WO2017035842A1 - Tête à berceau, véhicule commandé à distance et système de transport commandé à distance - Google Patents

Tête à berceau, véhicule commandé à distance et système de transport commandé à distance Download PDF

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Publication number
WO2017035842A1
WO2017035842A1 PCT/CN2015/088994 CN2015088994W WO2017035842A1 WO 2017035842 A1 WO2017035842 A1 WO 2017035842A1 CN 2015088994 W CN2015088994 W CN 2015088994W WO 2017035842 A1 WO2017035842 A1 WO 2017035842A1
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WO
WIPO (PCT)
Prior art keywords
remote control
pan
tilt
lifting
carrier
Prior art date
Application number
PCT/CN2015/088994
Other languages
English (en)
Chinese (zh)
Inventor
贝世猛
关毅骏
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN202010441295.1A priority Critical patent/CN111578081A/zh
Priority to PCT/CN2015/088994 priority patent/WO2017035842A1/fr
Priority to CN201580003663.1A priority patent/CN107107976A/zh
Publication of WO2017035842A1 publication Critical patent/WO2017035842A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/40—Application of hydrogen technology to transportation, e.g. using fuel cells

Definitions

  • the invention relates to the field of photography, in particular to a cloud platform, a remote control vehicle and a remote control delivery system.
  • the cloud platform is a supporting device for installing and fixing image acquisition devices such as cameras and cameras.
  • image acquisition devices such as cameras and cameras.
  • most of the pan/tilt can only adjust the horizontal and vertical angles of the image acquisition device by its own structure, and its height cannot be adjusted, resulting in failure to realize images.
  • the up and down movement of the device is acquired to take a picture up to the subject, which limits the visible range of the image acquisition device.
  • a remote control vehicle includes a movable carrier, and a pan/tilt portion connected to the movable carrier and configured to carry a load, the pan/tilt head including a pan/tilt portion, and the load is mounted on the pan/tilt portion.
  • the pan/tilt head further includes a lifting mechanism connected to the pan/tilt portion, and the lifting mechanism drives the pan/tilt portion to move up and down by moving up and down to realize the lifting and lowering of the load.
  • the movable carrier can drive the pan/tilt to translate and rotate in any direction.
  • the lifting mechanism is detachably coupled to the movable carrier.
  • the movable carrier includes a chassis, and the lifting mechanism is coupled to the chassis.
  • the movable carrier further includes a wheel coupled to the chassis and a wheel power unit coupled to the wheel, the wheel power unit for driving the wheel.
  • the movable carrier further includes a shock absorbing structure, the wheel being coupled to the chassis through the shock absorbing structure, the shock absorbing structure for buffering vibration of the chassis from the wheel.
  • the wheel power unit is a motor
  • the shock absorbing structure is a suspended shock absorbing mechanism.
  • the wheel is an omnidirectional wheel.
  • shock absorbing structure and the wheel are both multiple, and each of the shock absorbing structures simultaneously connects two of the wheels.
  • each of the wheels is separately provided with one of the shock absorbing structures.
  • the plurality of wheels are respectively mounted on the left side and the right side of the chassis, and the wheel power devices are two, respectively driving the wheels on the left side and the right side of the chassis to form Differential drive;
  • the movable carrier further includes two crawlers respectively disposed on the wheels on the left and right sides of the chassis.
  • the plurality of wheels are respectively installed at the front end and the rear end of the chassis, and the movable carrier further includes a transmission device and a steering power device, and the wheel power device simultaneously drives the wheel rotation of the rear end of the chassis through the transmission device.
  • the steering power unit is for driving a wheel connected to a front end of the chassis for steering.
  • the pan/tilt portion includes a first support frame, a second support frame rotatably coupled to the first support frame, and a third support frame rotatably coupled to the second support frame.
  • the pan/tilt portion further includes a first driving member, a second driving member and a third driving member, wherein the first driving member is coupled to the first supporting frame for driving the first supporting frame to rotate;
  • the second support frame is rotatably connected to the first support frame by the second driving member;
  • the third support frame is rotatably connected to the second support frame by the third driving member.
  • first driving member, the second driving member and the third driving member are both motors.
  • pan/tilt portion further includes a pan/tilt damper mechanism connected to the first support frame and the lifting mechanism.
  • the pan-tilt damping mechanism includes a shock absorbing body for buffering vibration of the first support frame, and the shock absorbing body is a hollow sphere made of an elastic material.
  • the lifting mechanism includes a lifting frame connected to the movable carrier, and the platform damping mechanism is coupled to the lifting frame, and the lifting frame can drive the pan/tilt mechanism to move up and down.
  • the lifting mechanism further includes a carrier connected to the lifting frame and movable relative to the lifting frame, the platform damping mechanism is coupled to the carrier, and the carrier drives the pan/tilt mechanism to move up and down.
  • pan-tilt damper mechanism includes an upper bottom plate and a lower bottom plate, and the upper bottom plate is spaced apart from the lower bottom plate, and two ends of the damper body are respectively connected to the upper bottom plate and the lower bottom plate.
  • the lifting mechanism further includes a lifting drive for driving the carrier relative to the lifting frame.
  • the lifting mechanism further includes a transmission mechanism, and the lifting driving device drives the carrier to move by the transmission mechanism.
  • the transmission mechanism further includes a conveyor belt and two pulleys, wherein one pulley is connected to the driving shaft of the lifting drive device, and the other pulley is connected to the lifting frame, and the conveyor belt is sleeved on the two pulleys
  • the carrier is fixedly coupled to the conveyor.
  • the lifting mechanism further includes a connecting member slidable relative to the lifting frame, and the carrier is fixedly connected to the conveyor belt through the connecting member.
  • the connecting member comprises a sliding sleeve, a clamping portion and a connecting portion connecting the sliding sleeve and the clamping portion, the sliding sleeve is sleeved on the lifting frame and is slidable along the lifting frame; the clamping portion is clamped
  • the conveyor belt is tightened and moves with the conveyor belt.
  • the transmission mechanism includes a chain and two sprocket wheels; the two sprocket wheels are relatively spaced apart, the chain sleeve is sleeved on the two sprocket wheels, and the lifting drive device drives one of the sprocket wheels to rotate through the chain Driving another sprocket to rotate; the carrier is connected to the chain and moves along with the chain;
  • the transmission mechanism includes a chain and a sprocket; the chain is wound on the sprocket, and the lifting drive drives the sprocket to rotate; the carrier is coupled to the chain and moves along with the chain.
  • the transmission mechanism includes a lead screw
  • the lead screw includes a screw rod and a nut sleeve sleeved on the threaded rod and threadedly engaged with the screw rod
  • the carrier is connected to the silk core, and follows the silk thread Moving together, the lifting drive is used to drive the screw to rotate.
  • the transmission mechanism includes a gear and a rack meshing with the gear, the lifting drive device is configured to drive the gear to rotate, and the carrier is coupled to the rack and moves together with the rack.
  • the lifting drive device comprises a linear motor connected to the moving primary or moving secondary of the linear motor;
  • the lifting drive device includes a hydraulic drive device, and a drive shaft of the hydraulic drive device is coupled to the carrier for driving the carrier to move;
  • the lifting drive comprises a pneumatic drive, the drive shaft of the pneumatic drive being coupled to the carrier for driving the carriage to move.
  • the lifting mechanism includes a rotation driving device and a support rod connected to the rotation driving device, and the rotation driving device is configured to drive the support rod to rotate about the rotation driving device perpendicular to the rotating shaft of the movable carrier, the platform The portion is suspended from the support rod away from the end of the rotary driving device.
