WO2019109846A1 - Photographic robot - Google Patents

Photographic robot Download PDF

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Publication number
WO2019109846A1
WO2019109846A1 PCT/CN2018/118118 CN2018118118W WO2019109846A1 WO 2019109846 A1 WO2019109846 A1 WO 2019109846A1 CN 2018118118 W CN2018118118 W CN 2018118118W WO 2019109846 A1 WO2019109846 A1 WO 2019109846A1
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WO
WIPO (PCT)
Prior art keywords
base
controller
control
photographic
mechanical
Prior art date
Application number
PCT/CN2018/118118
Other languages
French (fr)
Chinese (zh)
Inventor
罗云富
Original Assignee
真善美创新科技有限公司
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Publication date
Application filed by 真善美创新科技有限公司 filed Critical 真善美创新科技有限公司
Publication of WO2019109846A1 publication Critical patent/WO2019109846A1/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/007Manipulators mounted on wheels or on carriages mounted on wheels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1679Programme controls characterised by the tasks executed
    • B25J9/1689Teleoperation
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60Control of cameras or camera modules

Definitions

  • the present application relates to the field of automation and artificial intelligence, and in particular to a photographic robot.
  • the application provides a photographic robot to solve the problem that the photographic equipment is inconvenient to carry.
  • a photographing robot is provided.
  • the photographing robot includes: a mechanical moving portion and a control portion, the control portion is configured to control the mechanical moving portion to perform a preset operation;
  • the mechanical moving portion includes: a first base, a mechanical rotating arm, and a second base
  • the first base is connected to the second base by the mechanical rotating arm;
  • the control part comprises: a first controller and a second controller; the first controller is configured to control the first a base displacement; and the second controller is configured to control the mechanical rotating arm to rotate with the second base.
  • the first base is provided with: a manual controller for performing a shooting preset operation by a manual manner; a first connection port for providing a power source and a data communication interface; and a mounting base for providing the smart The mounting base and signal transmission interface of the device.
  • the photographic robot further includes: a smart photographic device, the smart photographic device comprising: a first sensor for detecting environmental image information data; a second sensor for detecting ambient sound information data; and a first circuit board
  • the first circuit board includes: a first communication module, an operation system, and a programming system; the first communication module is configured to receive a first shooting control command; and the computing system is configured to process the first The data detected by the sensor and/or the second sensor; the programming system for controlling the smart camera device to perform a preset shooting operation.
  • the second base is provided with: a first power source for detachably being disposed on the second base; further comprising: a second circuit board, the second circuit board comprising: a power controller, a communication module, a self-balancing controller, and a rotation controller, wherein the power controller is configured to stabilize the mechanical rotating arm to perform a preset operation; and the second communication module is configured to receive a second shooting control command;
  • the self-balancing controller is configured to control the displacement of the second base;
  • the rotation controller is configured to control the mechanical rotating arm to perform a preset moving operation;
  • the photographic robot further includes: a remote control terminal, the remote control terminal is pre-installed with an application program, and the remote control terminal is configured to issue a preset control instruction to the photographic robot by wireless communication; Control commands are used to control the displacement of the first base and/or the rotation of the mechanical rotating arm with the second base.
  • the remote control terminal includes: a preview module and a live broadcast module, the preview module is configured to preview an action operation performed by the photographic robot; and the live broadcast module is configured to perform an action operation performed by the photographic robot.
  • the first base further includes: a plurality of motion fixing shafts and a plurality of motion wheels, wherein the plurality of motion fixing shafts are configured to perform a preset displacement with the plurality of the motion wheels.
  • the mechanical rotating arm includes: a plurality of rotating fixed shafts and a plurality of mechanical rotating sub-arms, and the plurality of rotating fixed shafts are configured to perform a preset action with a plurality of the mechanical rotating sub-arms.
  • first base the mechanical rotating arm, and the second base adopt a structure of a lightweight material.
  • the first controller is further configured to control a four-axis displacement balance in the first base
  • the second controller is further configured to control six-axis rotation and lifting in the mechanical rotating arm.
  • FIG. 1(a) is a schematic view of a photographic robot according to a first embodiment of the present application
  • FIG. 1(b) is a schematic view showing the inside of a photographing robot according to a first embodiment of the present application
  • FIG. 2 is a partially enlarged schematic view of a photographing robot according to a first embodiment of the present application
  • FIG. 3 is a schematic view showing the internal structure of a photographing robot according to a first embodiment of the present application
  • FIG. 4 is a schematic view showing the internal structure of a photographing robot according to a second embodiment of the present application.
  • FIG. 5 is a schematic diagram showing the external structure of a photographic robot according to a second embodiment of the present application.
  • FIG. 6 is a schematic structural view of a photographic robot according to a third embodiment of the present application.
  • FIG. 7 is a schematic view showing the internal structure of a photographing robot according to a third embodiment of the present application.
  • FIG. 8 is a schematic structural view of a photographing robot according to a fourth embodiment of the present application.
  • FIG. 9 is a schematic structural view of a photographing robot according to a fifth embodiment of the present application.
  • FIG. 10 is a schematic structural view of a photographic robot according to a sixth embodiment of the present application.
  • the above partial terms may be used to indicate other meanings in addition to the orientation or positional relationship, for example, the term “upper” may also be used to indicate a certain dependency or connection relationship in some cases.
  • the specific meaning of these terms in this application can be understood on a case-by-case basis.
  • installation In addition, the terms “installation,” “set,” “set,” “connected,” “connected,” and “socketed” are to be understood broadly. For example, it may be a fixed connection, a detachable connection, or a one-piece construction; it may be a mechanical connection, or an electrical connection; it may be directly connected, or indirectly connected through an intermediate medium, or it may be two devices, components or components. Internal communication.
  • the specific meanings of the above terms in the present application can be understood on a case-by-case basis.
  • the present application relates to a photographing robot including: a mechanical moving portion and a control portion, the control portion for controlling the mechanical moving portion to execute a preset
  • the mechanical movement portion includes: a first base 200, a mechanical rotating arm 100, and a second base 300; the first base 200 is connected to the second base 300 through the mechanical rotating arm 100; the control portion
  • the first controller 20 and the second controller 30 are included; the first controller 20 is configured to control the displacement of the first base 200; and the second controller 30 is configured to control the mechanical rotating arm 100 cooperates with the second base 300 to rotate.
  • the displacement of the first base 200 in the horizontal direction and the balance control performed during the displacement can be controlled by the first controller 20.
  • the second controller 30 can control the mechanical rotating arm 100 to rotate in cooperation with the second base 300 to adjust the position, height, angle, and the like of the photographing apparatus.
  • the first controller 20 is further configured to control the four-axis displacement balance in the first base 200; the four-axis is specifically a four-axis displacement for positional movement.
  • the second controller 30 is further configured to control six-axis rotation and lifting in the mechanical rotating arm 100.
  • the six-axis is specifically a six-axis rotation and lifting for rotating.
  • the first base 200 in the photographic robot is provided with: a manual controller 2001 for performing a shooting preset operation by a manual method; and a first connection port 2002 for providing power And a data communication interface; a mounting base 2003 for providing a mounting base and a signal transmission interface of the smart device.
  • the photographic robot further includes: a smart photographic device, the smart photographic device comprising: a first sensor 2006 for detecting environmental image information data; a second sensor 2007 for detecting ambient sound information data; further comprising: a first circuit
  • the first circuit board 3001 includes: a first communication module 2008, an operation system 2009, and a programming system 2010; the first communication module 2008 is configured to receive a first shooting control command; the computing system 2009 And for processing the data detected by the first sensor and/or the second sensor; the programming system 2010 is configured to control the smart photography device to perform a preset shooting operation. Preset operations include, but are not limited to, position, angle, height adjustment, and displacement changes.
  • the manual controller 2001 can be used as a human hand to adjust direction, angle, brightness, speed, white balance, and other shooting settings.
  • the mounting base 2003 can convert and mount the base of different instruments.
  • the mounting base 2003 is used as a base for mounting different instruments to connect and carry artificial intelligence devices, camera and other photographic camera devices, smart phones, other smart devices and transmit signals to the devices thereon.
  • the first connection port 2002 is provided with a communication and power connection port for data transmission or power supply.
  • the first sensor 2006 in the smart photography device may be a 3D lens sensor.
  • the second sensor 2007 may be an operator having a 3D sound function.
