WO2018018504A1 - 移动装置及具该移动装置的拍摄设备 - Google Patents

移动装置及具该移动装置的拍摄设备 Download PDF

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Publication number
WO2018018504A1
WO2018018504A1 PCT/CN2016/092073 CN2016092073W WO2018018504A1 WO 2018018504 A1 WO2018018504 A1 WO 2018018504A1 CN 2016092073 W CN2016092073 W CN 2016092073W WO 2018018504 A1 WO2018018504 A1 WO 2018018504A1
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WO
WIPO (PCT)
Prior art keywords
rotating bracket
rocker arm
driving member
mobile device
bracket
Prior art date
Application number
PCT/CN2016/092073
Other languages
English (en)
French (fr)
Inventor
贝世猛
张华森
魏乐乐
谢文麟
包玉奇
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 PCT/CN2016/092073 priority Critical patent/WO2018018504A1/zh
Priority to CN201680004524.5A priority patent/CN107110422B/zh
Publication of WO2018018504A1 publication Critical patent/WO2018018504A1/zh

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Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • 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
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2035—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction
    • F16M11/2057—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction for tilting and rolling
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/041—Balancing means for balancing rotational movement of the head

Definitions

  • the present invention relates to the field of photographing equipment, and in particular to a mobile device and a photographing apparatus having the same.
  • Mobile devices such as camera cars and service robots that carry cameras, digital cameras, etc.
  • existing mobile devices carrying camera devices are difficult to implement. Larger shots, such as shooting at high angles or when shooting is required.
  • a mobile device includes a mobile platform and a rocker arm assembly movably mounted on the mobile platform, the rocker arm assembly includes a rotating bracket, a driving member and a rocker arm, and the rotating bracket is disposed on the mobile platform
  • the driving member is configured to drive the rotation of the rotating bracket, and the rocking arm is mounted on the rotating bracket, and the rocking arm is used for carrying a photographing device.
  • a photographing apparatus includes a moving device and a photographing device, the moving device comprising a moving platform and a rocker arm assembly movably mounted on the moving platform, the rocker arm assembly comprising a rotating bracket, a driving member and a rocker arm,
  • the rotating bracket is disposed on the moving platform, the driving component is configured to drive the rotating bracket to rotate, the rocking arm is mounted on the rotating bracket, and the imaging device is mounted on the rocker arm.
  • the mobile device and the photographing apparatus provided by the present invention can increase the range of motion by adding a rocker arm that can be pivoted, thereby enabling high angle and flying shooting to be easily performed.
  • FIG. 1 is a perspective view of a photographing apparatus of a preferred embodiment provided by the present invention.
  • FIG. 2 is another perspective view of the photographing apparatus shown in FIG. 1.
  • FIG. 2 is another perspective view of the photographing apparatus shown in FIG. 1.
  • a component when referred to as being “fixed” to another component, it can be directly on the other component or the component can be present.
  • a component When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • a component When a component is considered to be “set to” another component, it can be placed directly on another component or possibly with a centered component.
  • the terms “vertical,” “horizontal,” “left,” “right,” and the like, as used herein, are for illustrative purposes only.
  • an embodiment of the present invention provides a movable photographing apparatus 300 including a mobile device 100 and a carrier device mounted on the mobile device 100 .
  • the carrier device is used to carry a camera 70 for taking a picture.
  • the photographing device 300 may include some necessary or auxiliary structures, such as sensors, etc., in order to save space, no further details are provided herein.
  • the mobile device 100 includes a mobile platform 10, a rocker arm assembly 30 movably mounted on the mobile platform 10, and a power battery 50.
  • the mobile platform 10 can be an automatic mobile platform or a manual push platform.
  • the remote control chassis is taken as an example for description.
  • the mobile platform 10 includes a chassis 110, a plurality of wheels 120, a plurality of suspensions 130 corresponding to the wheels 120, and a plurality of wheel drivers 140 corresponding to the wheels 120.
  • the chassis 110 is the primary load-bearing structure of the mobile device 100, which connects the wheels 120 and can carry various types of loads and/or functional modules, such as controllers, wireless communication components, circuit boards, power lines, etc. .
  • the chassis 110 includes a first support frame 113 and a second support frame 115 disposed on the first support frame 113.
  • the first support frame 113 has a first end portion 1131 and a second end portion 1133 opposite to each other.
  • the plurality of wheels 120 are respectively rotatably connected to the first support frame 113 for driving the mobile device 100 to advance, retreat and/or turn.
  • the number of the wheels 120 is four, and two wheels 120 are disposed on the first end portion 1131 of the first support frame 113, and the other two wheels 120 are disposed on the first support frame 113.
  • the wheel 120 is an omnidirectional wheel for omnidirectional movement.
  • the wheel 120 includes a hub 121 and a plurality of rollers 123 disposed on an outer circumference of the hub 121.
  • the rotation axis of the roller 123 is inclined at a predetermined angle with the rotation axis of the hub 121 and enables the wheel 120 to be fully To the movement.
  • the suspension 130 is used to connect the wheel 120 with the chassis 110 and buffer the influence of the vibration of the wheel 120 on the chassis 110 to protect the load and/or function module carried by the chassis 110 from being protected. Subject to or less affected by vibration.
  • the suspension 130 is an independent suspension system, and each wheel 120 is connected to the chassis 110 through a suspension 130, so that each wheel 120 and the chassis 110 are independently connected to each other, and then the wheel 120 is received on one side. In the case of impact or vibration, the impact force can be absorbed by the suspension 130 itself without affecting the other side wheel 120.