  • the support rod is a telescopic rod
  • the lifting mechanism adjusts the height of the platform portion relative to the movable carrier by adjusting the length of the telescopic rod.
  • pan/tilt portion is connected to one end of the support rod away from the rotary driving device by the pan/tilt mechanism.
  • the lifting mechanism includes a telescopic driving device and a support rod connected to the telescopic driving device.
  • the middle portion of the supporting rod can be rotated around a supporting point to form a lever structure, and the platform portion is connected to the supporting rod away from the telescopic driving.
  • the telescopic driving device is configured to drive the support rod to be tilted away from the end of the telescopic driving device to adjust the height of the platform portion relative to the movable carrier.
  • the support rod is a telescopic rod
  • the lifting mechanism adjusts the height of the platform portion relative to the movable carrier by adjusting the length of the support rod.
  • pan/tilt portion is connected to one end of the support rod away from the telescopic drive device by the pan/tilt mechanism.
  • the remote control vehicle further includes a controller for controlling the pan/tilt and the movable carrier.
  • controller is further configured to control the lifting mechanism to drive the pan/tilt portion and the load to move up and down synchronously.
  • the remote control vehicle further includes a sensor for capturing a moving target, the controller acquiring position information of the moving target captured by the sensor and controlling the movement of the pan/tilt portion, so that the load on the pan/tilt portion follows the load Move the target to move.
  • the remote control vehicle further includes a sensor for capturing a moving target, and the controller acquires position information of the moving target captured by the sensor to control movement of the pan/tilt portion and the lifting mechanism to load the pan/tilt portion Follow the moving target to move.
  • the remote control vehicle further includes a sensor for capturing a heat source object, and the controller controls the movement of the pan/tilt portion according to the position information of the heat source object captured by the sensor, so that the load on the pan/tilt portion automatically searches for the Heat source object.
  • the remote control vehicle further includes a sensor for capturing a heat source object, and the controller controls the movement of the cloud platform portion and the lifting mechanism according to the position information of the heat source object captured by the sensor, so that the cloud platform portion The load automatically finds the heat source object.
  • the controller includes a carrier controller for controlling the movable carrier and a pan/tilt controller for controlling the pan/tilt, the carrier controller and the pan/tilt controller are separately disposed, and respectively accept externally control signal.
  • the pan/tilt portion includes a translational axis mechanism for controlling the movable carrier to follow the translational axis mechanism to move in the direction of the translational axis.
  • the pan/tilt portion includes a pitch axis mechanism for controlling the movable carrier to follow the pitch axis mechanism to move in the pitch axis direction.
  • the load is an image acquisition device, a heat source detection device, or a life detection device.
  • a pan/tilt head includes a pan/tilt portion for carrying a load.
  • the pan/tilt head further includes a lifting mechanism connected to the pan/tilt portion, and the lifting mechanism drives the pan/tilt portion to move up and down by moving up and down to realize the lifting and lowering of the load.
  • the pan/tilt portion includes a first support frame, a second support frame rotatably coupled to the first support frame, and a third support frame rotatably coupled to the second support frame.
  • the pan/tilt portion further includes a first driving member, a second driving member and a third driving member, wherein the first driving member is coupled to the first supporting frame for driving the first supporting frame to rotate;
  • the second support frame is rotatably connected to the first support frame by the second driving member;
  • the third support frame is rotatably connected to the second support frame by the third driving member.
  • first driving member, the second driving member and the third driving member are both motors.
  • pan/tilt portion further includes a pan/tilt damper mechanism connected to the first support frame and the lifting mechanism.
  • the pan-tilt damping mechanism includes a shock absorbing body for buffering vibration of the first support frame, and the shock absorbing body is a hollow sphere made of an elastic material.
  • the lifting mechanism includes a lifting frame, and the pan/tilt damping mechanism is coupled to the lifting frame, and the lifting frame can drive the pan/tilt damping mechanism to move up and down.
  • the lifting mechanism further includes a carrier connected to the lifting frame and movable relative to the lifting frame, the platform damping mechanism is coupled to the carrier, and the carrier drives the pan/tilt mechanism to move up and down.
  • pan-tilt damper mechanism includes an upper bottom plate and a lower bottom plate, and the upper bottom plate is spaced apart from the lower bottom plate, and two ends of the damper body are respectively connected to the upper bottom plate and the lower bottom plate.
  • the lifting mechanism further includes a lifting drive for driving the carrier relative to the lifting frame.
  • the lifting mechanism further includes a transmission mechanism, and the lifting driving device drives the carrier to move by the transmission mechanism.
  • the transmission mechanism further includes a conveyor belt and two pulleys, wherein one pulley is connected to the driving shaft of the lifting drive device, and the other pulley is connected to the lifting frame, and the conveyor belt is sleeved on the two pulleys
  • the carrier is fixedly coupled to the conveyor.
  • the lifting mechanism further includes a connecting member slidable relative to the lifting frame, and the carrier is fixedly connected to the conveyor belt through the connecting member.
  • the connecting member comprises a sliding sleeve, a clamping portion and a connecting portion connecting the sliding sleeve and the clamping portion, the sliding sleeve is sleeved on the lifting frame and is slidable along the lifting frame; the clamping portion is clamped
  • the conveyor belt is tightened and moves with the conveyor belt.
  • the transmission mechanism includes a chain and two sprocket wheels; the two sprocket wheels are relatively spaced apart, the chain sleeve is sleeved on the two sprocket wheels, and the lifting drive device drives one of the sprocket wheels to rotate through the chain Driving another sprocket to rotate; the carrier is connected to the chain and moves along with the chain;
  • the transmission mechanism includes a chain and a sprocket; the chain is wound on the sprocket, and the lifting drive drives the sprocket to rotate; the carrier is coupled to the chain and moves along with the chain.
  • the transmission mechanism includes a lead screw
  • the lead screw includes a screw rod and a nut sleeve sleeved on the threaded rod and threadedly engaged with the screw rod
  • the carrier is connected to the silk core, and follows the silk thread Moving together, the lifting drive is used to drive the screw to rotate.
  • the transmission mechanism includes a gear and a rack meshing with the gear, the lifting drive device is configured to drive the gear to rotate, and the carrier is coupled to the rack and moves together with the rack.
  • the lifting drive device comprises a linear motor connected to the moving primary or moving secondary of the linear motor;
  • the lifting drive device includes a hydraulic drive device, and a drive shaft of the hydraulic drive device is coupled to the carrier for driving the carrier to move;
  • the lifting drive comprises a pneumatic drive, the drive shaft of the pneumatic drive being coupled to the carrier for driving the carriage to move.
  • the lifting mechanism includes a rotation driving device and a support rod connected to the rotation driving device, the rotation driving device is configured to drive the support rod to rotate about a rotation axis of the rotation driving device, and the cloud platform portion is suspended from the support rod Keep away from one end of the rotary drive.
  • the support rod is a telescopic rod
  • the lifting mechanism adjusts the height of the platform portion relative to the movable carrier by adjusting the length of the telescopic rod.
  • pan/tilt portion is connected to one end of the support rod away from the rotary driving device by the pan/tilt mechanism.
  • the lifting mechanism includes a telescopic driving device and a support rod connected to the telescopic driving device.
  • the middle portion of the supporting rod can be rotated around a supporting point to form a lever structure, and the platform portion is connected to the supporting rod away from the telescopic driving.
  • the telescopic driving device is configured to drive the support rod to be tilted away from the end of the telescopic driving device to adjust the height of the platform portion relative to the movable carrier.
  • the support rod is a telescopic rod
  • the lifting mechanism adjusts the height of the platform portion relative to the movable carrier by adjusting the length of the support rod.