  • the first circuit board 3001 includes: a first communication module 2008, an operation system 2009, and a programming system 2010; an operation system 2009 is used to connect with the first sensor 2006; and an operation system 2009 is used for the second sensor 2007 connection.
  • a 3D lens sensor computing system is connected to a 3D lens sensor, a 3D sounding function computing system, and a 3D sounding function computing device are connected to an photographic system (ISP) to connect with a camera/camera device.
  • ISP photographic system
  • the 3D lens sensor computing system is used for automatic tracking and 3D face recognition functions.
  • the computing system is used to collect and integrate data such as human face features, light and darkness, height, angle, etc., and calculate the best shooting mode by itself.
  • the 3D sound function computing system is used for multi-azimuth, distance-distance radio reception.
  • the communication module is configured to receive instructions issued by a pre-installed application via Bluetooth, WI-FI.
  • the ISP system is used to automatically adjust aperture, shutter, white balance, metering, focus, lens technology, automatic color adjustment techniques.
  • the first communication module 2008 can transmit and receive information, and control the power device in the photographic robot, such as the motor control module, the automatic balancing module, the angle/speed/steering control module, so that the smart photographic device can control the mechanical arm to cooperate with the shooting. .
  • the second base is provided with a first power source 3001 for detachably being disposed on the second base, and a second circuit board 3006.
  • the second circuit board 3006 includes: a power controller 3005, a second communication module 2002, a self-balancing controller 3003, and a rotation controller 3004.
  • the power controller 3005 is configured to stabilize the mechanical rotating arm to perform a preset operation.
  • the second communication module 2002 is configured to receive a second shooting control command; the self-balancing controller 3003 is configured to control the second base displacement; the rotation controller 3004 is configured to control the mechanical The turning arm performs a preset moving operation.
  • the second communication module 2002 is configured to receive an instruction issued by a pre-installed application through Bluetooth or WI-FI.
  • the power controller 3005 can be implemented in a manner of being controlled by multiple motors.
  • the rotation controller 3004 is configured to complete the angle/rotation speed/steering control, and can be used to set the height, the angle, the rotation speed, and the steering of the mechanical rotation arm to reach the left and right of the automatic lifting.
  • a battery and a circuit board are built in the base, and the circuit board includes: a communication module and an automatic balancing module.
  • the power controller for controlling the angle/rotation/steering is respectively connected to the plurality of motion fixing shafts of the first base; the automatic balancing module and the second base A plurality of rotating fixed shafts are connected below.
  • the self-balancing controller 3003 is used for automatically and independently calculating the heights of a plurality of fixed axes of motion, and balancing with each other, so that the four axes can smoothly move and realize the trackless setting.
  • the rotation controller 3004 is used to stabilize the connection and coordinate torque and power of the shafts (31, 32, 33, 34) in the arm, and to ensure the flexibility of the mechanical arm to enable smooth and quiet movement.
  • the second base and the mechanical rotating arm adopt a lightweight material, which helps the mechanical arm to move flexibly to prevent falling.
  • the photographing robot further includes: a remote control terminal 400, which is pre-installed with an application program, and the remote control terminal 400 is configured to wirelessly communicate to the photographing robot A preset control command is issued; the control command is for controlling the displacement of the first base and/or the rotation of the mechanical rotating arm with the second base.
  • the photographic robot includes a mechanical turning arm and a smart photographic device.
  • a manual controller is also provided to perform the manual operation mode, and a tablet computer and a self-developed application are provided, and the central control system is operated on the tablet computer. , remote control photography robot.
  • the remote control terminal 400 includes: a preview module 4001 and a live broadcast module 4002, the preview module 4001 is configured to preview an action operation performed by the photographic robot; and the live broadcast module 4002 is configured to: The action operation performed by the photographic robot is broadcasted.
  • the photographic robot in the embodiment of the present application includes a mechanical movement part and a smart photographic apparatus.
  • a manual operation mode of the manual controller is additionally provided.
  • the remote control terminal 400 can be a tablet computer and a self-developed application, and operates on a tablet computer with a central control system to control the photographic robot by remote control.
  • the second base can be connected to the second base by a mechanical turning arm, and the rolling axis is disposed below the second base for automatic balancing.
  • the rotating shafts (31, 32, 33, 34) constitute a plurality of sets of mechanical rotating arm structures arranged above the first base to control the angle, the rotational speed, and the steering.
  • the second base has a built-in battery and a circuit board, and a plurality of motor-connected control modules, a communication module, an automatic balancing module, and an angle/speed/steering control module can be installed in the circuit board.
  • the multi-motor associative control module, the angle/speed/steering control module is connected with the rotating shaft above the second base; the automatic balancing module is connected with the rotating shaft below the second base.
  • a manual controller a base that can convert and install different instruments
  • a communication and power connection port a smart photography device
  • the manual controller is used for manual adjustment of direction, angle, brightness, speed, white balance and other shooting settings.
  • a base that can convert and install different instruments can connect and carry smart photography equipment.
  • Intelligent photographic devices include, but are not limited to, photographic camera devices such as cameras, smart phones, other smart devices, and transmit signals thereto.
  • the intelligent photography device may include: a 3D lens sensor, a 3D sound function operator, a circuit board, and a communication module, an artificial intelligence computing system, a 3D lens sensor computing system, a 3D sound function computing system, and an ISP system in the circuit board.
  • the 3D lens sensor computing system is connected to the 3D lens sensor
  • the 3D sounding function computing system is connected to the 3D sounding function computing device
  • the ISP system is connected to the photographic imaging device.
  • the user opens the pre-installed application program through the remote control terminal 400, and uses the central control system (CPU, MCU, CPU/MCU) to set the shooting instruction on the remote control terminal 400, and then remotely via Bluetooth and WI-FI.
  • the central control system CPU, MCU, CPU/MCU
  • the circuit board in the second base is driven by the battery, the communication module is used to receive the shooting instruction;
  • the automatic balancing module is used to automatically calculate the height of the rolling axis automatically, the rolling axes are coordinated and balanced, and the moving is smooth, and the trackless setting and stability are realized.
  • the angle/speed/steering control module is used to set the height, angle, rotation speed and steering of the mechanical turning arm, and the mechanical turning arm automatically moves up and down.
  • the multi-motor associative control module such as the cascade motor stabilizes the connection of the rotating shafts (31, 32, 33, 34) in the mechanical arm and coordinates the torque and power to ensure that the arm can move
  • the central control system issues commands to the photographic robot through the application via Bluetooth, WI-FI, while controlling multiple electric motors to achieve multi-point remote control.
  • the central control system commands the camera person via the application via Bluetooth, WI-FI to control the smart camera for automatic shooting.
  • the central control system can control multiple motors at the same time to achieve multi-point remote control.
  • users can preview live or live on a tablet.
  • a photographic camera device such as a camera, a smart phone, and other smart devices can be connected to the first base.
  • the circuit board on the smart photography device is driven by the battery, and the communication module is used for receiving the shooting instruction;
  • the first connection port of the first base is used for the communication and power connection port, and is used for connecting the shooting device to the mounting base of the base. Passing the shooting signal to the smart photography device after the power is passed; connecting the first circuit board and the second circuit board, transmitting and receiving information with the communication module, thereby controlling the multi-motor coupling control module (cascade motor), the automatic balancing module,
  • the angle/speed/steering control module allows the intelligent camera to manipulate the robotic arm for shooting.
  • the smart photography equipment can include: 3D lens sensor computing system for automatic tracking and 3D face recognition, and control 3D lens sensor to follow specified human face movement; 3D sound function computing system for multi-directional, distance-distance radio ISP system for including but not limited to automatic aperture adjustment, shutter, white balance, metering, focusing, lens technology, automatic color adjustment preset operation, automatic shooting; computing system can be used to collect and integrate human features, The light, darkness, height, angle and other data, calculate the best shooting mode.
  • 3D lens sensor computing system for automatic tracking and 3D face recognition, and control 3D lens sensor to follow specified human face movement
  • 3D sound function computing system for multi-directional, distance-distance radio ISP system for including but not limited to automatic aperture adjustment, shutter, white balance, metering, focusing, lens technology, automatic color adjustment preset operation, automatic shooting
  • computing system can be used to collect and integrate human features, The light, darkness, height, angle and other data, calculate the best shooting mode.