  • the suspension 130 corresponds to the number of the wheels 120 and is disposed in the first end portion 1131 and the second end portion 1133 of the first support frame 113 in two groups.
  • Each suspension 130 includes a deformable bracket 131 and a cushioning member 132 disposed on the bracket 131.
  • the bracket 131 is coupled between the hub 121 and the chassis 110.
  • the elastic force of the cushioning member 132 can resist deformation of the bracket 131, thereby buffering the shock received by the wheel 120.
  • the number of the buffer members 132 is two, and the two buffer members 132 are arranged substantially in parallel.
  • Each of the buffer members 132 includes a damper 1321 and a coil spring 1322 that is sleeved on the damper 1321.
  • the damper 1321 is mounted on the bracket 131. Both ends of the coil spring 1322 are respectively abutted at both ends of the damper 1321.
  • the damper 1321 is in the shape of a telescopic rod, and includes a plurality of joint rods that are sleeved with each other, and the plurality of joint rods are relatively slidable to change the overall length of the damper 1321.
  • the cushioning member 132 may include a damper member, an elastic member, and the like.
  • Damping members such as liquid dampers, air pressure dampers, and reluctance dampers.
  • Elastic members such as tension springs, compression springs, elastic rubber members, and the like.
  • the number of the buffer members 132 can be any suitable change according to actual needs.
  • the number of the buffer members 132 may be one according to the difference in the shock absorption requirements for the movement of the mobile device 100 on different surfaces. Three, four, five or more.
  • suspension 130 can be other suitable types of suspensions, such as a cross arm suspension, a trailing arm suspension, a multi-link suspension, a candle suspension, or a MacPherson suspension.
  • Each wheel drive member 140 is mounted on the first support frame 113 corresponding to one wheel 120 to independently drive the corresponding wheel 120.
  • the wheel drive member 140 drives the wheel 120 to move by a synchronous belt transmission.
  • the wheel drive member 140 may be a brushless motor, a brushed motor, or other type of motor.
  • the number of the wheels 120 and the corresponding number of the suspension 130 and the wheel drive member 140 can be any suitable change according to the actual situation, and is not limited to the description of the above embodiment, for example, the wheel assembly 20
  • the number and the number of the suspension 130 wheel drive members 140 corresponding thereto may each be two, three, five, six, seven, eight, ten or more. In other embodiments, a manner in which a plurality of wheels 120 are driven by one wheel drive member 140 may be employed.
  • suspension 130 can be omitted and the wheel 120 can be directly connected to the chassis 110.
  • the mobile platform 10 can also be moved by means of a track.
  • the rocker arm assembly 30 is rotatably disposed on the second support frame 115 and carries the imaging device 70.
  • the rocker arm assembly 30 includes a first driving member 31, a first rotating bracket 32, a second rotating bracket 33, a second driving member 34, a rocker arm 35, and a weight 36.
  • the first driving member 31 is disposed on a side of the second supporting frame 115 facing away from the first supporting frame 113.
  • the first rotating bracket 32 is mounted on the first driving member 31 to be rotatable about the first axis under the driving of the first driving member 31.
  • the first rotating bracket 32 includes a connecting base 321 and a cantilever 323 connected to the connecting base 321 .
  • One end of the connecting base 321 is connected to the first driving member 31.
  • the number of the cantilevers 323 is two.
  • Two cantilevers 323 are disposed on the connecting base 321 substantially in parallel.
  • the cantilever 323 includes a first connecting portion 326 and a second connecting portion 327.
  • One end of the first connecting portion 326 is connected to the moving platform 10 through the connecting seat 321 and extends obliquely upward in a direction away from the first axis.
  • the second connecting portion 327 is formed by bending one end of the first connecting portion 326 away from the connecting seat 321 and extends obliquely upward in a direction of the first axis. One end of the second connecting portion 327 is connected to the other end of the first connecting portion 326 away from the connecting seat 321 , so that the other end of the second connecting portion 327 is located above the first driving member 31 . .
  • the V-shaped tip is formed at a junction of the first connecting portion 326 and the second connecting portion 327, and the V-shaped tip is disposed away from the first axis. In this embodiment, an angle is formed between the first connecting portion 326 and the second connecting portion 327, and the angle is less than 90 degrees.
  • the second rotating bracket 33 is rotatably coupled between the two cantilevers 323.
  • the second rotating bracket 33 includes a base 331 and a cover 335.
  • a mounting groove 337 is formed in the base 331.
  • the cover 335 is disposed on the top of the mounting groove 337.
  • the second driving member 34 is mounted on one of the cantilever arms 323 and coupled to the second rotating bracket 33 for driving the second rotating bracket 33 to rotate about the second axis.
  • the first axis and the second axis are substantially perpendicular to each other, the first axis is a yaw axis, and the second axis is a pitch axis. It can be understood that the first axis can also be a roll or pitch axis, and the second axis can be a roll or a yaw axis.
  • the first driving member 31 and the second driving member 34 may be a brushless motor, a brushed motor or other types of motors.
  • the arrangement of the first driving member 31 and the first rotating bracket 32 is not limited to the illustration of the present invention, and for example, the first driving member 31 can be disposed at a side of the first rotating bracket 32.
  • the first driving member 31 can directly drive the first rotating bracket 32, and can also drive the first rotating bracket 32 by using a gear, a belt or the like.