  • pan/tilt portion is connected to one end of the support rod away from the telescopic drive device by the pan/tilt mechanism.
  • the load is an image acquisition device, a heat source detection device, or a life detection device.
  • a remote control delivery system comprising:
  • a handheld cloud platform for carrying a load, the handheld cloud platform being provided with a first operating handle for holding;
  • a remote control vehicle for carrying the handheld pan/tilt the remotely controlled vehicle capable of moving together carrying the handheld pan/tilt, the remotely controlled vehicle comprising:
  • a removable carrier for accepting a remote command and moving according to the remote command
  • a detachable structure coupled to the movable carrier, the detachable structure for fixing the handheld head
  • the handheld cloud platform when used alone, the handheld cloud platform can be separated from the remote control vehicle by operating the detachable structure; when the remote control vehicle is required to be used by the handheld cloud platform, the handheld cloud platform can be detachable
  • the structure is fixed to the movable carrier.
  • the handheld cloud platform includes a support body, and the operating handle is coupled to the support body.
  • the detachable structure includes a clamping device for clamping the handheld pan/tilt, the clamping device for clamping the first operating handle.
  • the detachable structure further includes a holding sensor for sensing whether the handheld head is already held.
  • the detachable structure further includes an interface for interfacing with the handheld pan/tilt.
  • the remote control vehicle includes a vehicle power battery for providing power for moving the movable carrier, and the vehicle power battery can provide the handheld power station with a battery power supply through the interface.
  • the handheld cloud platform is provided with a PTZ power battery, and the vehicle power battery can charge the PTZ power battery.
  • the vehicle power battery is a fuel cell, a solar cell, or a lithium battery.
  • the movable carrier can drive the handheld pan/tilt to translate and rotate in any direction.
  • the movable carrier includes a chassis to which the detachable structure is attached.
  • the movable carrier further includes a wheel coupled to the chassis and a wheel power unit coupled to the wheel, the wheel power unit for driving the wheel.
  • the movable carrier further includes a shock absorbing structure, the wheel being coupled to the chassis through the shock absorbing structure, the shock absorbing structure for buffering vibration of the chassis from the wheel.
  • the wheel power unit is a motor
  • the shock absorbing structure is a suspended shock absorbing mechanism.
  • the wheel is an omnidirectional wheel.
  • shock absorbing structure and the wheel are both multiple, and each of the shock absorbing structures simultaneously connects two of the wheels.
  • each of the wheels is separately provided with one of the shock absorbing structures.
  • the plurality of wheels are respectively mounted on the left side and the right side of the chassis, and the wheel power devices are two, respectively driving the wheels on the left side and the right side of the chassis to form Differential drive;
  • the movable carrier further includes two crawlers respectively disposed on the wheels on the left and right sides of the chassis.
  • the plurality of wheels are respectively installed at the front end and the rear end of the chassis, and the movable carrier further includes a transmission device and a steering power device, and the wheel power device simultaneously drives the wheel rotation of the rear end of the chassis through the transmission device.
  • the steering power unit is for driving a wheel connected to a front end of the chassis for steering.
  • the remote control vehicle further includes a lifting mechanism mounted on the movable carrier and a pan/tilt damping mechanism, and the handheld cloud platform is coupled to the detachable structure through the pan/tilt mechanism.
  • the pan-tilt damping mechanism includes a shock absorbing body for buffering vibration of the pan-tilt, the shock-absorbing body being a hollow sphere made of an elastic material.
  • the lifting mechanism includes a lifting frame connected to the movable carrier, and the platform damping mechanism is coupled to the lifting frame, and the lifting frame can drive the pan/tilt mechanism to move up and down.
  • the lifting mechanism further includes a carrier connected to the lifting frame and movable relative to the lifting frame, the platform damping mechanism is coupled to the carrier, and the carrier drives the pan/tilt mechanism to move up and down.
  • pan-tilt damper mechanism includes an upper bottom plate and a lower bottom plate, and the upper bottom plate is spaced apart from the lower bottom plate, and two ends of the damper body are respectively connected to the upper bottom plate and the lower bottom plate.
  • the lifting mechanism further includes a lifting drive for driving the carrier relative to the lifting frame.
  • the lifting mechanism further includes a transmission mechanism, and the lifting driving device drives the carrier to move by the transmission mechanism.
  • the transmission mechanism further includes a conveyor belt and two pulleys, wherein one pulley is connected to the driving shaft of the lifting drive device, and the other pulley is connected to the lifting frame, and the conveyor belt is sleeved on the two pulleys
  • the carrier is fixedly coupled to the conveyor.
  • the lifting mechanism further includes a connecting member slidable relative to the lifting frame, and the carrier is fixedly connected to the conveyor belt through the connecting member.
  • the connecting member comprises a sliding sleeve, a clamping portion and a connecting portion connecting the sliding sleeve and the clamping portion, the sliding sleeve is sleeved on the lifting frame and is slidable along the lifting frame; the clamping portion is clamped
  • the conveyor belt is tightened and moves with the conveyor belt.
  • the transmission mechanism includes a chain and two sprocket wheels; the two sprocket wheels are relatively spaced apart, the chain sleeve is sleeved on the two sprocket wheels, and the lifting drive device drives one of the sprocket wheels to rotate through the chain Driving another sprocket to rotate; the carrier is connected to the chain and moves along with the chain;
  • the transmission mechanism includes a chain and a sprocket; the chain is wound on the sprocket, and the lifting drive drives the sprocket to rotate; the carrier is coupled to the chain and moves along with the chain.
  • the transmission mechanism includes a lead screw
  • the lead screw includes a screw rod and a nut sleeve sleeved on the threaded rod and threadedly engaged with the screw rod
  • the carrier is connected to the silk core, and follows the silk thread Moving together, the lifting drive is used to drive the screw to rotate.
  • the transmission mechanism includes a gear and a rack meshing with the gear, the lifting drive device is configured to drive the gear to rotate, and the carrier is coupled to the rack and moves together with the rack.
  • the lifting drive device comprises a linear motor connected to the moving primary or moving secondary of the linear motor;
  • the lifting drive device includes a hydraulic drive device, and a drive shaft of the hydraulic drive device is coupled to the carrier for driving the carrier to move;
  • the lifting drive comprises a pneumatic drive, the drive shaft of the pneumatic drive being coupled to the carrier for driving the carriage to move.
  • the lifting mechanism includes a rotation driving device and a support rod connected to the rotation driving device, and the rotation driving device is configured to drive the support rod to rotate around the rotation driving device perpendicular to the rotating shaft of the movable carrier, the handheld cloud
  • the table is suspended from the end of the support rod away from the rotary drive.
  • the support rod is a telescopic rod
  • the lifting mechanism adjusts the height of the handheld cloud platform relative to the movable carrier by adjusting the length of the telescopic rod.
  • the handheld cloud platform is connected to the support rod away from the end of the rotary driving device through the pan/tilt mechanism.
  • the lifting mechanism includes a telescopic driving device and a support rod connected to the telescopic driving device, and the middle portion of the supporting rod is rotatable around a supporting point to form a lever structure, and the handheld cloud platform is connected to the supporting rod away from the telescopic driving
  • the telescopic driving device is configured to drive the support rod to be tilted away from the end of the telescopic driving device to adjust the height of the handheld cloud platform relative to the movable carrier.
  • the support rod is a telescopic rod
  • the lifting mechanism adjusts the height of the handheld cloud platform relative to the movable carrier by adjusting the length of the support rod.
  • the handheld cloud platform is connected to the support rod away from the end of the telescopic drive device through the pan/tilt mechanism.