  • the smart photography device can self-control the lifting, angle, rotation speed, steering of the mechanical rotating arm, and the balance of the four axes, thereby cooperating with Shooting.
  • the first base in the embodiment of the present application further includes: a plurality of motion fixed axes and a plurality of moving wheels (40, 41, 42, 43), and the plurality of the motions are fixed.
  • the shaft is used to perform a preset displacement in cooperation with a plurality of the moving wheels (40, 41, 42, 43).
  • the mechanical rotating arm in the embodiment of the present application includes: a plurality of rotating fixed shafts (31, 32, 33, 34) and a plurality of mechanical rotating sub-arms, wherein the plurality of rotating fixed shafts are used to cooperate with the plurality of The mechanical rotating sub-arm performs a preset action.
  • a plurality of moving wheels (40, 41, 42, 43) are coupled to the second base, and a plurality of moving wheels (40, 41, 42, 43) are disposed below the second base for automatic balancing.
  • a plurality of rotating fixed shafts (31, 32, 33, 34) constitute a plurality of sets of mechanical arms disposed above the base to control height, angle, rotational speed, and steering.
  • the photographic robot in the embodiment of the present application controls the robot remotely, so that the mechanical axis automatically balances and adjusts the angle, the rotational speed, and the steering; thereby achieving the four-axis balance and the six-axis automatic lifting under the trackless setting.
  • Automatic optical white balance is automatically captured/recorded by artificial intelligence devices, so that the shooting is intelligent and professional, and automatic shooting is achieved.
  • the use of lightweight materials helps the robot arm to move flexibly to prevent falling and protect the camera.
  • the present application adopts a control unit for controlling the mechanical movement to perform a preset operation, and by using the first controller and the second controller, controlling the displacement of the first base and controlling the mechanical rotation arm to cooperate with the second base
  • the purpose of the rotation is to realize the technical effect of the automatic shooting, thereby solving the technical problem that the photographic equipment is inconvenient to carry, and the application realizes the intelligentization and specialization of the shooting, thereby realizing the automatic shooting, the photography of the present application.
  • the robot also uses lightweight materials to help the robot arm move flexibly.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Studio Devices (AREA)
  • Accessories Of Cameras (AREA)
  • Manipulator (AREA)

Abstract

Disclosed is a photographic robot, comprising: a mechanical motion portion and a control portion. The mechanical motion portion comprises: a first base (200), a mechanical rotating arm (100) and a second base (300), with the first base (200) being connected to the second base (300) by means of the mechanical rotating arm (100). The control portion comprises: a first controller (20) and a second controller (30). The photographic robot solves the technical problem of photographic equipment being inconvenient to carry, and realizes intelligence in and specialization of photographing, thereby realizing fully-automatic photographing. Moreover, the photographic robot is made of a light material, thus facilitating the flexible motion of the mechanical arm.

Description

摄影机器人Photography robot 技术领域Technical field
本申请涉及自动化和人工智能领域,具体而言,涉及一种摄影机器人。The present application relates to the field of automation and artificial intelligence, and in particular to a photographic robot.
背景技术Background technique
传统的摄影器材,通常需要依靠人为操作调整高度角度、在移动摄影器材时还需要依赖路轨。Traditional photographic equipment usually needs to rely on human operation to adjust the height angle, and also depends on the rail when moving the photographic equipment.
发明人发现,如果依靠人为操作调整高度角度容易出现人为失误,令拍摄有欠精准;如果依赖路轨,需要耗时调试。此外,摄影器材通常不便携带、在使用过程中容易造成劳损。The inventor found that if the height angle is adjusted by human operation, human error is easy to occur, and the shooting is not accurate; if it depends on the rail, it takes time to debug. In addition, photographic equipment is usually not carried, and it is easy to cause strain during use.
针对相关技术中摄影器材不方便携带的问题,目前尚未提出有效的解决方案。In view of the inconvenience of photographic equipment in related art, an effective solution has not been proposed yet.
发明内容Summary of the invention
本申请提供一种摄影机器人,以解决摄影器材不方便携带的问题。The application provides a photographic robot to solve the problem that the photographic equipment is inconvenient to carry.
为了实现上述目的,根据本申请的一个方面,提供了一种摄影机器人。In order to achieve the above object, according to an aspect of the present application, a photographing robot is provided.
根据本申请的摄影机器人包括:机械运动部和控制部,所述控制部用于控制所述机械运动部执行预设操作;所述机械运动部包括:第一底座、机械转动臂、第二底座;所述第一底座通过所述机械转动臂与所述第二底座相连;所述控制部包括:第一控制器和第二控制器;所述第一控制器,用于控制所述第一底座位移;以及所述第二控制器,用于控制所述机械转动臂配合所述第二底座转动。The photographing robot according to the present application includes: a mechanical moving portion and a control portion, the control portion is configured to control the mechanical moving portion to perform a preset operation; the mechanical moving portion includes: a first base, a mechanical rotating arm, and a second base The first base is connected to the second base by the mechanical rotating arm; the control part comprises: a first controller and a second controller; the first controller is configured to control the first a base displacement; and the second controller is configured to control the mechanical rotating arm to rotate with the second base.
进一步地,所述第一底座上设置有:手动控制器,用于通过手动方式执行拍摄预设操作;第一连接口,用于提供电源以及数据通讯接口;安装底座,用于提供所述智能设备的安装底座和信号传输接口。Further, the first base is provided with: a manual controller for performing a shooting preset operation by a manual manner; a first connection port for providing a power source and a data communication interface; and a mounting base for providing the smart The mounting base and signal transmission interface of the device.
进一步地,摄影机器人还包括:智能摄影设备,所述智能摄影设备包括:第一传感器,用于检测环境图像信息数据;第二传感器,用于检测环境声音信息数据;还包括:第一电路板,所述第一电路板包括:第一通讯模组,运算系统以及编程系统;所述第一通讯模组,用于接收第一拍摄控制指令;所述运算系统,用于处理所述第一传感器和/或第二传感器检测的数据;所述编程系统,用于控制所述智能摄影设备执行预设拍摄操作。Further, the photographic robot further includes: a smart photographic device, the smart photographic device comprising: a first sensor for detecting environmental image information data; a second sensor for detecting ambient sound information data; and a first circuit board The first circuit board includes: a first communication module, an operation system, and a programming system; the first communication module is configured to receive a first shooting control command; and the computing system is configured to process the first The data detected by the sensor and/or the second sensor; the programming system for controlling the smart camera device to perform a preset shooting operation.
进一步地,所述第二底座上设置有:第一电源,用于可拆卸地设置于所述第二底座;还包括:第二电路板,所述第二电路板包括:动力控制器、第二通讯模组、自平衡控制器、转动控制器,所述动力控制器,用于稳定所述机械转动臂执行预设操作;所述第二通讯模组,用于接收第二拍摄控制指令;所述自平衡控制器,用于控制所述第二底座位移;所述转动控制器,用于控制所述机械转动臂执行预设移动操作;Further, the second base is provided with: a first power source for detachably being disposed on the second base; further comprising: a second circuit board, the second circuit board comprising: a power controller, a communication module, a self-balancing controller, and a rotation controller, wherein the power controller is configured to stabilize the mechanical rotating arm to perform a preset operation; and the second communication module is configured to receive a second shooting control command; The self-balancing controller is configured to control the displacement of the second base; the rotation controller is configured to control the mechanical rotating arm to perform a preset moving operation;
进一步地,摄影机器人还包括:远程控制终端,所述远程控制终端预先安装有应用程序,在所述远程控制终端,用于通过无线通信方式向所述摄影机器人发出预设的控制指令;所述控制指令用于控制所述第一底座位移和/或所述机械转动臂配合所述第二底座转动。Further, the photographic robot further includes: a remote control terminal, the remote control terminal is pre-installed with an application program, and the remote control terminal is configured to issue a preset control instruction to the photographic robot by wireless communication; Control commands are used to control the displacement of the first base and/or the rotation of the mechanical rotating arm with the second base.
进一步地,所述远程控制终端包括:预览模块和直播模块,所述预览模块,用于预览所述摄影机器人执行的动作操作;所述直播模块,用于直播所述摄影机器人执行的动作操作。Further, the remote control terminal includes: a preview module and a live broadcast module, the preview module is configured to preview an action operation performed by the photographic robot; and the live broadcast module is configured to perform an action operation performed by the photographic robot.