  • the second driving member 34 is not limited to be disposed on the first rotating bracket 32. It may also be disposed on the chassis 110. The second driving member 34 may directly drive the second rotating bracket 33.
  • the second rotating bracket 33 can be driven by a gear, a belt or the like.
  • the rocker arm 35 is substantially elongated and is disposed through the second rotating bracket 33.
  • the rocker arm 35 forms a through hole 351 along its length direction.
  • One end of the rocker arm 35 is formed with a mounting portion 353.
  • the attachment portion 353 has a groove-like structure.
  • the rocker arm 35 is rotatably disposed in the mounting groove 337 and located below the cover 335 .
  • the contact position of the second rotating bracket 33 with the rocker arm 35 forms a contact portion, and the length between the two end portions of the rocker arm 35 and the contact portion is adjusted, so that the photographing device can be effectively adjusted.
  • the position of the first driving member 31 can be disposed at other positions of the second supporting frame 115, such as the side of the second supporting frame 115, the first rotating bracket 32, the second The rotating bracket 33 and the second driving member 34 are both located at the side of the second support frame 115.
  • the mobile device 100 further includes a rocker arm 35, the rocker arm 35 being slidable along the length of the rocker arm 35 with respect to the second rotating bracket 33, the rocker arm driving member for driving The rocker arm 35 slides relative to the second swivel bracket 33 to automatically adjust the distance of the photographing device 70 relative to the second swivel bracket 33.
  • the weight 36 is detachably mounted to one end of the rocker arm 35 and disposed away from the mounting portion 353.
  • the number of the weights 36 is provided in plurality and different in weight according to the weight of the camera 70 mounted on the mounting portion 353 and/or the rocker arm 35 and the second rotating bracket 33 The contact position between the two is adjusted.
  • the mobile device 100 further includes a weight driving member slidable along the length direction of the rocker arm 35, and the weight driving member is used to drive the weight 36 Slide on the rocker arm 35 to automatically balance the camera.
  • the rocker arm assembly 30 can be a shaft rotating structure, that is, the rocker arm assembly 30 includes a first driving member 31, a first rotating bracket 32 and a rocker arm 35, and the first driving member 31 is disposed on The first rotating bracket 32 is connected to the first driving member 31, and the first driving member 31 is configured to drive the rotation of the first rotating bracket 32, and the rocker arm 35 is mounted on the moving platform 10.
  • the rocker arm assembly 30 further includes a third rotating bracket and a third driving component, the third driving component is mounted on the second rotating bracket 33, the third rotating bracket and the third The drive members are coupled for rotation about a roll axis driven by the third drive member.
  • the rocker arm assembly 30 can also be designed as a multi-axis structure such as a four-axis or a five-axis as needed.
  • the rotating bracket is not limited to the first rotating bracket 32 and the second rotating bracket 33 in the embodiment
  • the rocking arm assembly 30 includes a rotating bracket, a driving member and a rocker arm 35, and the rotating bracket is disposed and On the moving platform 10, the driving member is used for driving the rotation of the rotating bracket, and the rocking arm 35 is mounted on the rotating bracket, and the rocking arm 35 is used for mounting the imaging device 70.
  • the power battery 50 is disposed on the mobile platform for providing electrical power to the propulsion device of the mobile platform. Specifically, the power battery 50 is disposed at a substantially central position of the first support frame 113 and below the second support frame 115 for the wheel drive member 140, the first driving member 31 and the second driving member 34. Provide electrical energy.
  • the mobile device 100 is equipped with two 5700 mAh power batteries to provide two hours of battery life.
  • the movement of the mobile device 100 can be controlled by a remote controller or can be controlled autonomously.
  • the carrier device includes a stabilizing assembly 80.
  • the stabilizing assembly 80 is configured to support the photographing device 70 and provide a stabilizing function for photographing of the photographing device 70.
  • the stabilizing assembly 80 includes a mounting member 81, a shock absorbing seat 83, and a pan/tilt head 85.
  • One end of the mounting member 81 extends into the mounting portion 353 and is fixedly connected to the two side walls of the mounting portion 353 .
  • the other end of the mounting member 81 is fixedly coupled to the shock absorbing seat 83.
  • a damper ball 831 is disposed on the damper seat 83, and the damper ball 831 is a rubber damper ball.
  • the damper ball 831 is disposed between the damper seat 83 and the pan/tilt head 85.
  • the effect of the low frequency vibration on the photographing device 70 can be effectively reduced or eliminated.
  • the pan/tilt head 85 can compensate for the target/direction offset caused by the vibration of the photographing device 70 in the rotation direction, and/or the pan/tilt head 85 can adjust the posture, direction, and the like of the photographing device 70 according to the control command.
  • Shooting parameters In the present embodiment, the pan/tilt head 85 is a three-axis pan/tilt, and the pan/tilt head 85 is capable of adjusting the photographing device 70 around a heading (Yaw) axis, a roll axis, and a pitch axis. In other embodiments, the pan/tilt head 85 may also be a two-axis pan/tilt head or a single-axis pan/tilt head.
  • the imaging device 70 may be an electronic product having a video recording function such as a camera, a video camera, a mobile phone, or a tablet computer. In the embodiment, the imaging device 70 is a video camera.
  • the mobile device 100 and the imaging device 300 provided by the present invention increase the range of motion by adding a rocker arm 35 capable of rotating around the Yaw axis and the Pitch axis, and can easily complete the high angle and Shooting in the air. Further, by adjusting the length of the rocker arm 35 to the contact portion, the range of motion can be flexibly adjusted.
