooting is selected in pitching.Enter automatic shooting, click and start robot rotation in every 5 seconds 60 degree, and stop the scenery automatically taken for 3 seconds under now angle, the time of rotating required for 60 degree can be arranged voluntarily, and interval time and the waiting time all also can be arranged voluntarily.
Robot battery scheme is as follows: robot selects lithium cell as power supply unit, can continuous operation 6-8 hours in full electric situation, and when robot electric quantity is not enough, adopt the pattern of external charging to charge to robot, the duration of charge is 10 hours.Join reserve battery one piece.
In sum, the utility model embodiment, by arranging mechanical arm on the turntable of The Cloud Terrace, fixedly mounts photographic camera on the robotic arm, utilizes cradle head controllor controller mechanical arm to face upward and bows and left and right displacement motion, turntable automatic rotation; And arrange, operate the master controller of whole robot, there is following beneficial effect:
1. the head of robot is the The Cloud Terrace of independent development, and this The Cloud Terrace can Plane Rotation one week, and the scope of pitch angle is between-45 ~ 225 degree.In gatherer process, The Cloud Terrace often rotates 60 degree and suspends, gathers, after having gathered a whole circle, and upwards 90 degree and-45 degree or 225 degree each collections one " heaven and earth " downwards automatically, the integrity of guarantee space acquisition.
2. intelligentized control system.The collection of the walking of robot, lifting, The Cloud Terrace, all settings of camera, all can be controlled by controller.
3. this robot interior is equipped with automatically location and induction system, can automatic seeking point or follow people and go to correct position and carry out collecting work, and as obstacle in moving process, robot can dodge automatically, and cut-through thing walks on.
4. automatically retractable, is up to 1.9m, and the acquisition range of scene is larger.
5. the collection picture of high definition, image reaches hundred billion grades of pixels, is 20 times that tradition gathers picture size.
One of ordinary skill in the art will appreciate that: accompanying drawing is the schematic diagram of an embodiment, the module in accompanying drawing or flow process might not be that enforcement the utility model is necessary.
As seen through the above description of the embodiments, those skilled in the art can be well understood to the mode that the utility model can add required common hardware The Cloud Terrace by software and realizes.Based on such understanding, the technical solution of the utility model can embody with the form of software product the part that prior art contributes in essence in other words, this computer software product can be stored in storage medium, as ROM/RAM, magnetic disc, CD etc., comprising some instructions in order to make a computer equipment (can be personal computer, server, or the network equipment etc.) perform the method described in some part of each embodiment of the utility model or embodiment.
Each embodiment in this specification all adopts the mode of going forward one by one to describe, between each embodiment identical similar part mutually see, what each embodiment stressed is the difference with other embodiments.Especially, for device or system embodiment, because it is substantially similar to embodiment of the method, so describe fairly simple, relevant part illustrates see the part of embodiment of the method.Apparatus and system embodiment described above is only schematic, the wherein said unit illustrated as separating component or can may not be and physically separates, parts as unit display can be or may not be physical location, namely can be positioned at a place, or also can be distributed on multiple NE.Some or all of module wherein can be selected according to the actual needs to realize the object of the present embodiment scheme.Those of ordinary skill in the art, when not paying creative work, are namely appreciated that and implement.
The above; be only the utility model preferably embodiment; but protection domain of the present utility model is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the utility model discloses; the change that can expect easily or replacement, all should be encompassed within protection domain of the present utility model.Therefore, protection domain of the present utility model should be as the criterion with the protection domain of claim.
Claims (10)
1. 360 degree of panoramas gather robot device, it is characterized in that, comprise: head, body part and chassis, described body part upwards supports described head, be connected with described chassis downwards, described head comprises The Cloud Terrace, and described The Cloud Terrace arranges mechanical arm, described mechanical arm fixedly mounts photographic camera, and described mechanical arm does facade rotary motion.
2. 360 degree of panoramas according to claim 1 gather robot device, and it is characterized in that, described mechanical arm also moves left and right motion.
3. 360 degree of panoramas according to claim 1 gather robot device, and it is characterized in that, described The Cloud Terrace arranges turntable, described mechanical arm is arranged on described turntable, and described turntable carries out 360 degree of rotations.