进一步地,所述第一底座还包括:多个运动固定轴和多个运动轮,多个所述运动固定轴用于配合多个所述运动轮执行预设位移。Further, the first base further includes: a plurality of motion fixing shafts and a plurality of motion wheels, wherein the plurality of motion fixing shafts are configured to perform a preset displacement with the plurality of the motion wheels.
进一步地,所述机械转动臂包括:多个转动固定轴和多个机械转动子臂,多个所述转动固定轴用于配合多个所述机械转动子臂执行预设动作。Further, the mechanical rotating arm includes: a plurality of rotating fixed shafts and a plurality of mechanical rotating sub-arms, and the plurality of rotating fixed shafts are configured to perform a preset action with a plurality of the mechanical rotating sub-arms.
进一步地,所述第一底座、所述机械转动臂、所述第二底座采用轻质物料的结构。Further, the first base, the mechanical rotating arm, and the second base adopt a structure of a lightweight material.
进一步地,所述第一控制器,还用于控制所述第一底座中的四轴位移平衡;Further, the first controller is further configured to control a four-axis displacement balance in the first base;
所述第二控制器,还用于控制所述机械转动臂中的六轴转动升降。The second controller is further configured to control six-axis rotation and lifting in the mechanical rotating arm.
附图说明DRAWINGS
构成本申请的一部分的附图用来提供对本申请的进一步理解,使得本申请的其它特征、目的和优点变得更明显。本申请的示意性实施例附图及其说明用于解释本申请,并不构成对本申请的不当限定。在附图中:Other features, objects, and advantages of the present application will become apparent from the accompanying drawings. The drawings and the description of the exemplary embodiments of the present application are intended to explain the present application and do not constitute an undue limitation of the present application. In the drawing:
图1(a)是根据本申请第一实施例的摄影机器人示意图;1(a) is a schematic view of a photographic robot according to a first embodiment of the present application;
图1(b)是根据本申请第一实施例的摄影机器人内部示意图;1(b) is a schematic view showing the inside of a photographing robot according to a first embodiment of the present application;
图2是根据本申请第一实施例的摄影机器人局部放大示意图;2 is a partially enlarged schematic view of a photographing robot according to a first embodiment of the present application;
图3是根据本申请第一实施例的摄影机器人内部结构示意图;3 is a schematic view showing the internal structure of a photographing robot according to a first embodiment of the present application;
图4是根据本申请第二实施例的摄影机器人内部结构示意图;4 is a schematic view showing the internal structure of a photographing robot according to a second embodiment of the present application;
图5是根据本申请第二实施例的摄影机器人外部结构示意图FIG. 5 is a schematic diagram showing the external structure of a photographic robot according to a second embodiment of the present application.
图6是根据本申请第三实施例的摄影机器人结构示意图;6 is a schematic structural view of a photographic robot according to a third embodiment of the present application;
图7是根据本申请第三实施例的摄影机器人内部结构示意图;7 is a schematic view showing the internal structure of a photographing robot according to a third embodiment of the present application;
图8是根据本申请第四实施例的摄影机器人结构示意图;8 is a schematic structural view of a photographing robot according to a fourth embodiment of the present application;
图9是根据本申请第五实施例的摄影机器人结构示意图;9 is a schematic structural view of a photographing robot according to a fifth embodiment of the present application;
图10是根据本申请第六实施例的摄影机器人结构示意图。FIG. 10 is a schematic structural view of a photographic robot according to a sixth embodiment of the present application.
具体实施方式Detailed ways
为了使本技术领域的人员更好地理解本申请方案,下面将结合本申请实施例中的附图,对本申请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申请一部分的实施例,而不是全部的实施例。基于本申请中的实施例,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,都应当属于本申请保护的范围。The technical solutions in the embodiments of the present application are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present application. It is an embodiment of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present application without departing from the inventive scope shall fall within the scope of the application.
需要说明的是,本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象,而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换,以便这里描述的本申请的实施例。此外,术语“包括”和“具有”以及他们的任何变形,意图在于覆盖不 排他的包含,例如,包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元,而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。在本申请中,术语“上”、“下”、“左”、“右”、“前”、“后”、“顶”、“底”、“内”、“外”、“中”、“竖直”、“水平”、“横向”、“纵向”等指示的方位或位置关系为基于附图所示的方位或位置关系。这些术语主要是为了更好地描述本申请及其实施例,并非用于限定所指示的装置、元件或组成部分必须具有特定方位,或以特定方位进行构造和操作。It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or order. It should be understood that the data so used may be interchanged where appropriate to facilitate the embodiments of the present application described herein. In addition, the terms "comprises" and "comprises" and "the" and "the" are intended to cover a non-exclusive inclusion, for example, a process, method, system, product, or device that comprises a series of steps or units is not necessarily limited to Those steps or units may include other steps or units not explicitly listed or inherent to such processes, methods, products or devices. In the present application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inside", "outside", "medium", The orientation or positional relationship of the indications "vertical", "horizontal", "transverse", "longitudinal", etc. is based on the orientation or positional relationship shown in the drawings. These terms are primarily intended to describe the present application and its embodiments, and are not intended to limit the scope,
并且,上述部分术语除了可以用于表示方位或位置关系以外,还可能用于表示其他含义,例如术语“上”在某些情况下也可能用于表示某种依附关系或连接关系。对于本领域普通技术人员而言,可以根据具体情况理解这些术语在本申请中的具体含义。Moreover, the above partial terms may be used to indicate other meanings in addition to the orientation or positional relationship, for example, the term "upper" may also be used to indicate a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meaning of these terms in this application can be understood on a case-by-case basis.
此外,术语“安装”、“设置”、“设有”、“连接”、“相连”、“套接”应做广义理解。例如,可以是固定连接,可拆卸连接,或整体式构造;可以是机械连接,或电连接;可以是直接相连,或者是通过中间媒介间接相连,又或者是两个装置、元件或组成部分之间内部的连通。对于本领域普通技术人员而言,可以根据具体情况理解上述术语在本申请中的具体含义。In addition, the terms "installation," "set," "set," "connected," "connected," and "socketed" are to be understood broadly. For example, it may be a fixed connection, a detachable connection, or a one-piece construction; it may be a mechanical connection, or an electrical connection; it may be directly connected, or indirectly connected through an intermediate medium, or it may be two devices, components or components. Internal communication. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood on a case-by-case basis.
需要说明的是,在不冲突的情况下,本申请中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本申请。It should be noted that the embodiments in the present application and the features in the embodiments may be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings.
如图1(a)和图1(b)所示,本申请涉及一种摄影机器人,该摄影机器人包括:机械运动部和控制部,所述控制部用于控制所述机械运动部执行预设操作;所述机械运动部包括:第一底座200、机械转动臂100、第二底座300;所述第一底座200通过所述机械转动臂100与所述第二底座300相连;所述控制部包括:第一控制器20和第二控制器30;所述第一控制器20,用于控制所述第一底座200位移;以及所述第二控制器30,用于控制所述机械转动臂100配合所述第二底座300转动。通过所述第一控制器20能够控制所述第一底座200在水平方向上发生位移,以及在位移过程中进行的平衡控制。通过所述第 二控制器30能够控制所述机械转动臂100与述第二底座300配合进行转动,调节拍摄设备的位置、高度以及角度等。As shown in FIG. 1(a) and FIG. 1(b), the present application relates to a photographing robot including: a mechanical moving portion and a control portion, the control portion for controlling the mechanical moving portion to execute a preset The mechanical movement portion includes: a first base 200, a mechanical rotating arm 100, and a second base 300; the first base 200 is connected to the second base 300 through the mechanical rotating arm 100; the control portion The first controller 20 and the second controller 30 are included; the first controller 20 is configured to control the displacement of the first base 200; and the second controller 30 is configured to control the mechanical rotating arm 100 cooperates with the second base 300 to rotate. The displacement of the first base 200 in the horizontal direction and the balance control performed during the displacement can be controlled by the first controller 20. The second controller 30 can control the mechanical rotating arm 100 to rotate in cooperation with the second base 300 to adjust the position, height, angle, and the like of the photographing apparatus.