  • the two-axis motion rocker arm 35 and the three-axis motion pan/tilt head 85 can provide five degrees of freedom of movement of the camera 70 to facilitate adjustment of the operation of the camera unit 70.

Abstract

一种移动装置（100）以及具有该移动装置（100）的拍摄设备（300）。移动装置（100）包括移动平台（10）和包括活动装设于移动平台（10）上的摇臂组件（30）。摇臂组件（30）包括旋转支架（32，33）、驱动件（31，34）以及摇臂（35）。旋转支架（32，33）设置于移动平台（10）上。驱动件（31，34）用于驱动旋转支架转动。摇臂（35）装设于旋转支架（32，33）上。摇臂（35）用于搭载拍摄装置（70）。这种移动装置和拍摄设备活动范围大。

Description

移动装置及具该移动装置的拍摄设备 技术领域
本发明涉及拍摄器材领域，尤其涉及一种移动装置及具该移动装置的拍摄设备。
背景技术
移动装置，例如承载有摄像机、数码相机等拍摄装置的拍摄车、服务机器人，常用于地面搜救、地面勘测、影视拍摄、体育竞技等场合，然现有承载拍摄装置的移动装置，较难进行范围较大的拍摄，如拍摄高角度或需进行悬空拍摄的情况。
发明内容
有鉴于此，有必要提供一种避免上述问题的移动装置及具该移动装置的拍摄设备。
一种移动装置，其包括移动平台及活动装设于所述移动平台上的摇臂组件，所述摇臂组件包括旋转支架、驱动件及摇臂，所述旋转支架设置于所述移动平台上，所述驱动件用于驱动所述旋转支架转动，所述摇臂装设于所述旋转支架上，所述摇臂用于搭载拍摄装置。
一种拍摄设备，其包括移动装置及拍摄装置，所述移动装置包括移动平台及活动装设于所述移动平台上的摇臂组件，所述摇臂组件包括旋转支架、驱动件及摇臂，所述旋转支架设置于所述移动平台上，所述驱动件用于驱动所述旋转支架转动，所述摇臂装设于所述旋转支架上，所述拍摄装置搭载于所述摇臂上。
相对于现有技术，本发明提供的移动装置及拍摄设备，由于增加设置了能够绕轴转动的摇臂，进而增大了活动范围，从而能够轻易完成高角度及悬空拍摄。
 附图说明
图1是本发明提供的较佳实施例的拍摄设备的立体示意图。
图2是图1所示的拍摄设备的另一视角示意图。
主要元件符号说明
拍摄设备 300
移动装置 100
拍摄装置 70
移动平台 10
底盘 110
第一支撑架 113
第一端部 1131
第二端部 1133
第二支撑架 115
车轮 120
轮毂 121
滚子 123
悬挂 130
支架 131
缓冲件 132
减振器 1321
螺旋弹簧 1322
车轮驱动件 140
摇臂组件 30
第一驱动件 31
第一旋转支架 32
第二旋转支架 33
第二驱动件 34
摇臂 35
配重块 36
连接座 321
悬臂 323
第一连接部 326
第二连接部 327
座体 331
盖体 335
装设槽 337
通孔 351
安装部 353
动力电池 50
拍摄装置 70
增稳组件 80
安装件 81
减震座 83
减震球 831
云台 85
如下具体实施方式将结合上述附图进一步说明本发明。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。当一个组件被认为是“设置于”另一个组件，它可以是直接设置在另一个组件上或者可能同时存在居中组件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“或／及”包括一个或多个相关的所列项目的任意的和所有的组合。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
请参阅图1与图2所示，本发明一实施方式提供一种可移动的拍摄设备300，其包括移动装置100及装设于所述移动装置100的载体装置。所述载体装置用于承载拍摄装置70，用以进行拍摄。当然，所述拍摄设备300可以包括一些必要或者附属的结构，如传感器等，为节省篇幅，在此不做赘述。
移动装置100包括移动平台10、活动装设于所述移动平台10上的摇臂组件30及动力电池50。移动平台10可以为自动移动平台或人工推动平台，具体在图示的实施例中，以遥控底盘车为例进行说明。
所述移动平台10包括底盘110、多个车轮120、多个对应于所述车轮120的悬挂130及多个对应于所述车轮120的车轮驱动件140。
所述底盘110为所述移动装置100的主要承载结构，其连接所述车轮120并能够承载各种类型的负载及/或功能模块，例如，控制器、无线通信元件、电路板、电力线路等。所述底盘110包括第一支撑架113及设置所述第一支撑架113上的第二支撑架115。所述第一支撑架113具有相背的第一端部1131及第二端部1133。