  • the remote control vehicle further includes a controller for controlling the handheld cloud platform and the movable carrier.
  • controller is further configured to control the lifting mechanism to drive the handheld cloud platform and the load to move up and down synchronously.
  • the remote control vehicle further includes a sensor for capturing a moving target, the controller acquires position information of the moving target captured by the sensor and controls the handheld pan/tilt movement, so that the load on the handheld cloud platform follows the Move the target to move.
  • the remote control vehicle further includes a sensor for capturing a moving target, the controller acquiring position information of the moving target captured by the sensor to control the movement of the handheld cloud platform and the lifting mechanism to load the handheld cloud platform follow the moving target to move.
  • the remote control vehicle further includes a sensor for capturing a heat source object, and the controller controls the handheld pan/tilt movement according to the position information of the heat source object captured by the sensor, so that the load on the handheld pan/tilt automatically searches for the Heat source object.
  • the remote control vehicle further includes a sensor for capturing a heat source object, and the controller controls the movement of the handheld cloud platform and the lifting mechanism according to the position information of the heat source object captured by the sensor, so that the handheld cloud platform The load automatically finds the heat source object.
  • the controller includes a carrier controller for controlling the movable carrier and a pan/tilt controller for controlling the handheld cloud platform, the carrier controller and the pan/tilt controller are separately set and separately accepted External control signal.
  • the load is an image acquisition device, a heat source detection device, or a life detection device.
  • a remote control vehicle for carrying a handheld pan/tilt and carrying the handheld pan/tilt to move together, the remotely controlled vehicle comprising:
  • a movable carrier for accepting a remote command and moving according to a remote command
  • a detachable structure mounted on the movable carrier, the detachable structure including a clamping device for clamping the handheld head;
  • the handheld cloud platform when used alone, the handheld cloud platform can be separated from the remote control vehicle by operating the detachable structure; when the remote control vehicle is required to be used by the handheld cloud platform, the handheld cloud platform can be detachable
  • the structure is fixed to the movable carrier.
  • the detachable structure further includes a holding sensor for sensing whether the handheld head is already held.
  • the detachable structure further includes an interface for interfacing with the handheld pan/tilt.
  • the remote control vehicle includes a vehicle power battery for providing power for moving the movable carrier, and the vehicle power battery can provide the handheld power station with a battery power supply through the interface.
  • the handheld cloud platform is provided with a PTZ power battery, and the vehicle power battery can charge the PTZ power battery.
  • the vehicle power battery is a fuel cell, a solar cell, or a lithium battery.
  • the movable carrier can drive the handheld pan/tilt to translate and rotate in any direction.
  • the movable carrier includes a chassis to which the detachable structure is attached.
  • the movable carrier further includes a wheel coupled to the chassis and a wheel power unit coupled to the wheel, the wheel power unit for driving the wheel.
  • the movable carrier further includes a shock absorbing structure, the wheel being coupled to the chassis through the shock absorbing structure, the shock absorbing structure for buffering vibration of the chassis from the wheel.
  • the wheel power unit is a motor
  • the shock absorbing structure is a suspended shock absorbing mechanism.
  • the wheel is an omnidirectional wheel.
  • shock absorbing structure and the wheel are both multiple, and each of the shock absorbing structures simultaneously connects two of the wheels.
  • each of the wheels is separately provided with one of the shock absorbing structures.
  • the plurality of wheels are respectively mounted on the left side and the right side of the chassis, and the wheel power devices are two, respectively driving the wheels on the left side and the right side of the chassis to form Differential drive;
  • the movable carrier further includes two crawlers respectively disposed on the wheels on the left and right sides of the chassis.
  • the plurality of wheels are respectively installed at the front end and the rear end of the chassis, and the movable carrier further includes a transmission device and a steering power device, and the wheel power device simultaneously drives the wheel rotation of the rear end of the chassis through the transmission device.
  • the steering power unit is for driving a wheel connected to a front end of the chassis for steering.
  • the remote control vehicle further includes a lifting mechanism mounted on the movable carrier and a pan/tilt damping mechanism, and the handheld cloud platform is coupled to the detachable structure through the pan/tilt mechanism.
  • the pan-tilt damping mechanism includes a shock absorbing body for buffering vibration of the pan-tilt, the shock-absorbing body being a hollow sphere made of an elastic material.
  • the lifting mechanism includes a lifting frame connected to the movable carrier, and the platform damping mechanism is coupled to the lifting frame, and the lifting frame can drive the pan/tilt mechanism to move up and down.
  • the lifting mechanism further includes a carrier connected to the lifting frame and movable relative to the lifting frame, the platform damping mechanism is coupled to the carrier, and the carrier drives the pan/tilt mechanism to move up and down.
  • pan-tilt damper mechanism includes an upper bottom plate and a lower bottom plate, and the upper bottom plate is spaced apart from the lower bottom plate, and two ends of the damper body are respectively connected to the upper bottom plate and the lower bottom plate.
  • the lifting mechanism further includes a lifting drive for driving the carrier relative to the lifting frame.
  • the lifting mechanism further includes a transmission mechanism, and the lifting driving device drives the carrier to move by the transmission mechanism.
  • the transmission mechanism further includes a conveyor belt and two pulleys, wherein one pulley is connected to the driving shaft of the lifting drive device, and the other pulley is connected to the lifting frame, and the conveyor belt is sleeved on the two pulleys
  • the carrier is fixedly coupled to the conveyor.
  • the lifting mechanism further includes a connecting member slidable relative to the lifting frame, and the carrier is fixedly connected to the conveyor belt through the connecting member.
  • the connecting member comprises a sliding sleeve, a clamping portion and a connecting portion connecting the sliding sleeve and the clamping portion, the sliding sleeve is sleeved on the lifting frame and is slidable along the lifting frame; the clamping portion is clamped
  • the conveyor belt is tightened and moves with the conveyor belt.
  • the transmission mechanism includes a chain and two sprocket wheels; the two sprocket wheels are relatively spaced apart, the chain sleeve is sleeved on the two sprocket wheels, and the lifting drive device drives one of the sprocket wheels to rotate through the chain Driving another sprocket to rotate; the carrier is connected to the chain and moves along with the chain;
  • the transmission mechanism includes a chain and a sprocket; the chain is wound on the sprocket, and the lifting drive drives the sprocket to rotate; the carrier is coupled to the chain and moves along with the chain.
  • the transmission mechanism includes a lead screw
  • the lead screw includes a screw rod and a nut sleeve sleeved on the threaded rod and threadedly engaged with the screw rod
  • the carrier is connected to the silk core, and follows the silk thread Moving together, the lifting drive is used to drive the screw to rotate.
  • the transmission mechanism includes a gear and a rack meshing with the gear, the lifting drive device is configured to drive the gear to rotate, and the carrier is coupled to the rack and moves together with the rack.
  • the lifting drive device comprises a linear motor connected to the moving primary or moving secondary of the linear motor;
  • the lifting drive device includes a hydraulic drive device, and a drive shaft of the hydraulic drive device is coupled to the carrier for driving the carrier to move;
  • the lifting drive comprises a pneumatic drive, the drive shaft of the pneumatic drive being coupled to the carrier for driving the carriage to move.
  • the lifting mechanism includes a rotation driving device and a support rod connected to the rotation driving device, and the rotation driving device is configured to drive the support rod to rotate around the rotation driving device perpendicular to the rotating shaft of the movable carrier, the handheld cloud
  • the table is suspended from the end of the support rod away from the rotary drive.
  • the support rod is a telescopic rod
  • the lifting mechanism adjusts the height of the handheld cloud platform relative to the movable carrier by adjusting the length of the telescopic rod.