作为本实施例中的优选,所述第一控制器20,还用于控制所述第一底座200中的四轴位移平衡;四轴具体是用以发生位置移动的四轴位移。所述第二控制器30,还用于控制所述机械转动臂100中的六轴转动升降,六轴具体是用以发生转动的六轴转动、升降。As a preferred embodiment, the first controller 20 is further configured to control the four-axis displacement balance in the first base 200; the four-axis is specifically a four-axis displacement for positional movement. The second controller 30 is further configured to control six-axis rotation and lifting in the mechanical rotating arm 100. The six-axis is specifically a six-axis rotation and lifting for rotating.
如图2至图3所示,该摄影机器人中的所述第一底座200上设置有:手动控制器2001,用于通过手动方式执行拍摄预设操作;第一连接口2002,用于提供电源以及数据通讯接口;安装底座2003,用于提供智能设备的安装底座和信号传输接口。在摄影机器人中还包括:智能摄影设备,所述智能摄影设备包括:第一传感器2006,用于检测环境图像信息数据;第二传感器2007,用于检测环境声音信息数据;还包括:第一电路板3001,所述第一电路板3001包括:第一通讯模组2008,运算系统2009以及编程系统2010;所述第一通讯模组2008,用于接收第一拍摄控制指令;所述运算系统2009,用于处理所述第一传感器和/或第二传感器检测的数据;所述编程系统2010,用于控制所述智能摄影设备执行预设拍摄操作。预设操作包括但不限于,位置、角度、高度调节以及位移变化。As shown in FIG. 2 to FIG. 3, the first base 200 in the photographic robot is provided with: a manual controller 2001 for performing a shooting preset operation by a manual method; and a first connection port 2002 for providing power And a data communication interface; a mounting base 2003 for providing a mounting base and a signal transmission interface of the smart device. The photographic robot further includes: a smart photographic device, the smart photographic device comprising: a first sensor 2006 for detecting environmental image information data; a second sensor 2007 for detecting ambient sound information data; further comprising: a first circuit The first circuit board 3001 includes: a first communication module 2008, an operation system 2009, and a programming system 2010; the first communication module 2008 is configured to receive a first shooting control command; the computing system 2009 And for processing the data detected by the first sensor and/or the second sensor; the programming system 2010 is configured to control the smart photography device to perform a preset shooting operation. Preset operations include, but are not limited to, position, angle, height adjustment, and displacement changes.
所述手动控制器2001可以用作人手调较方向、角度、亮度、速度、白平衡及其他拍摄设定。The manual controller 2001 can be used as a human hand to adjust direction, angle, brightness, speed, white balance, and other shooting settings.
所述安装底座2003,能转换及安装不同仪器的底座。所述安装底座2003用以作为可安装不同仪器的底座能连接及承载人工智能设备、相机等摄影摄像设备、智能电话、其他智能设备并对其上的设备传递信号。The mounting base 2003 can convert and mount the base of different instruments. The mounting base 2003 is used as a base for mounting different instruments to connect and carry artificial intelligence devices, camera and other photographic camera devices, smart phones, other smart devices and transmit signals to the devices thereon.
所述第一连接口2002,备有通讯及电源连接口,用以进行数据传输或者电源。The first connection port 2002 is provided with a communication and power connection port for data transmission or power supply.
所述智能摄影设备中的所述第一传感器2006可以是3D镜头传感器。所述第二传感器2007可以是具有3D收音功能运算器。The first sensor 2006 in the smart photography device may be a 3D lens sensor. The second sensor 2007 may be an operator having a 3D sound function.
所述第一电路板3001包括:第一通讯模组2008,运算系统2009以及编 程系统2010;运算系统2009用于与所述第一传感器2006连接;运算系统2009用于与所述第二传感器2007连接。The first circuit board 3001 includes: a first communication module 2008, an operation system 2009, and a programming system 2010; an operation system 2009 is used to connect with the first sensor 2006; and an operation system 2009 is used for the second sensor 2007 connection.
例如,采用3D镜头传感器运算系统与3D镜头传感器连接、3D收音功能运算系统与3D收音功能运算器连接摄影综合系统(ISP,Integrated System of Photography)与摄影/摄像设备连接。For example, a 3D lens sensor computing system is connected to a 3D lens sensor, a 3D sounding function computing system, and a 3D sounding function computing device are connected to an photographic system (ISP) to connect with a camera/camera device.
在一些实施例中,所述3D镜头传感器运算系统用于自动追踪及3D人面识别功能。In some embodiments, the 3D lens sensor computing system is used for automatic tracking and 3D face recognition functions.
在一些实施例中,运算系统用于搜集及综合人面特征、光暗、高度、角度等数据,自行计算出最佳拍摄模式。In some embodiments, the computing system is used to collect and integrate data such as human face features, light and darkness, height, angle, etc., and calculate the best shooting mode by itself.
在一些实施例中,所述3D收音功能运算系统用于多方位、有距离收音。In some embodiments, the 3D sound function computing system is used for multi-azimuth, distance-distance radio reception.
在一些实施例中,通讯模块用于接收通过蓝牙、WI-FI通过预先安装的应用程序发出的指令。In some embodiments, the communication module is configured to receive instructions issued by a pre-installed application via Bluetooth, WI-FI.
在一些实施例中,ISP系统用于自动调较光圈、快门、白平衡、测光、对焦、镜片技术、自动颜色调节技术。In some embodiments, the ISP system is used to automatically adjust aperture, shutter, white balance, metering, focus, lens technology, automatic color adjustment techniques.
例如,可以通过第一通讯模组2008传递以及接收信息,控制摄影机器人中的动力装置比如,马达控制模块,自动平衡模块,角度/转速/转向控制模块,使智能摄影设备能操控机械臂配合拍摄。For example, the first communication module 2008 can transmit and receive information, and control the power device in the photographic robot, such as the motor control module, the automatic balancing module, the angle/speed/steering control module, so that the smart photographic device can control the mechanical arm to cooperate with the shooting. .
如图4至图5所示,该装置中的所述第二底座上设置有:第一电源3001,用于可拆卸地设置于所述第二底座;还包括:第二电路板3006,所述第二电路板3006包括:动力控制器3005、第二通讯模组2002、自平衡控制器3003、转动控制器3004,所述动力控制器3005,用于稳定所述机械转动臂执行预设操作;所述第二通讯模组2002,用于接收第二拍摄控制指令;所述自平衡控制器3003,用于控制所述第二底座位移;所述转动控制器3004,用于控制所述机械转动臂执行预设移动操作。As shown in FIG. 4 to FIG. 5, the second base is provided with a first power source 3001 for detachably being disposed on the second base, and a second circuit board 3006. The second circuit board 3006 includes: a power controller 3005, a second communication module 2002, a self-balancing controller 3003, and a rotation controller 3004. The power controller 3005 is configured to stabilize the mechanical rotating arm to perform a preset operation. The second communication module 2002 is configured to receive a second shooting control command; the self-balancing controller 3003 is configured to control the second base displacement; the rotation controller 3004 is configured to control the mechanical The turning arm performs a preset moving operation.
所述第二通讯模组2002用于接收通过蓝牙、WI-FI以预先安装应用程序发出的指令。The second communication module 2002 is configured to receive an instruction issued by a pre-installed application through Bluetooth or WI-FI.
所述动力控制器3005,可以采用多马达进行控制的方式执行。The power controller 3005 can be implemented in a manner of being controlled by multiple motors.
所述转动控制器3004,用于完成角度/转速/转向控制,可以用于设置机械转动臂的高度、角度、转速、转向,达至自动升降前行左右。The rotation controller 3004 is configured to complete the angle/rotation speed/steering control, and can be used to set the height, the angle, the rotation speed, and the steering of the mechanical rotation arm to reach the left and right of the automatic lifting.
例如,在底座内置电池、电路板,电路板包括:通讯模块、自动平衡模块。用以多马达相连性的所述动力控制器、用以控制角度/转速/转向的所述动力控制器分别与所述第一底座的上方多个运动固定轴连接;自动平衡模块与第二底座下方多个转动固定轴连接。For example, a battery and a circuit board are built in the base, and the circuit board includes: a communication module and an automatic balancing module. The power controller for controlling the angle/rotation/steering is respectively connected to the plurality of motion fixing shafts of the first base; the automatic balancing module and the second base A plurality of rotating fixed shafts are connected below.
所述自平衡控制器3003用于自动独立计算多个运动固定轴高度,互相协调平衡,使四轴能平稳走动,实现无轨设置。The self-balancing controller 3003 is used for automatically and independently calculating the heights of a plurality of fixed axes of motion, and balancing with each other, so that the four axes can smoothly move and realize the trackless setting.