所述多个车轮120分别与所述第一支撑架113转动连接，用于带动所述移动装置100前进、后退及/或转向。本实施方式中，所述车轮120的数量为四个，其中两个车轮120设置于所述第一支撑架113的第一端部1131，另外两个车轮120设置于所述第一支撑架113的第二端部1133。所述车轮120为全向轮，以能进行全方位移动。所述车轮120包括轮毂121及设于轮毂121的外周上的多个滚子123，所述滚子123的转动轴线与所述轮毂121的转动轴线倾斜预定的角度并使得所述车轮120能够全向运动。
所述悬挂130用于将所述车轮120与所述底盘110连接，及缓冲所述车轮120的震动对所述底盘110的影响，以保护所述底盘110所承载的负载及/或功能模块免受或者少受震动的影响。本实施方式中，所述悬挂130为独立悬挂系统，每一车轮120通过一悬挂130与所述底盘110连接，使每一车轮120与所述底盘110彼此独立连接，进而在一侧车轮120受到冲击、振动时，可通过悬挂130自身吸收冲击力，而不会波及另一侧车轮120。所述悬挂130对应所述车轮120的数量为四个，并以两个为一组分别设于所述第一支撑架113的第一端部1131及第二端部1133。
每个悬挂130包括能够变形的支架131以及设置于所述支架131上的缓冲件132。所述支架131连接于所述轮毂121与所述底盘110之间。所述缓冲件132的弹性力能够抵抗所述支架131的变形，借以缓冲所述车轮120受到的震动。本实施方式中，所述缓冲件132的数量为两个，两个所述缓冲件132大致平行间隔排列。每一个所述缓冲件132包括减振器1321以及套设于所述减振器1321上的螺旋弹簧1322。所述减振器1321装设于所述支架131上。所述螺旋弹簧1322的两端分别抵持于所述减振器1321的两端。所述减振器1321为伸缩杆状，其包括相互套接的多节杆，所述多节杆之间能够相对滑动，以改变所述减振器1321的总体长度。
所述缓冲件132可以包括阻尼件、弹性件等部件。阻尼件如液态阻尼器，气压阻尼器，磁阻阻尼器。弹性件如拉伸弹簧、压缩弹簧、弹性橡胶件等。
可以理解，所述缓冲件132的数量可以依据实际需求做任意合适的变化，例如，依据对所述移动装置100在不同表面上运动的减震要求的不同，所述缓冲件132数量可以为一个、三个、四个、五个或者更多。
可以理解，所述悬挂130可以为其他合适类型的悬挂，例如横臂式悬挂、纵臂式悬挂、多连杆式悬挂、烛式悬挂或麦弗逊悬挂。
每一车轮驱动件140对应一个车轮120装设于所述第一支撑架113上，以独立驱动相应车轮120。本实施方式中，所述车轮驱动件140通过同步带传动方式驱动所述车轮120运动。具体地，所述车轮驱动件140可以为无刷电机、有刷电机或者其他类型的电机。
可以理解，所述车轮120的数量以及其对应的所述悬挂130及车轮驱动件140的数量可以依据实际情况作任意合适的变化，并不限于以上实施方式的描述，例如所述车轮组件20的数量以及其对应的所述悬挂130车轮驱动件140的数量可以均为两个、三个、五个、六个、七个、八个、十个或者更多。于其他实施例中，可采用一个车轮驱动件140驱动多个车轮120的方式。
可以理解，所述悬挂130可以省略，而将所述车轮120直接与所述底盘110连接。
可以理解，在其他实施例中，所述移动平台10也可以借助轨道进行移动。
所述摇臂组件30能够转动地设置于所述第二支撑架115上并承载拍摄装置70。所述摇臂组件30包括第一驱动件31、第一旋转支架32、第二旋转支架33、第二驱动件34、摇臂35及配重块36。
所述第一驱动件31设置于所述第二支撑架115背离所述第一支撑架113的一侧。
所述第一旋转支架32安装于所述第一驱动件31上，以在所述第一驱动件31的驱动下能够绕第一轴线转动。所述第一旋转支架32包括连接座321及连接于所述连接座321的悬臂323。所述连接座321的一端与所述第一驱动件31连接。所述悬臂323的数量为两个。两个悬臂323大致平行间隔设置于所述连接座321上。所述悬臂323包括第一连接部326及第二连接部327。所述第一连接部326的一端通过所述连接座321与所述移动平台10连接，并朝远离所述第一轴线的方向倾斜向上延伸。所述第二连接部327由所述第一连接部326远离所述连接座321的一端弯折形成，并朝所述第一轴线所在方向倾斜向上延伸。所述第二连接部327的一端与所述第一连接部326远离所述连接座321的另一端连接，使所述第二连接部327的另外一端位于所述第一驱动件31的上方位置。所述第一连接部326与所述第二连接部327连接处形成所述V字形的尖端，所述V字形的尖端远离所述第一轴线设置。本实施方式中，所述第一连接部326与所述第二连接部327之间形成夹角，所述夹角小于90度。
所述第二旋转支架33可转动连接于两个悬臂323之间。所述第二旋转支架33包括座体331及盖体335。所述座体331上形成装设槽337。所述盖体335盖设于所述装设槽337的顶部。
所述第二驱动件34装设于其中一悬臂323上并与所述第二旋转支架33连接，用以驱动所述第二旋转支架33绕第二轴线转动。本实施方式中，所述第一轴线与所述第二轴线大致相互垂直，所述第一轴线为航向（yaw）轴，所述第二轴线为俯仰（pitch）轴。可以理解，所述第一轴线也可以为横滚（roll）或俯仰（pitch）轴，所述第二轴线可以为横滚（roll）或航向（yaw）轴。