4. 360 degree of panoramas according to claim 3 gather robot device, and it is characterized in that, described head also comprises: head shell, and this head shell is by described The Cloud Terrace, camera encapsulation, and the Fish eye lens of described camera is exposed in the front of described head shell.
5. 360 degree of panoramas according to claim 4 gather robot device, it is characterized in that, described head also comprises: cradle head controllor, and described cradle head controllor is arranged on described head shell rear or side, and described cradle head controllor controls the motion of described mechanical arm and described turntable.
6. 360 degree of panoramas according to claim 4 gather robot device, it is characterized in that, described body part comprises: master controller, flexible rod, described master controller is connected with described camera circuitry, described head integrated installation, on described flexible rod, uses turn-knob to connect described head and described flexible rod.
7. 360 degree of panoramas according to claim 6 gather robot device, it is characterized in that, the top of described body part is provided with vision sensor, described vision sensor is connected with described main controller circuit, the specific action signal of people caught by described vision sensor, gives described master controller by this specific action Signal transmissions.
8. 360 degree of panoramas according to claim 7 gather robot device, it is characterized in that, to place obstacles in described chassis sensor, described obstacle sensor is connected with described main controller circuit, described obstacle sensor detects and the obstacle that robot runs into obstacle signal is transferred to described master controller.
9. 360 degree of panoramas according to claim 7 gather robot device, and it is characterized in that, described chassis arranges the supporting pillar of described flexible rod, described flexible rod is fixed in described supporting pillar, the unrestricted motion in described supporting pillar of described flexible rod.
10. 360 degree of panoramas according to claim 9 gather robot device, and it is characterized in that, described chassis is four-wheel differentia driving structure, comprises two driving wheels, and two auxiliary wheels, described four wheels is equipped with snap close.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105090698A (en) * | 2015-09-16 | 2015-11-25 | 北京雅昌文化发展有限公司 | 360-degree panoramic acquisition robot device |
| CN107297730A (en) * | 2016-04-15 | 2017-10-27 | 上海慧流云计算科技有限公司 | A kind of support bar and the method for adjusting robot |
| CN107859808A (en) * | 2017-11-14 | 2018-03-30 | 中国石油天然气第七建设有限公司 | Detection rotary tooling inside a kind of industrial pipeline pipe |
| CN108506694A (en) * | 2018-04-18 | 2018-09-07 | 卢响锋 | It is a kind of can automatic moving in rotation host computer holder |
| ES2711858A1 (en) * | 2017-11-03 | 2019-05-07 | The Mad Pixel Factory S L | Photo camera support device for digitizing works of art (Machine-translation by Google Translate, not legally binding) |
| CN110345353A (en) * | 2019-08-15 | 2019-10-18 | 张炯 | Instrument monitoring photograph robot and its application method |
| CN111330745A (en) * | 2020-04-02 | 2020-06-26 | 蚌埠市朗辰化工设备有限公司 | On-spot unmanned operation system of full-automatic centrifuge |
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2015
- 2015-09-16 CN CN201520719350.3U patent/CN205037040U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105090698A (en) * | 2015-09-16 | 2015-11-25 | 北京雅昌文化发展有限公司 | 360-degree panoramic acquisition robot device |
| CN105090698B (en) * | 2015-09-16 | 2018-02-23 | 北京雅昌文化发展有限公司 | 360 degree of panoramas gather robot device |
| CN107297730A (en) * | 2016-04-15 | 2017-10-27 | 上海慧流云计算科技有限公司 | A kind of support bar and the method for adjusting robot |
| ES2711858A1 (en) * | 2017-11-03 | 2019-05-07 | The Mad Pixel Factory S L | Photo camera support device for digitizing works of art (Machine-translation by Google Translate, not legally binding) |
| CN107859808A (en) * | 2017-11-14 | 2018-03-30 | 中国石油天然气第七建设有限公司 | Detection rotary tooling inside a kind of industrial pipeline pipe |
| CN108506694A (en) * | 2018-04-18 | 2018-09-07 | 卢响锋 | It is a kind of can automatic moving in rotation host computer holder |
| CN110345353A (en) * | 2019-08-15 | 2019-10-18 | 张炯 | Instrument monitoring photograph robot and its application method |
| CN111330745A (en) * | 2020-04-02 | 2020-06-26 | 蚌埠市朗辰化工设备有限公司 | On-spot unmanned operation system of full-automatic centrifuge |
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