例如,所述转动控制器3004用于稳定机械臂内各轴(31,32,33,34)的相连及协调扭力、动力,确保机械转动臂的灵活性,使其能顺畅宁静地活动。For example, the rotation controller 3004 is used to stabilize the connection and coordinate torque and power of the shafts (31, 32, 33, 34) in the arm, and to ensure the flexibility of the mechanical arm to enable smooth and quiet movement.
优选地,所述第二底座及机械转动臂采用轻巧物料,有助机械臂灵活活动,防止下坠。Preferably, the second base and the mechanical rotating arm adopt a lightweight material, which helps the mechanical arm to move flexibly to prevent falling.
如图6至图7所示,摄影机器人还包括:远程控制终端400,所述远程控制终端400预先安装有应用程序,在所述远程控制终端400,用于通过无线通信方式向所述摄影机器人发出预设的控制指令;所述控制指令用于控制所述第一底座位移和/或所述机械转动臂配合所述第二底座转动。As shown in FIG. 6 to FIG. 7, the photographing robot further includes: a remote control terminal 400, which is pre-installed with an application program, and the remote control terminal 400 is configured to wirelessly communicate to the photographing robot A preset control command is issued; the control command is for controlling the displacement of the first base and/or the rotation of the mechanical rotating arm with the second base.
摄影机器人包括机械转动臂和智能摄影设备,除人工智能全自动操作,另设手动控制器用以执行人手操作模式,同时配备平板计算机及自行开发的应用程序,以中央控制系统在平板计算机上进行操作,远程控制摄影机器人。The photographic robot includes a mechanical turning arm and a smart photographic device. In addition to the artificial intelligence automatic operation, a manual controller is also provided to perform the manual operation mode, and a tablet computer and a self-developed application are provided, and the central control system is operated on the tablet computer. , remote control photography robot.
作为本实施例中的优选,所述远程控制终端400包括:预览模块4001和直播模块4002,所述预览模块4001,用于预览所述摄影机器人执行的动作操作;所述直播模块4002,用于直播所述摄影机器人执行的动作操作。As a preferred embodiment of the present invention, the remote control terminal 400 includes: a preview module 4001 and a live broadcast module 4002, the preview module 4001 is configured to preview an action operation performed by the photographic robot; and the live broadcast module 4002 is configured to: The action operation performed by the photographic robot is broadcasted.
本申请实施例中的摄影机器人:包括机械运动部和智能摄影设备,除智能摄影设备自动操作,另设手动控制器的人手操作模式。远程控制终端400可以是配备平板计算机及自行开发的应用程序,并以中央控制系统在平板计算机上进行操作,通过遥距控制摄影机器人。The photographic robot in the embodiment of the present application includes a mechanical movement part and a smart photographic apparatus. In addition to the automatic operation of the smart photographic apparatus, a manual operation mode of the manual controller is additionally provided. The remote control terminal 400 can be a tablet computer and a self-developed application, and operates on a tablet computer with a central control system to control the photographic robot by remote control.
例如,可以通过机械转动臂与第二底座相连,滚动轴设于第二底座的下方, 可进行自动平衡。另外旋转轴(31,32,33,34)组成多组的机械转动臂结构设于第一底座的上方,可控制角度、转速、转向。此外,第二底座内置电池、电路板,电路板中可以安装多个马达相联性控制模块、通讯模块、自动平衡模块、角度/转速/转向控制模块。同时,通过将多马达相联性控制模块、角度/转速/转向控制模块与第二底座上方的转动轴连接;自动平衡模块与第二底座的下方的转动轴连接。For example, it can be connected to the second base by a mechanical turning arm, and the rolling axis is disposed below the second base for automatic balancing. In addition, the rotating shafts (31, 32, 33, 34) constitute a plurality of sets of mechanical rotating arm structures arranged above the first base to control the angle, the rotational speed, and the steering. In addition, the second base has a built-in battery and a circuit board, and a plurality of motor-connected control modules, a communication module, an automatic balancing module, and an angle/speed/steering control module can be installed in the circuit board. At the same time, the multi-motor associative control module, the angle/speed/steering control module is connected with the rotating shaft above the second base; the automatic balancing module is connected with the rotating shaft below the second base.
例如,可以在第一底座上方安装手动控制器、能转换和安装不同仪器的底座、通讯及电源连接口、智能摄影设备。其中,手动控制器用于人手调较方向、角度、亮度、速度、白平衡及其他拍摄设定。能转换及安装不同仪器的底座能够连接和承载智能摄影设备。智能摄影设备包括但不限于,相机等摄影摄像设备、智能电话、其他智能设备并向其传输信号。智能摄影设备可以包括:3D镜头传感器、3D收音功能运算器、电路板,在电路板中包括通讯模块、人工智能运算系统、3D镜头传感器运算系统、3D收音功能运算系统、ISP系统。具体地,3D镜头传感器运算系统与3D镜头传感器连接、3D收音功能运算系统与3D收音功能运算器连接、ISP系统与摄影摄像设备连接。For example, a manual controller, a base that can convert and install different instruments, a communication and power connection port, and a smart photography device can be installed above the first base. Among them, the manual controller is used for manual adjustment of direction, angle, brightness, speed, white balance and other shooting settings. A base that can convert and install different instruments can connect and carry smart photography equipment. Intelligent photographic devices include, but are not limited to, photographic camera devices such as cameras, smart phones, other smart devices, and transmit signals thereto. The intelligent photography device may include: a 3D lens sensor, a 3D sound function operator, a circuit board, and a communication module, an artificial intelligence computing system, a 3D lens sensor computing system, a 3D sound function computing system, and an ISP system in the circuit board. Specifically, the 3D lens sensor computing system is connected to the 3D lens sensor, the 3D sounding function computing system is connected to the 3D sounding function computing device, and the ISP system is connected to the photographic imaging device.
具体实施过程中,通过远程控制终端400,用户开启预先安装的应用程序,在远程控制终端400上运用中央控制系统(CPU、MCU、CPU/MCU)设置拍摄指令,再通过蓝牙、WI-FI远程将该拍摄指令发送到摄影机器人。然后,所述第二底座内的电路板受电池驱动,通讯模块用于接收拍摄指令;自动平衡模块用于自动独立计算滚动轴的高度,滚动轴互相协调平衡,平稳走动,实现无轨设置、稳定光学系统。采用角度/转速/转向控制模块用于设置机械转动臂的高度、角度、转速、转向,机械转动臂自动升降前行左右。再通过多马达相联性控制模块比如级联电机稳定机械臂内各旋转轴(31,32,33,34)的相连及协调扭力、动力,确保机械臂能灵活、顺畅、安静地活动。In the specific implementation process, the user opens the pre-installed application program through the remote control terminal 400, and uses the central control system (CPU, MCU, CPU/MCU) to set the shooting instruction on the remote control terminal 400, and then remotely via Bluetooth and WI-FI. Send the shooting command to the shooting robot. Then, the circuit board in the second base is driven by the battery, the communication module is used to receive the shooting instruction; the automatic balancing module is used to automatically calculate the height of the rolling axis automatically, the rolling axes are coordinated and balanced, and the moving is smooth, and the trackless setting and stability are realized. Optical system. The angle/speed/steering control module is used to set the height, angle, rotation speed and steering of the mechanical turning arm, and the mechanical turning arm automatically moves up and down. Then, the multi-motor associative control module such as the cascade motor stabilizes the connection of the rotating shafts (31, 32, 33, 34) in the mechanical arm and coordinates the torque and power to ensure that the arm can move flexibly, smoothly and quietly.
在一些实施例中,中央控制系统通过蓝牙、WI-FI通过应用程序向摄影机器人发出指令,同时控制多个电动马达,达到多点遥距控制。In some embodiments, the central control system issues commands to the photographic robot through the application via Bluetooth, WI-FI, while controlling multiple electric motors to achieve multi-point remote control.
在一些实施例中,中央控制系统通过蓝牙、WI-FI通过应用程序向摄影机 器人发出指令,控制所述智能摄影设备进行自动拍摄。In some embodiments, the central control system commands the camera person via the application via Bluetooth, WI-FI to control the smart camera for automatic shooting.