  • the handheld cloud platform is connected to the support rod away from the end of the rotary driving device by the pan/tilt mechanism.
  • the lifting mechanism includes a telescopic driving device and a support rod connected to the telescopic driving device, and the middle portion of the supporting rod is rotatable around a supporting point to form a lever structure, and the handheld cloud platform is connected to the supporting rod away from the telescopic driving
  • the telescopic driving device is configured to drive the support rod to be tilted away from the end of the telescopic driving device to adjust the height of the handheld cloud platform relative to the movable carrier.
  • the support rod is a telescopic rod
  • the lifting mechanism adjusts the height of the handheld cloud platform relative to the movable carrier by adjusting the length of the support rod.
  • the handheld cloud platform is connected to the support rod away from the end of the telescopic drive device through the pan/tilt mechanism.
  • the remote control vehicle further includes a controller for controlling the handheld cloud platform and the movable carrier.
  • controller is further configured to control the lifting mechanism to drive the handheld cloud platform and the load to move up and down synchronously.
  • the remote control vehicle further includes a sensor for capturing a moving target, the controller acquires position information of the moving target captured by the sensor and controls the handheld pan/tilt movement, so that the load on the handheld cloud platform follows the Move the target to move.
  • the remote control vehicle further includes a sensor for capturing a moving target, the controller acquiring position information of the moving target captured by the sensor to control the movement of the handheld cloud platform and the lifting mechanism to load the handheld cloud platform follow the moving target to move.
  • the remote control vehicle further includes a sensor for capturing a heat source object, and the controller controls the handheld pan/tilt movement according to the position information of the heat source object captured by the sensor, so that the load on the handheld pan/tilt automatically searches for the Heat source object.
  • the remote control vehicle further includes a sensor for capturing a heat source object, and the controller controls the movement of the handheld cloud platform and the lifting mechanism according to the position information of the heat source object captured by the sensor, so that the handheld cloud platform The load automatically finds the heat source object.
  • the controller includes a carrier controller for controlling the movable carrier and a pan/tilt controller for controlling the handheld cloud platform, the carrier controller and the pan/tilt controller are separately set and separately accepted External control signal.
  • the load is an image acquisition device, a heat source detection device, or a life detection device.
  • the pan/tilt head further includes an elevating mechanism connected to the gimbal portion, and the elevating mechanism drives the gimbal portion to move up and down by moving up and down, and the height of the gimbal is adjusted. The up and down movement of the image acquisition device is achieved.
  • FIG. 1 is a schematic structural view of a remote control vehicle according to a first embodiment of the present invention.
  • FIG. 2 is a front elevational view of the remote control vehicle of FIG. 1.
  • FIG. 3 is a right side view of the remote control vehicle of FIG. 1.
  • FIG. 4 is a bottom view of the remote control vehicle of FIG. 1.
  • FIG. 5 is a schematic structural view of a remote control vehicle according to a second embodiment of the present invention.
  • FIG. 6 is a schematic structural view of a remote control vehicle according to a third embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of a remote control vehicle according to a fourth embodiment of the present invention.
  • FIG. 8 is a schematic structural diagram of a remote control vehicle according to a fifth embodiment of the present invention.
  • FIG. 9 is a schematic structural diagram of a remote control vehicle according to a sixth embodiment of the present invention.
  • FIG. 10 is a schematic structural view of a remote control vehicle according to a seventh embodiment of the present invention.
  • FIG. 11 is a schematic structural view of a remote control vehicle according to an eighth embodiment of the present invention.
  • FIG. 12 is a schematic structural view of a remote control vehicle according to a ninth embodiment of the present invention.
  • FIG. 13 is a schematic structural diagram of a remote control delivery system according to a tenth embodiment of the present invention.
  • FIG. 14 is a schematic structural view of a handheld pan/tilt of the remote control delivery system of FIG.
  • a remote control vehicle 100 includes a movable carrier 10 and a cloud platform 20a for carrying a load, and the load may be an image acquisition device and a heat source detection. Devices, life detection devices, etc.
  • the load is the image acquisition device 40.
  • the image acquisition device 40 can be a camera. It can be understood that in other embodiments, the image acquisition device 40 can also be other imaging components, such as an ultrasound imaging device.
  • the movable carrier 10 is used to carry the platform 20a, which can drive the platform 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 unit 14.
  • the chassis 11 is used to carry the platform 20a.
  • the shock absorbing structure 12 is coupled to the chassis 11 and the wheel 13 for buffering vibrations from the wheel 13 received by the chassis 11.
  • the wheel power unit 14 is fixedly coupled to the chassis 11 for powering the movement of the wheel 13.
  • the damper structure 12 is a suspension damper mechanism.
  • the wheel 13 may be a 45-degree angular omnidirectional wheel, the number of which is four; the wheel power unit 14 is a motor, the number of which is two; two of the wheel power units 14 are respectively used for driving Two of the wheels 13 of the front end of the chassis 11; the movable carrier 10 further includes a steering power unit (not shown) for driving the two wheels 13 at the rear end of the chassis 11 for steering;
  • the number of the shock absorbing structures 12 is two, and the two shock absorbing structures 12 are respectively connected to the two ends of the chassis 11, and each of the shock absorbing structures 12 connects two of the wheels 13, and the four wheels 13 are substantially respectively located at one The four vertices of the rectangle. It can be understood that in other embodiments, each of the wheels 13 can also be provided with a separate shock absorbing structure.
  • the movable carrier 10 can adopt one of the following manners according to actual needs: the wheel 13 is a 90-degree angular omnidirectional wheel, and the number thereof is three, and the wheel power device 14 For the motor, the number is three, three of the wheel power units 14 are respectively used to drive three of the wheels 13, three of which are evenly arranged along a circle, and the three wheels 13 are respectively located in an equilateral triangle.
  • the movable carrier 10 further includes a steering power device, which may be a motor or a motor, in the number of two, and the movable carrier 10 further includes a transmission connected to the chassis 11, the wheel
  • the power unit 14 drives the two wheels 13 connected to the rear end of the chassis 11 to perform translation, and the two steering power units are respectively used to drive two of the wheels 13 connected to the front end of the chassis 11.
  • the number of the wheels 13 is plural. A plurality of the wheels 13 are respectively mounted on the left side and the right side of the chassis 11.
  • the number of the wheel power units 14 is two, and the two wheel power units 14 are respectively driven.
  • the left and right side wheels 13 of the chassis 11 are driven to form a differential speed, and the movable carrier 10 further includes two sleeves respectively disposed on the wheels 13 on the left and right sides of the chassis 11. track.
  • the platform 20a is detachably coupled to the movable carrier 10 for carrying the image acquisition device 40.
  • the pan/tilt head 20a includes a pan/tilt head portion 20 and a lifting mechanism 30 that can move the pan/tilt portion 20 up and down in synchronization.
  • the pan/tilt portion 20 includes a first driving member 21, a pan/tilt damping mechanism 22, a first support frame 23, a second support frame 24, a second driving member 25, a third driving member 26, and a third support frame 27.
  • the driving shaft of the first driving member 21 is connected to the first supporting frame 23 through the pan/tilt mechanism 22 for driving the first supporting frame 23 to rotate the camera device 40 synchronously.
  • the pan/tilt mechanism 22 is configured to buffer vibrations from the movable carrier 10 and the lifting mechanism 30 received by the first support frame 23.
  • the second driving member 25 is fixed to the first supporting frame 23, and a driving shaft thereof is coupled to the second supporting frame 24 to drive the second supporting frame 24 to rotate.