所述第一驱动件31与所述第二驱动件34可以为无刷电机、有刷电机或者其他类型的电机。
所述第一驱动件31与所述第一旋转支架32的设置不限于本发明图示，例如，所述第一驱动件31能够设置于所述第一旋转支架32的侧部。所述第一驱动件31可以直接驱动所述第一旋转支架32，也可以采用齿轮、皮带等传动方式驱动所述第一旋转支架32。
所述第二驱动件34不限定设置于所述第一旋转支架32上，其也可以设置于所述底盘110上，所述第二驱动件34可以直接驱动所述第二旋转支架33，也可以采用齿轮、皮带等传动方式驱动所述第二旋转支架33。
所述摇臂35大致呈长条状，其穿设于所述第二旋转支架33。所述摇臂35沿其长度方向形成通孔351。所述摇臂35一端形成有安装部353。本实施方式中，所述安装部353为槽状结构。
本实施方式中，所述摇臂35能够调节地穿设于所述装设槽337并位于所述盖体335的下方。所述第二旋转支架33与所述摇臂35的接触位置形成一个接触部位，调节所述摇臂35的两个端部与所述接触部位之间的长度，能够有效调节所述拍摄设备。
可以理解，所述第一驱动件31的位置可设置于所述第二支撑架115的其他位置，如所述第二支撑架115的侧部，所述第一旋转支架32、所述第二旋转支架33及所述第二驱动件34均位于所述第二支撑架115的侧部。
可以理解，所述移动装置100还包括摇臂驱动件，所述摇臂35能够相对于所述第二旋转支架33沿所述摇臂35的长度方向滑动，所述摇臂驱动件用于驱动所述摇臂35相对于所述第二旋转支架33滑动，以自动调节所述拍摄装置70相对于所述第二旋转支架33的距离。
所述配重块36能够拆卸地安装于所述摇臂35的一端并远离所述安装部353设置。所述配重块36的数量配备为多个且重量不相同，以根据所述安装部353上装设的拍摄装置70的重量及/或所述摇臂35与所述第二旋转支架33的之间的接触位置进行调节。
可以理解，所述移动装置100还包括配重块驱动件，所述配重块36沿所述摇臂35的长度方向可滑动，所述配重块驱动件用于驱动所述配重块36在所述摇臂35上滑动，以自动平衡所述拍摄装置。
可以理解，所述摇臂组件30可以为一轴转动结构，即，所述摇臂组件30包括第一驱动件31、第一旋转支架32及摇臂35，所述第一驱动件31设置于所述移动平台10上，所述第一旋转支架32与所述第一驱动件31连接，所述第一驱动件31用于驱动所述第一旋转支架32转动，所述摇臂35装设于所述第一旋转支架32上。再例如，所述摇臂组件30还包括第三旋转支架及第三驱动件，所述第三驱动件装设于所述第二旋转支架33上，所述第三旋转支架与所述第三驱动件连接，以在所述第三驱动件的驱动下绕横滚（roll）轴转动。所述摇臂组件30还可以根据需要设计成四轴、五轴等多轴结构。
可以理解，所述旋转支架不限定于本实施方式中的第一旋转支架32及第二旋转支架33，所述摇臂组件30包括旋转支架、驱动件及摇臂35，所述旋转支架设置与所述移动平台10上，所述驱动件用于驱动所述旋转支架转动，所述摇臂35装设于所述旋转支架上，所述摇臂35用于搭载所述拍摄装置70。
所述动力电池50设置于所述移动平台上，用于给所述移动平台的推进装置提供电能。具体地，动力电池50设置于所述第一支撑架113的大致中部位置并位于所述第二支撑架115的下方，用于为车轮驱动件140、第一驱动件31及第二驱动件34提供电能。本实施方式中，移动装置100搭载了两块5700mAh电量的动力电池，以能够提供两小时续航工作。
所述移动装置100的运动可由遥控器控制，也可以自主控制。
所述载体装置包括增稳组件80。所述增稳组件80用于支撑所述拍摄装置70并为所述拍摄装置70的拍摄提供增稳功能。本实施方式中，所述增稳组件80包括安装件81、减震座83以及云台85。所述安装件81的一端伸入所述安装部353与所述安装部353的两个侧壁固定连接。所述安装件81的另一端与所述减震座83固定连接。所述减震座83上设置有减震球831，所述减震球831为橡胶减震球，所述减震球831设置于所述减震座83与所述云台85之间，其能够有效较少或消除低频振动对所述拍摄装置70的影响。所述云台85能够补偿所述拍摄装置70在旋转方向上的振动导致的目标/方向的偏移，及/或所述云台85能够依据控制指令调整所述拍摄装置70的姿态、方向等拍摄参数。本实施方式中，所述云台85为三轴云台，所述云台85能够绕航向（Yaw）轴、横滚（Roll）轴以及俯仰（Pitch）轴调整所述拍摄装置70，可以理解，在其他实施方式中，所述云台85也可以为双轴云台或者单轴云台。
所述拍摄装置70可以为相机、摄像机、手机、平板电脑等具有影像摄录功能的电子产品，本实施方式中，所述拍摄装置70为摄像机。
本发明提供的移动装置100及拍摄设备300，由于增加设置了能够绕航向（Yaw）轴及绕俯仰（Pitch）轴转动的摇臂35，进而增大了活动范围，且能够轻易完成高角度及悬空拍摄。进一步地，通过调节所述摇臂35到接触部位的长度，能够灵活调节活动范围。两轴运动的摇臂35以及三轴运动的云台85，能够提供拍摄装置70五个自由度运动，方便调整拍摄装置70的工作。