具体实施时,中央控制系统能同时控制多个马达,达到多点遥距控制。例如,用户可在平板计算机上进行实时预览或者直播。所述第一底座上可连接相机等摄影摄像设备、智能电话、其他智能设备。In the specific implementation, the central control system can control multiple motors at the same time to achieve multi-point remote control. For example, users can preview live or live on a tablet. A photographic camera device such as a camera, a smart phone, and other smart devices can be connected to the first base.
同时,智能摄影设备上的电路板受电池驱动,通讯模块用于接收拍摄指令;第一底座的第一连接口用于作用通讯及电源连接口,用于连接拍摄装置与底座的安装底座在接通电源后传递拍摄讯号至智能摄影设备;通过连接第一电路板和第二电路板,以通讯模块传递和接收信息,从而控制多马达相联性控制模块(级联电机)、自动平衡模块、角度/转速/转向控制模块,使智能摄影设备能操控机械臂配合拍摄。在智能摄影设备中可以包括:3D镜头传感器运算系统,用于自动追踪及3D人面识别,并控制3D镜头传感器跟随指定的人面移动;3D收音功能运算系统,用于多方位、有距离收音;ISP系统用于包括但不限于自动调较光圈、快门、白平衡、测光、对焦、镜片技术、自动颜色调节预设操作,自动进行拍摄;运算系统可以用于搜集及综合人面特征、光暗、高度、角度等数据,自行计算出最佳拍摄模式。At the same time, the circuit board on the smart photography device is driven by the battery, and the communication module is used for receiving the shooting instruction; the first connection port of the first base is used for the communication and power connection port, and is used for connecting the shooting device to the mounting base of the base. Passing the shooting signal to the smart photography device after the power is passed; connecting the first circuit board and the second circuit board, transmitting and receiving information with the communication module, thereby controlling the multi-motor coupling control module (cascade motor), the automatic balancing module, The angle/speed/steering control module allows the intelligent camera to manipulate the robotic arm for shooting. In the smart photography equipment, it can include: 3D lens sensor computing system for automatic tracking and 3D face recognition, and control 3D lens sensor to follow specified human face movement; 3D sound function computing system for multi-directional, distance-distance radio ISP system for including but not limited to automatic aperture adjustment, shutter, white balance, metering, focusing, lens technology, automatic color adjustment preset operation, automatic shooting; computing system can be used to collect and integrate human features, The light, darkness, height, angle and other data, calculate the best shooting mode.
本申请实施例中所有的移动或者拍摄指令皆由中央控制系统输出,具体实施过程中,智能摄影设备能够自行操控机械转动臂的升降、角度、转速、转向,及四轴的高低平衡,从而配合拍摄。All the moving or shooting instructions in the embodiment of the present application are output by the central control system. In the specific implementation process, the smart photography device can self-control the lifting, angle, rotation speed, steering of the mechanical rotating arm, and the balance of the four axes, thereby cooperating with Shooting.
如图8至图10所示,在本申请实施例中的所述第一底座还包括:多个运动固定轴和多个运动轮(40,41,42,43),多个所述运动固定轴用于配合多个所述运动轮(40,41,42,43)执行预设位移。在本申请实施例中的所述机械转动臂包括:多个转动固定轴(31,32,33,34)和多个机械转动子臂,多个所述转动固定轴用于配合多个所述机械转动子臂执行预设动作。As shown in FIG. 8 to FIG. 10, the first base in the embodiment of the present application further includes: a plurality of motion fixed axes and a plurality of moving wheels (40, 41, 42, 43), and the plurality of the motions are fixed. The shaft is used to perform a preset displacement in cooperation with a plurality of the moving wheels (40, 41, 42, 43). The mechanical rotating arm in the embodiment of the present application includes: a plurality of rotating fixed shafts (31, 32, 33, 34) and a plurality of mechanical rotating sub-arms, wherein the plurality of rotating fixed shafts are used to cooperate with the plurality of The mechanical rotating sub-arm performs a preset action.
例如,多个运动轮(40,41,42,43)与第二底座相连,多个运动轮(40,41,42,43)设于第二底座的下方,用以自动平衡。另外,多个转动固定轴(31,32,33,34)组成多组机械臂设于底座上方,可控制高度、角度、转速、转向。For example, a plurality of moving wheels (40, 41, 42, 43) are coupled to the second base, and a plurality of moving wheels (40, 41, 42, 43) are disposed below the second base for automatic balancing. In addition, a plurality of rotating fixed shafts (31, 32, 33, 34) constitute a plurality of sets of mechanical arms disposed above the base to control height, angle, rotational speed, and steering.
本申请实施例中的摄影机器人通过远程控制机器人,使得机械轴自动平衡 并调节角度、转速、转向;进而实现无轨设置下四轴平衡、六轴自动升降。通过人工智能设备自动拍摄/摄录实践自动光学白平衡,从而将拍摄智能化、专业化,实现全自动拍摄。同时采用轻巧物料,有助机械臂灵活活动,防止下坠,保护拍摄装置。The photographic robot in the embodiment of the present application controls the robot remotely, so that the mechanical axis automatically balances and adjusts the angle, the rotational speed, and the steering; thereby achieving the four-axis balance and the six-axis automatic lifting under the trackless setting. Automatic optical white balance is automatically captured/recorded by artificial intelligence devices, so that the shooting is intelligent and professional, and automatic shooting is achieved. At the same time, the use of lightweight materials helps the robot arm to move flexibly to prevent falling and protect the camera.
以上所述仅为本申请的优选实施例而已,并不用于限制本申请,对于本领域的技术人员来说,本申请可以有各种更改和变化。凡在本申请的精神和原则之内,所作的任何修改、等同替换、改进等,均应包含在本申请的保护范围之内。The above description is only the preferred embodiment of the present application, and is not intended to limit the present application, and various changes and modifications may be made to the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of this application are intended to be included within the scope of the present application.
工业实用性Industrial applicability
本申请采用用于控制所述机械运动部执行预设操作的控制部,通过第一控制器和第二控制器,达到了控制所述第一底座位移和控制所述机械转动臂配合第二底座转动的目的,从而实现了全自动拍摄的技术效果,进而解决了摄影器材不方便携带的技术问题,并且,本申请实现了拍摄智能化和专业化,进而实现了全自动拍摄,本申请的摄影机器人还采用了轻巧的物料,有助于机械臂灵活运动。The present application adopts a control unit for controlling the mechanical movement to perform a preset operation, and by using the first controller and the second controller, controlling the displacement of the first base and controlling the mechanical rotation arm to cooperate with the second base The purpose of the rotation is to realize the technical effect of the automatic shooting, thereby solving the technical problem that the photographic equipment is inconvenient to carry, and the application realizes the intelligentization and specialization of the shooting, thereby realizing the automatic shooting, the photography of the present application. The robot also uses lightweight materials to help the robot arm move flexibly.

Claims (15)

  1. 一种摄影机器人,包括:机械运动部和控制部,所述控制部用于控制所述机械运动部执行预设操作;A photographic robot includes: a mechanical movement portion and a control portion, wherein the control portion is configured to control the mechanical movement portion to perform a preset operation;
    所述机械运动部包括:第一底座、机械转动臂、第二底座;所述第一底座通过所述机械转动臂与所述第二底座相连;The mechanical movement portion includes: a first base, a mechanical rotating arm, and a second base; the first base is connected to the second base by the mechanical rotating arm;
    所述控制部包括:第一控制器和第二控制器;The control unit includes: a first controller and a second controller;
    所述第一控制器,用于控制所述第一底座位移;以及The first controller is configured to control the displacement of the first base;
    所述第二控制器,用于控制所述机械转动臂配合所述第二底座转动。The second controller is configured to control the mechanical rotating arm to rotate with the second base.
  2. 根据权利要求1所述的摄影机器人,其中,所述第一底座上设置有:The photographic robot according to claim 1, wherein the first base is provided with:
    手动控制器,用于通过手动方式执行拍摄预设操作;Manual controller for performing a shooting preset operation manually;
    第一连接口,用于提供电源以及数据通讯接口;a first connection port for providing power and a data communication interface;
    安装底座,用于提供智能设备的安装底座和信号传输接口。The mounting base is used to provide a mounting base and a signal transmission interface for the smart device.