  • the third driving member 26 is fixedly coupled to the second supporting frame 24, and a driving shaft thereof is coupled to the third supporting frame 27 to drive the third supporting frame 27 to rotate.
  • the third support frame 27 is rotatably connected to the second support frame 24, and the image acquisition device 40 is mounted on the third support frame 27.
  • the pan/tilt portion 20 includes a translational axis mechanism and a pitch axis mechanism.
  • the translational axis mechanism includes a first support frame 23, and the pitch axis mechanism includes a third drive member 26 and the third support frame 27.
  • the pan-tilt damper mechanism 22 includes at least one of the following damper mechanisms: a wire rope damper mechanism, a hydraulic damper mechanism, a pneumatic damper mechanism, a shrapnel damper mechanism, and an elastic ball damper mechanism.
  • the pan-tilt damper mechanism 22 includes a lower bottom plate 221, an upper bottom plate 222 spaced apart from the lower bottom plate 221 by a predetermined distance, and a shock absorbing body 223 connecting the lower bottom plate 221 and the upper bottom plate 222.
  • the damper body 223 is a hollow sphere made of an elastic material.
  • the driving shaft of the first driving member 21 is connected to the first supporting frame 23 through the lower bottom plate 221 and the upper bottom plate 222 from the side of the lower bottom plate 221 .
  • the second support frame 24 is substantially concave and includes two oppositely disposed support arms 241.
  • the third support frame 27 is rotatably coupled to the two support arms 241 between the two support arms 241.
  • the third driving member 26 is fixed to the support arm 241.
  • the first driving member 21, the second driving member 25, and the third driving member 26 are all motors. It can be 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 a motor; in the initial state, the first driving member
  • the drive shaft of 21, the drive shaft of the second drive member 25, and the drive shaft of the third drive member 26 may be perpendicular to each other, and the drive shaft of the first drive member 21 is perpendicular to the central axis of the wheel 13.
  • the drive shaft of the first drive member 21 and the drive shaft of the second drive member 25 are always perpendicular, and the drive shaft of the second drive member 25 is always perpendicular to the drive shaft of the third drive member 26.
  • the drive shaft of the first drive member 21 and the drive shaft of the third drive member 26 may be perpendicular or oblique.
  • the lifting mechanism 30 is detachably coupled to the chassis 11 of the movable carrier 10, and includes a base 31, a lifting drive unit 32, a lifting frame 33, a connecting member 34, a carrier 35, a conveyor belt 36, and a pulley 37.
  • the conveyor belt 36 and the pulley 37 constitute a transmission mechanism, and the elevation drive unit 32 drives the carriage 35 to move by the transmission mechanism.
  • the lifting drive device 32 is fixed to the base 31, and its drive shaft is coupled to the pulley 37.
  • the lifting frame 33 is connected to the carrier 35 via the connecting member 34.
  • the number of the pulleys 37 is two, one of the two pulleys 37 is connected to the lifting drive device 32, and the other of the two pulleys 37 is fixed to the lifting frame 33.
  • the conveyor belt 36 is sleeved on two of the pulleys 37 and is fixedly coupled to the connector member 36.
  • the lifting drive device 32 drives the pulley 37 to rotate to drive the conveyor belt 36 to rotate.
  • the conveyor belt 36 drives the carrier 35 to move up and down through the connecting member 34.
  • the connecting member 34 can slide along the lifting frame 33.
  • the base 31 includes a fixing plate 311 and two supporting plates 312 fixedly spaced on the fixing plate 311.
  • the supporting plate 312 defines a shaft hole 3121.
  • the lifting drive device 32 includes a drive shaft 321 that is received in the shaft hole 3121.
  • the drive shaft 321 passes through one of the pulleys 37, and the pulley 37 is located between the two support plates 312.
  • the elevation drive device 32 is a motor.
  • the lifting frame 33 is substantially concave, including a first connecting rod 331, a support rod 332 and a rotatable body.
  • a suspension member 333 that connects the pulley 37.
  • the number of the support rods 332 is two;
  • the first connecting rod 331 includes a fixing surface 3311, and the two supporting rods 332 are fixedly fixed on the fixing surface 3311.
  • the first connecting rod 331 is fixed on the fixing surface 3311 and is located between the two supporting rods 332.
  • the base 31 and the lifting frame 33 can be a unitary structure.
  • the connecting member 34 is slidably coupled 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.
  • the connecting portion 341 connects the clamping portion 342 and the sliding sleeve 343.
  • the number of the sliding sleeves 343 is two, and the 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. Two of the sliding sleeves 343 are respectively fitted over the support rods 332 of the two lifting frames 33, which are slidable along the support rods 332.
  • the carrier 35 is configured to carry the platform 20 and includes a second connecting rod 351 and a carrier rod 352 fixedly coupled to the second connecting rod 351.
  • the number of the carrying rods 352 is two, and the two connecting rods 352 are spaced apart.
  • the two connecting rods 352 are respectively fixedly connected to the two sliding sleeves 343 of the connecting member 34, and the carrying frame 35 is moved up and down with the connecting belt 36 through the connecting member 34.
  • the base 31 of the lifting mechanism 30 is fixed to the chassis 11 of the movable carrier 10.
  • Two of the support bars 332 of the lifting frame 33 are fixed to the chassis 11, and the base 31 is located between the two supporting bars 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 rest, translation or rotation of the movable carrier 10.
  • the controller is further configured to control the first driving member 21, the second driving member 25, and the third driving member 26 to implement the first support frame 23, the second support frame 24, and the third support frame 27. Still or rotating, the still or rotating of the image acquisition device 40 is achieved.
  • the controller is further configured to control the lifting and lowering driving device 32 to realize the stationary or rotating of the pulley 37, thereby implementing the stationary and vertical movement of the image capturing device 40, thereby expanding the visibility of the remote control vehicle 100. range.
  • the controller can also control the translational axis mechanism to follow the movable carrier 10 in the direction of the translation axis, and the pitch axis mechanism follows the movable carrier 10 to move in the pitch axis direction to facilitate controlling the position of the load.
  • the remote control vehicle 100 further includes a sensor for capturing a moving target, the controller acquiring position information of the moving target, and controlling the movable carrier 10, the pan/tilt portion 20, and/or the corresponding The lifting mechanism 30 moves to cause the image capturing device 40 on the platform 20a to follow the moving target to realize automatic tracking of the moving target.
  • the controller may include a sensor for capturing a heat source object, and the controller controls the movement of the platform portion 20 according to the position information of the heat source object captured by the sensor, so that the platform portion The image acquisition device 40 on 20 automatically finds the heat source object.
  • the sensor can be a thermal imaging device such as an infrared camera.
  • the controller includes a carrier controller for controlling the movable carrier 10 and a pan/tilt controller for controlling the platform 20a, the carrier controller and the pan/tilt controller are separately provided, and respectively receive external control separately signal.
  • the pan/tilt controller can control the pan/tilt head 20a to drive the image capturing device 40 to perform pitching motion and rotational motion.
  • the controller can control the lifting and lowering driving device 32 to drive the pulley 37 to rotate through the driving shaft 321 , and the pulley 37 drives the conveyor belt 36 to move up and down.
  • the connecting belt 34 drives the connecting member 34 to slide up and down along the supporting rod 332, and the connecting member 34 drives the pan/tilt portion 20 carried by the carrying frame 35 to move up and down to realize the vertical movement of the image acquiring device 40.
  • the image acquiring device 40 Shoot the subject up and down.
  • the controller can further control the rotation of the image obtaining device 40 by the first driving member 21, the second driving member 25 and the third driving member 26, so that the image acquiring device 40 can perform multi-directional shooting on the photographic subject.