可以理解的是，本领域技术人员还可在本发明精神内做其它变化等用在本发明的设计，只要其不偏离本发明的技术效果均可。这些依据本发明精神所做的变化，都应包含在本发明所要求保护的范围之内。

Claims (48)

  1. 一种移动装置，其包括移动平台，其特征在于：所述移动平台还包括活动装设于所述移动平台上的摇臂组件，所述摇臂组件包括旋转支架、驱动件及摇臂，所述旋转支架设置于所述移动平台上，所述驱动件用于驱动所述旋转支架转动，所述摇臂装设于所述旋转支架上，所述摇臂用于搭载拍摄装置。
  2. 如权利要求1所述的移动装置，其特征在于：所述驱动件包括第一驱动件，所述旋转支架包括第一旋转支架，所述第一驱动件装设于所述移动平台上，所述第一旋转支架与所述第一驱动件连接，所述第一驱动件用于驱动所述第一旋转支架转动，所述第一驱动件驱动所述第一旋转支架绕第一轴线转动，所述摇臂与所述第一旋转支架连接。
  3. 如权利要求2所述的移动装置，其特征在于：所述摇臂组件还包括第二驱动件及第二旋转支架，所述第二旋转支架转动连接于所述第一旋转支架，所述第二驱动件装设于所述第一旋转支架，所述摇臂通过所述第二旋转支架与所述第一旋转支架连接，所述第二驱动件驱动所述第二旋转支架绕第二轴线转动。
  4. 如权利要求3所述的移动装置，其特征在于：所述第一轴线与所述第二轴线相互垂直；
    或/及，所述第一轴线为航向轴；
    或/及，所述第二轴线为俯仰轴。
  5. 如权利要求2所述的移动装置，其特征在于：所述第一旋转支架呈V字形，所述V字形的尖端远离所述第一轴线设置。
  6. 如权利要求2所述的移动装置，其特征在于：所述第一旋转支架包括连接座及悬臂，所述连接座连接于所述第一驱动件与所述悬臂之间。
  7. 如权利要求6所述的移动装置，其特征在于：所述悬臂包括第一连接部及第二连接部，所述第一连接部的一端通过所述连接座与所述移动平台连接，所述第二连接部的一端与所述第一连接部远离所述连接座的另一端连接，使所述第二连接部的另外一端位于所述第一驱动件的上方位置。
  8. 如权利要求7所述的移动装置，其特征在于：所述第一连接部与所述第二连接部之间形成夹角，所述夹角小于90度。
  9. 如权利要求6所述的移动装置，其特征在于：所述悬臂的数量为两个，两个悬臂与所述连接座连接并呈间隔设置。
  10. 如权利要求3所述的移动装置，其特征在于：所述摇臂能够调节地穿设于所述第二旋转支架。
  11. 如权利要求10所述的移动装置，其特征在于：所述第二旋转支架包括座体及盖体，所述座体上形成装设槽，所述盖体盖设于所述装设槽的顶部，所述摇臂穿设于所述装设槽并位于所述盖体的下方；
    或/及，所述移动装置还包括摇臂驱动件，所述摇臂能够相对于所述第二旋转支架沿所述摇臂的长度方向滑动，所述摇臂驱动件用于驱动所述摇臂相对于所述第二旋转支架滑动，以自动调节所述拍摄装置相对于所述第二旋转支架的距离。
  12. 如权利要求1所述的移动装置，其特征在于：所述摇臂组件还包括装设在所述摇臂一端的配重块，用以平衡所述拍摄装置。
  13. 如权利要求12所述的移动装置，其特征在于：所述移动装置还包括配重块驱动件，所述配重块沿所述摇臂的长度方向可滑动，所述配重块驱动件用于驱动所述配重块在所述摇臂上滑动，以自动平衡所述拍摄装置。
  14. 如权利要求1所述的移动装置，其特征在于：所述移动平台包括底盘、与所述底盘转动连接的多个车轮、对应于所述多个车轮设置的悬挂，每一悬挂设置于一车轮与所述底盘之间。
  15. 如权利要求14所述的移动装置，其特征在于：每个悬挂包括能够变形的支架以及设置于所述支架上的缓冲件，所述支架连接于所述轮毂与所述底盘之间。
  16. 如权利要求15所述的移动装置，其特征在于：所述缓冲件包括减振器以及套设于所述减振器上的螺旋弹簧，所述减振器装设于所述支架上，所述螺旋弹簧的两端分别抵持于所述减振器的两端。
  17. 如权利要求16所述的移动装置，其特征在于：所述减振器为伸缩杆状，其包括相互套接的多节杆，所述多节杆之间能够相对滑动，以改变所述减振器的总体长度。
  18. 如权利要求15所述的移动装置，其特征在于：所述缓冲件为阻尼件。
  19. 如权利要求18所述的移动装置，其特征在于：所述阻尼件为液态阻尼器、气压阻尼器、磁阻阻尼器中的一种。
  20. 如权利要求14所述的移动装置，其特征在于：所述移动平台还包括设于所述底盘上的车轮驱动件，所述车轮驱动件与所述多个车轮连接用于驱动所述车轮。
  21. 如权利要求20所述的移动装置，其特征在于：所述车轮驱动件的数量对应所述车轮的数量，以独立驱动每一车轮。
  22. 一种拍摄设备，其包括移动装置及安装在所述移动装置上、用于承载拍摄装置的载体装置，所述移动装置包括移动平台，其特征在于：所述移动平台还包括活动装设于所述移动平台上的摇臂组件，所述摇臂组件包括旋转支架、驱动件及摇臂，所述旋转支架设置于所述移动平台上，所述驱动件用于驱动所述旋转支架转动，所述摇臂装设于所述旋转支架上，所述拍摄装置搭载于所述摇臂上。