  3. 根据权利要求2所述的摄影机器人,还包括:智能摄影设备,所述智能摄影设备包括:The photographic robot of claim 2, further comprising: a smart photographic device, the smart photographic device comprising:
    第一传感器,用于检测环境图像信息数据;a first sensor for detecting environmental image information data;
    第二传感器,用于检测环境声音信息数据;a second sensor for detecting ambient sound information data;
    还包括:第一电路板,Also included: the first circuit board,
    所述第一电路板包括:第一通讯模组、运算系统以及编程系统;The first circuit board includes: a first communication module, an operation system, and a programming system;
    所述第一通讯模组,用于接收第一拍摄控制指令;The first communication module is configured to receive a first shooting control instruction;
    所述运算系统,用于处理所述第一传感器和/或第二传感器检测的数据;The computing system is configured to process data detected by the first sensor and/or the second sensor;
    所述编程系统,用于控制所述智能摄影设备执行预设拍摄操作。The programming system is configured to control the smart photography device to perform a preset shooting operation.
  4. 根据权利要求1所述的摄影机器人,其中,所述第二底座上设置有:The photographic robot according to claim 1, wherein the second base is provided with:
    第一电源,用于可拆卸地设置于所述第二底座;a first power source for detachably being disposed on the second base;
    还包括:第二电路板,Also included: a second circuit board,
    所述第二电路板包括:动力控制器、第二通讯模组、自平衡控制器、转动控制器,The second circuit board includes: a power controller, a second communication module, a self-balancing controller, and a rotation controller.
    所述动力控制器,用于稳定所述机械转动臂执行预设操作;The power controller is configured to stabilize the mechanical rotating arm to perform a preset operation;
    所述第二通讯模组,用于接收第二拍摄控制指令;The second communication module is configured to receive a second shooting control instruction;
    所述自平衡控制器,用于控制所述第二底座位移;The self-balancing controller is configured to control the displacement of the second base;
    所述转动控制器,用于控制所述机械转动臂执行预设移动操作。The rotation controller is configured to control the mechanical rotating arm to perform a preset moving operation.
  5. 根据权利要求1所述的摄影机器人,其中,还包括:远程控制终端,所述远程控制终端预先安装有应用程序;并且The photographing robot according to claim 1, further comprising: a remote control terminal, the remote control terminal being pre-installed with an application;
    所述远程控制终端,用于通过无线通信方式向所述摄影机器人发出预设的控制指令;所述控制指令用于控制所述第一底座位移和/或所述机械转动臂配合所述第二底座转动。The remote control terminal is configured to send a preset control command to the photographic robot by wireless communication; the control command is used to control the first base displacement and/or the mechanical rotating arm cooperates with the second The base rotates.
  6. 根据权利要求5所述的摄影机器人,其中,所述远程控制终端包括:预览模块和直播模块,The photographic robot according to claim 5, wherein the remote control terminal comprises: a preview module and a live broadcast module,
    所述预览模块,用于预览所述摄影机器人执行的动作操作;The preview module is configured to preview an action operation performed by the photographic robot;
    所述直播模块,用于直播所述摄影机器人执行的动作操作。The live broadcast module is configured to broadcast an action operation performed by the photographic robot.
  7. 根据权利要求1所述的摄影机器人,其中,所述第一底座还包括:多个运动固定轴和多个运动轮,多个所述运动固定轴用于配合多个所述运动轮执行预设位移。The photographing robot according to claim 1, wherein the first base further comprises: a plurality of motion fixing shafts and a plurality of motion wheels, wherein the plurality of motion fixing shafts are configured to perform presets in cooperation with the plurality of the motion wheels Displacement.
  8. 根据权利要求1所述的摄影机器人,其中,所述机械转动臂包括:多个转动固定轴和多个机械转动子臂,多个所述转动固定轴用于配合多个所述机械转动子臂执行预设动作。The photographing robot according to claim 1, wherein the mechanical turning arm comprises: a plurality of rotating fixed shafts and a plurality of mechanical rotating sub-arms, wherein the plurality of rotating fixed shafts are for engaging a plurality of the mechanical rotating sub-arms Perform preset actions.
  9. 根据权利要求1所述的摄影机器人,其中,所述第一底座、所述机械 转动臂、所述第二底座采用轻质物料的结构。The photographing robot according to claim 1, wherein said first base, said mechanical turning arm, and said second base are constructed of a lightweight material.
  10. 根据权利要求1所述的摄影机器人,其中,The photographic robot according to claim 1, wherein
    所述第一控制器,还用于控制所述第一底座中的四轴位移平衡;The first controller is further configured to control a four-axis displacement balance in the first base;
    所述第二控制器,还用于控制所述机械转动臂中的六轴转动升降。The second controller is further configured to control six-axis rotation and lifting in the mechanical rotating arm.
  11. 一种摄影机器人,包括:机械运动部和控制部;A photographic robot comprising: a mechanical movement and a control unit;
    所述机械运动部包括:第一底座、机械转动臂和第二底座;所述第一底座通过所述机械转动臂与所述第二底座相连;The mechanical moving portion includes: a first base, a mechanical rotating arm and a second base; the first base is connected to the second base by the mechanical rotating arm;
    所述控制部包括:控制器,用于控制所述第一底座移动;并且还用于控制所述机械转动臂,以使所述第二底座转动。The control portion includes a controller for controlling movement of the first base, and further for controlling the mechanical rotating arm to rotate the second base.
  12. 根据权利要求11所述的摄影机器人,还包括:智能摄影设备,所述智能摄影设备包括:The photographic robot of claim 11 further comprising: a smart photographic device, said smart photographic device comprising:
    传感器,用于检测环境图像信息数据,并且还用于检测环境声音信息数据;a sensor for detecting environmental image information data, and also for detecting ambient sound information data;
    第一电路板,所述第一电路板包括:第一通讯模组、运算模组以及编程模组:a first circuit board, the first circuit board includes: a first communication module, an operation module, and a programming module:
    所述第一通讯模组用于接收第一拍摄控制指令;The first communication module is configured to receive a first shooting control instruction;
    所述运算模组用于处理所述传感器检测的数据;The computing module is configured to process data detected by the sensor;
    所述编程模组用于控制所述智能摄影设备执行预设拍摄操作。The programming module is configured to control the smart photography device to perform a preset shooting operation.
  13. 根据权利要求11所述的摄影机器人,其中,所述第二底座包括:The photographic robot of claim 11 wherein said second base comprises:
    第二电路板,所述第二电路板包括:动力控制器、第二通讯模组、自平衡控制器、转动控制器,a second circuit board, the second circuit board includes: a power controller, a second communication module, a self-balancing controller, a rotation controller,
    所述动力控制器用于使所述机械转动臂稳定地执行预设操作;The power controller is configured to cause the mechanical rotating arm to stably perform a preset operation;
    所述第二通讯模组用于接收第二拍摄控制指令;The second communication module is configured to receive a second shooting control instruction;
    所述自平衡控制器用于控制所述第二底座移动;The self-balancing controller is configured to control movement of the second base;
    所述转动控制器,用于控制所述机械转动臂执行预设移动操作。The rotation controller is configured to control the mechanical rotating arm to perform a preset moving operation.
  14. 根据权利要求11所述的摄影机器人,其中,所述第一底座还包括:多个运动固定轴和多个运动轮,多个所述运动固定轴用于配合多个所述运动轮执行预设位移;并且The photographing robot according to claim 11, wherein the first base further comprises: a plurality of motion fixing shafts and a plurality of motion wheels, wherein the plurality of motion fixing shafts are configured to perform presets in cooperation with the plurality of the motion wheels Displacement;
    所述机械转动臂包括:多个转动固定轴和多个机械转动子臂,多个所述转动固定轴用于配合多个所述机械转动子臂执行预设动作。The mechanical rotating arm includes a plurality of rotating fixed shafts and a plurality of mechanical rotating sub-arms, and the plurality of rotating fixed shafts are configured to perform a preset action with a plurality of the mechanical rotating sub-arms.
  15. 根据权利要求11所述的摄影机器人,其中,所述控制器包括:The photographic robot of claim 11 wherein said controller comprises:
    第一控制器,用于控制所述第一底座中的四轴的位移与平衡;a first controller for controlling displacement and balance of four axes in the first base;
    第二控制器,用于控制所述机械转动臂中的六轴的转动与升降。And a second controller for controlling rotation and lifting of the six shafts in the mechanical rotating arm.
PCT/CN2018/118118 2017-12-07 2018-11-29 Photographic robot WO2019109846A1 (en)

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