  • 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.
  • the remote control vehicle 200 provided by the second embodiment of the present invention is substantially the same as the remote control vehicle 100 .
  • the difference lies in the lifting mechanism 210 of the remote control vehicle 200 .
  • the transmission mechanism of the lifting mechanism 210 is different from that of the remote control vehicle 100 .
  • the lifting mechanism 210 includes an elevation driving device 201 and a lead screw 204, and the lead screw 204 constitutes a transmission mechanism of the lifting mechanism 210.
  • the lifting and lowering driving device 201 drives the carrier 35, the pan/tilt portion 20, and the image capturing device 40 to synchronously ascend and descend by the lead screw 204.
  • the lead screw 204 includes a nut 202 and a screw 203 threadedly engaged with the nut 202.
  • the carrier 35 is coupled to the core 202.
  • the lead screw 203 is connected to the lifting and lowering driving device 201, and the lifting and lowering driving device 201 is configured to drive the screw 203 to rotate to drive the image acquiring device 40 to lift and lower through the silk nut 202, the carrier 35 and the platform portion 20. .
  • the remote control vehicle 300 provided by the third embodiment of the present invention is substantially the same as the remote control vehicle 100 .
  • the difference lies in the lifting mechanism 310 of the remote control vehicle 300 .
  • the transmission mechanism of the lifting mechanism 310 is different from that of the remote control vehicle 100 .
  • the transmission mechanism of the lifting mechanism 310 includes a gear 302 and a rack 303 that meshes with the gear 302.
  • the lifting and lowering driving device 301 of the lifting mechanism 310 drives the carrier 35 and the platform through the gear 302 and the rack 303. 20 and the image acquisition device 40 performs synchronous lifting.
  • the lifting and lowering driving device 301 drives the gear 302 to rotate.
  • the carrier 35 is coupled to the rack 303, and the rack 303 drives the carrier 35 to move together.
  • the remote control vehicle 400 provided by the fourth embodiment of the present invention is substantially the same as the remote control vehicle 100 .
  • the difference lies in the lifting mechanism 410 of the remote control vehicle 400 .
  • the transmission mechanism of the lifting mechanism 410 is different from that of the remote control vehicle 100 .
  • the transmission mechanism of the lifting mechanism 410 includes two sprocket wheels 402 and a chain 403.
  • the two sprockets 402 are spaced apart from each other, and the chain 403 is sleeved on the two sprockets 402.
  • the lifting mechanism 410 further includes an elevation driving device 401 for driving one of the two sprocket wheels 402 to rotate to drive the other sprocket 402 to rotate through the chain 403.
  • the carrier 35 is connected to the chain 403, and the chain 403 can drive the carrier 35, the platform 20 and the image acquiring device 40 to synchronously ascend and descend.
  • the remote control vehicle 500 provided by the fifth embodiment of the present invention is substantially the same as the remote control vehicle 400 .
  • the transmission mechanism of the lifting mechanism 510 of the remote control vehicle 500 includes a sprocket 502 and a chain 503 , and the chain 503 One end is wound on the sprocket 502, and the other end is connected to the carrier 35.
  • the lifting mechanism 510 further includes a lifting and lowering driving device 501.
  • the lifting and lowering driving device 501 drives the sprocket 502 to rotate.
  • the sprocket 502 drives the carrier 35, the platform unit 20 and the image capturing device 40 to move together through the chain 503. .
  • the remote control vehicle 600 provided by the sixth embodiment of the present invention is substantially the same as the remote control vehicle 100 , and differs in the lifting mechanism 610 of the remote control vehicle 600 .
  • the lifting mechanism 610 includes a lifting and lowering driving device 601.
  • the lifting and lowering driving device 601 is a linear motor, and the image capturing device 40 is moved by the carrier 35 and the platform portion 20.
  • the carrier 35 is connected to the moving primary 602 of the lifting drive 601 or the moving secondary 601 of the lifting drive 603.
  • the remote control vehicle 700 provided by the seventh embodiment of the present invention is substantially the same as the remote control vehicle 100 , and differs in the lifting mechanism 710 of the remote control vehicle 700 .
  • the lifting mechanism 710 includes an elevation drive 701.
  • the lifting drive device 701 is a hydraulic drive device or a pneumatic drive device such as a hydraulic telescopic cylinder.
  • the elevation drive device 701 drives the image acquisition device 40 to move by the carrier 35 and the platform portion 20.
  • the lift drive 701 includes a push rod 702 that is coupled to the carrier 35.
  • the remote control vehicle 800 provided by the eighth embodiment of the present invention is substantially the same as the remote control vehicle 100 , and differs in the lifting mechanism 810 of the remote control vehicle 800 and the platform unit 20 .
  • the lifting mechanism 810 includes a rotation driving device 801 and a support rod 802 for driving the support rod 802 to rotate about the rotation axis of the movable carrier 10 about the rotation driving device 801.
  • One end of the support rod 802 is connected to the rotation driving device 801, and the platform portion 20 is suspended by the platform vibration damping mechanism 22 from the other end of the support rod 802 away from the rotation driving device 801.
  • the support rod 802 is a telescopic rod, and the lifting mechanism 810 adjusts the height of the platform portion 20 relative to the movable carrier 10 by adjusting the length of the support rod 802.
  • the remote control vehicle 900 of the ninth embodiment of the present invention is substantially the same as the remote control vehicle 800, except for the lifting mechanism 910 of the remote control vehicle 900.
  • the lifting mechanism 910 includes a telescopic driving device 901, a support rod 902, and a strut 903. One end of the strut 903 is fixed on the movable carrier 10, and the other end is connected to the middle of the support rod 902 to provide a support point for the support rod 902.
  • the support rod 902 can be rotated around the support point to form a lever structure.
  • the pan/tilt portion 20 is suspended from one end of the support rod 902 by the pan-tilt damper mechanism 22, and the other end of the support rod 902 is coupled to the telescopic drive device 901.
  • the telescopic driving device 901 drives the support rod 902 to be lifted away from one end of the telescopic driving device 901 to adjust the height of the platform portion 20 relative to the movable carrier 10.
  • the remote control delivery system 1000 provided by the tenth embodiment of the present invention is substantially the same as the remote control vehicle 100 .
  • the remote control delivery system 1000 includes a handheld pan/tilt head 50 and a remote control vehicle 100a.
  • the hand-held head 50 is mounted on the remote-controlled vehicle 100a, and the remote-controlled vehicle 100a can move the hand-held head 50 together.
  • the handheld head 50 includes a support body 51, a loading platform 52 respectively disposed on the support body 51, a mounting rod 53, a second operating handle 54 connected to the mounting rod, and a first operating handle 55.
  • the stage 52 is used to mount an electronic device such as a camera or a camera.
  • the handheld cloud platform 50 is provided with a PTZ power battery.
  • the first operating handle 55 and the second operating handle 54 are used to provide a portion of the gripping operation for the photographer or a portion for providing a mounting connection to other components, the first operating handle 55 being a handle.
  • the detachable structure 60 further includes a holding induction sensor (not shown) for sensing whether the handheld head 50 has been held, and the holding sensor may be a pressure sensor, a proximity sensor or the like.
  • the detachable structure 60 further includes an interface (not shown) interposed with the handheld head 50, and the interface can be used to communicate with the handheld head 50 to transmit control signals, image data, and the like. It can be understood that the external power source can also supply power to the handheld cloud platform 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 mechanism 22 connected to the movable carrier 10 via the lifting mechanism 30, and detachably mounted to the cloud A detachable structure 60 of the table damper mechanism 22.