  23. 如权利要求22所述的拍摄设备，其特征在于：所述驱动件包括第一驱动件，所述旋转支架包括第一旋转支架，所述第一驱动件装设于所述移动平台上，所述第一旋转支架与所述第一驱动件连接，所述第一驱动件用于驱动所述第一旋转支架转动，所述第一驱动件驱动所述第一旋转支架绕第一轴线转动，所述摇臂与所述第一旋转支架连接。
  24. 如权利要求23所述的拍摄设备，其特征在于：所述摇臂组件还包括第二驱动件及第二旋转支架，所述第二旋转支架转动连接于所述第一旋转支架，所述第二驱动件装设于所述第一旋转支架，所述摇臂通过所述第二旋转支架与所述第一旋转支架连接，所述第二驱动件驱动所述第二旋转支架绕第二轴线转动。
  25. 如权利要求24所述的拍摄设备，其特征在于：所述第一轴线与所述第二轴线相互垂直；
    或/及，所述第一轴线为航向轴；
    或/及，所述第二轴线为俯仰轴。
  26. 如权利要求23所述的拍摄设备，其特征在于：所述第一旋转支架呈V字形，所述V字形的尖端远离所述第一轴线设置。
  27. 如权利要求23所述的拍摄设备，其特征在于：所述第一旋转支架包括连接座及悬臂，所述连接座连接于所述第一驱动件与所述悬臂之间。
  28. 如权利要求27所述的拍摄设备，其特征在于：所述悬臂包括第一连接部及第二连接部，所述第一连接部的一端通过所述连接座与所述移动平台连接，所述第二连接部的一端与所述第一连接部远离所述连接座的另一端连接，使所述第二连接部的另外一端位于所述第一驱动件的上方位置。
  29. 如权利要求28所述的拍摄设备，其特征在于：所述第一连接部与所述第二连接部之间形成夹角，所述夹角小于90度。
  30. 如权利要求27所述的拍摄设备，其特征在于：所述悬臂的数量为两个，两个悬臂与所述连接座连接并呈间隔设置。
  31. 如权利要求24所述的拍摄设备，其特征在于：所述摇臂能够调节地穿设于所述第二旋转支架。
  32. 如权利要求31所述的拍摄设备，其特征在于：所述第二旋转支架包括座体及盖体，所述座体上形成装设槽，所述盖体盖设于所述装设槽的顶部，所述摇臂穿设于所述装设槽并位于所述盖体的下方；
    或/及，所述移动装置还包括摇臂驱动件，所述摇臂能够相对于所述第二旋转支架沿所述摇臂的长度方向滑动，所述摇臂驱动件用于驱动所述摇臂相对于所述第二旋转支架滑动，以自动调节所述拍摄装置相对于所述第二旋转支架的距离。
  33. 如权利要求22所述的拍摄设备，其特征在于：所述摇臂组件还包括装设在所述摇臂一端的配重块，用以平衡所述拍摄装置。
  34. 如权利要求33所述的拍摄设备，其特征在于：所述移动装置还包括配重块驱动件，所述配重块沿所述摇臂的长度方向可滑动，所述配重块驱动件用于驱动所述配重块在所述摇臂上滑动，以自动平衡所述拍摄装置。
  35. 如权利要求22所述的拍摄设备，其特征在于：所述移动平台包括底盘、与所述底盘转动连接的多个车轮、对应于所述多个车轮设置的悬挂，每一悬挂设置于一车轮与所述底盘之间。
  36. 如权利要求35所述的拍摄设备，其特征在于：每个悬挂包括能够变形的支架以及设置于所述支架上的缓冲件，所述支架连接于所述轮毂与所述底盘之间。
  37. 如权利要求36所述的拍摄设备，其特征在于：所述缓冲件包括减振器以及套设于所述减振器上的螺旋弹簧，所述减振器装设于所述支架上，所述螺旋弹簧的两端分别抵持于所述减振器的两端。
  38. 如权利要求37所述的拍摄设备，其特征在于：所述减振器为伸缩杆状，其包括相互套接的多节杆，所述多节杆之间能够相对滑动，以改变所述减振器的总体长度。
  39. 如权利要求37所述的拍摄设备，其特征在于：所述缓冲件为阻尼件。
  40. 如权利要求39所述的拍摄设备，其特征在于：所述阻尼件为液态阻尼器、气压阻尼器、磁阻阻尼器中的一种。
  41. 如权利要求35所述的拍摄设备，其特征在于：所述移动平台还包括设于所述底盘上的车轮驱动件，所述车轮驱动件与所述多个车轮连接用于驱动所述车轮。
  42. 如权利要求41所述的移动装置，其特征在于：所述车轮驱动件的数量对应所述车轮的数量，以独立驱动每一车轮。
  43. 如权利要求22所述的拍摄设备，其特征在于：所述载体装置包括增稳组件，所述增稳组件装设于所述摇臂的一端，所述拍摄装置安装于所述增稳组件上。
  44. 如权利要求43所述的拍摄设备，其特征在于：所述增稳组件包括减震座以及云台，所述减震座连接于所述云台与所述摇臂之间，所述拍摄装置装设于所述云台上。
  45. 如权利要求44所述的拍摄设备，其特征在于：所述减震座上设置有减震球。
  46. 如权利要求45所述的拍摄设备，其特征在于：所述减震球为橡胶减震球。
  47. 如权利要求46所述的拍摄设备，其特征在于：所述减震球设置于所述减震座与所述云台之间；
    或/及，所述云台为三轴云台。
  48. 如权利要求22所述的拍摄设备，其特征在于：所述移动装置还包括动力电池，所述动力电池设置于所述移动平台上。
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