  • the movable carrier 10 is for accepting a remote command and moving according to a remote command.
  • the detachable structure 60 is for securing the handheld head 50, and includes a clamping device (not shown) for clamping the handheld platform 50 for clamping the first operating handle 55.
  • the handheld platform 50 When the handheld platform 50 is used alone, the handheld platform 50 can be separated from the remote vehicle 100a by operating the detachable structure 60; when the remote vehicle 100a is required to be used by the handheld platform 50, the handheld platform 50 Can be fixed to the movable carrier 10 by the detachable structure 60
  • the remote control vehicle 100a also includes a vehicle power battery that supplies power to the remote control vehicle 100a.
  • the vehicle power battery can charge the PTZ power battery of the handheld cloud platform 50 to provide the battery power for the handheld cloud platform 50.
  • the vehicle power battery can be a material battery, a solar battery, or a lithium battery.
  • the pan/tilt head further includes an elevating mechanism connected to the gimbal portion, and the elevating mechanism drives the gimbal portion to move up and down by moving up and down, and the height of the gimbal is adjusted. The up and down movement of the image acquisition device is achieved.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Vehicle Body Suspensions (AREA)
  • Handcart (AREA)
  • Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)

Abstract

Cette invention concerne une tête à berceau (20a), comprenant une partie de tête à berceau (20) configurée pour supporter une charge. La tête à berceau (20a) comprend en outre un mécanisme d'élévation/abaissement relié à la partie de tête à berceau (20) pour amener la partie de tête à berceau (20) à se déplacer vers le haut et vers le bas par l'intermédiaire des mouvements ascendants et descendants de celui-ci, ce qui permet d'obtenir l'élévation et l'abaissement de la charge. L'invention concerne en outre un véhicule commandé à distance possédant la tête à berceau (20a).
PCT/CN2015/088994 2015-09-06 2015-09-06 Tête à berceau, véhicule commandé à distance et système de transport commandé à distance WO2017035842A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN202010441295.1A CN111578081A (zh) 2015-09-06 2015-09-06 云台、遥控车辆及遥控运载系统
PCT/CN2015/088994 WO2017035842A1 (fr) 2015-09-06 2015-09-06 Tête à berceau, véhicule commandé à distance et système de transport commandé à distance
CN201580003663.1A CN107107976A (zh) 2015-09-06 2015-09-06 云台、遥控车辆及遥控运载系统

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2015/088994 WO2017035842A1 (fr) 2015-09-06 2015-09-06 Tête à berceau, véhicule commandé à distance et système de transport commandé à distance

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Publication Number Publication Date
WO2017035842A1 true WO2017035842A1 (fr) 2017-03-09

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PCT/CN2015/088994 WO2017035842A1 (fr) 2015-09-06 2015-09-06 Tête à berceau, véhicule commandé à distance et système de transport commandé à distance

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CN107320182A (zh) * 2017-07-31 2017-11-07 成都中科博恩思医学机器人有限公司 用于手术台车底座的驱动轮组件及手术台车底座
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CN108313163A (zh) * 2017-12-07 2018-07-24 浙江理工大学 自动识别排序搬运物块小车
CN108674461A (zh) * 2018-07-06 2018-10-19 安徽贝昂科技有限公司 一种升降式电子设备测试车
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CN109516113A (zh) * 2018-12-21 2019-03-26 银河水滴科技（北京）有限公司 广视角视频采集装置及物料运转小车
CN109590967A (zh) * 2019-01-25 2019-04-09 广东溢达纺织有限公司 针筒存取装置
CN110434873A (zh) * 2019-09-12 2019-11-12 江苏拓轶智能科技有限公司 基于5g数据传输的智能巡检机器人
CN110697613A (zh) * 2019-09-20 2020-01-17 黄筱妍 手动提升装置
CN111619687A (zh) * 2020-06-03 2020-09-04 南昌大学 一种绣球装载与交接机器人
CN112853047A (zh) * 2021-02-25 2021-05-28 陶文 一种钢材热处理用承载设备
CN113043326A (zh) * 2019-12-27 2021-06-29 沈阳新松机器人自动化股份有限公司 壳体易拆装的机器人
CN113311761A (zh) * 2021-05-27 2021-08-27 张焱 一种行为大数据自动化采集系统
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CN113581092A (zh) * 2021-08-17 2021-11-02 苏州帕拉摩申智能科技有限公司 一种车载跟拍装置
CN114947491A (zh) * 2022-06-19 2022-08-30 江西渡海科技有限公司 一种便于祭拜的灵位牌放置架

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CN106976063A (zh) * 2017-05-08 2017-07-25 海汇集团有限公司 新型agv移载机器人
CN109277727A (zh) * 2017-07-21 2019-01-29 中广核研究院有限公司 水下焊接机器人移动载体
CN107320182A (zh) * 2017-07-31 2017-11-07 成都中科博恩思医学机器人有限公司 用于手术台车底座的驱动轮组件及手术台车底座
CN107320182B (zh) * 2017-07-31 2021-03-30 成都博恩思医学机器人有限公司 用于手术台车底座的驱动轮组件及手术台车底座
CN107856825A (zh) * 2017-11-08 2018-03-30 西安工业大学 一种水下机器人及其方法
CN108313163A (zh) * 2017-12-07 2018-07-24 浙江理工大学 自动识别排序搬运物块小车
CN108313163B (zh) * 2017-12-07 2024-02-09 浙江理工大学 自动识别排序搬运物块小车
CN108748080A (zh) * 2018-07-03 2018-11-06 上海常仁信息科技有限公司 具有投影功能的机器人
CN108674461A (zh) * 2018-07-06 2018-10-19 安徽贝昂科技有限公司 一种升降式电子设备测试车
CN109291946A (zh) * 2018-10-23 2019-02-01 深圳市朗驰欣创科技股份有限公司 一种铁路牵引站巡检机器人
CN109516113A (zh) * 2018-12-21 2019-03-26 银河水滴科技（北京）有限公司 广视角视频采集装置及物料运转小车
CN109590967A (zh) * 2019-01-25 2019-04-09 广东溢达纺织有限公司 针筒存取装置
CN110434873A (zh) * 2019-09-12 2019-11-12 江苏拓轶智能科技有限公司 基于5g数据传输的智能巡检机器人
CN110697613A (zh) * 2019-09-20 2020-01-17 黄筱妍 手动提升装置
CN110697613B (zh) * 2019-09-20 2024-05-17 黄筱妍 手动提升装置
CN113043326A (zh) * 2019-12-27 2021-06-29 沈阳新松机器人自动化股份有限公司 壳体易拆装的机器人
CN111619687A (zh) * 2020-06-03 2020-09-04 南昌大学 一种绣球装载与交接机器人
CN111619687B (zh) * 2020-06-03 2021-06-22 南昌大学 一种绣球装载与交接机器人
CN112853047A (zh) * 2021-02-25 2021-05-28 陶文 一种钢材热处理用承载设备
CN113311761A (zh) * 2021-05-27 2021-08-27 张焱 一种行为大数据自动化采集系统
CN113464776A (zh) * 2021-07-29 2021-10-01 瑞燃(上海)环境工程技术有限公司 一种测试温箱用高效减振支架装置
CN113464776B (zh) * 2021-07-29 2023-09-12 瑞燃(上海)环境工程技术有限公司 一种测试温箱用高效减振支架装置
CN113581092A (zh) * 2021-08-17 2021-11-02 苏州帕拉摩申智能科技有限公司 一种车载跟拍装置
CN114947491A (zh) * 2022-06-19 2022-08-30 江西渡海科技有限公司 一种便于祭拜的灵位牌放置架

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