WO2019109846A1 - Robot photographique - Google Patents

Robot photographique 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
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English (en)
Chinese (zh)
Inventor
罗云富
Original Assignee
真善美创新科技有限公司
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 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/fr

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Classifications

    • 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
    • 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
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control 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)
  • Accessories Of Cameras (AREA)
  • Studio Devices (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un robot photographique, comprenant : une partie de mouvement mécanique et une partie de commande. La partie de mouvement mécanique comprend : une première base (200), un bras rotatif mécanique (100) et une seconde base (300), la première base (200) étant reliée à la seconde base (300) au moyen du bras rotatif mécanique (100). La partie de commande comprend : un premier organe de commande (20) et un second organe de commande (30). Le robot photographique résout le problème technique d'un équipement photographique qui n'est pas pratique à transporter, et atteint une intelligence en photographie et une spécialisation de photographie, ce qui permet de réaliser une photographie entièrement automatique. De plus, le robot photographique est constitué d'un matériau léger, facilitant ainsi le mouvement flexible du bras mécanique.
PCT/CN2018/118118 2017-12-07 2018-11-29 Robot photographique WO2019109846A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201711287972.3 2017-12-07
CN201711287972.3A CN108044596A (zh) 2017-12-07 2017-12-07 摄影机器人

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WO2019109846A1 true WO2019109846A1 (fr) 2019-06-13

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CN108044596A (zh) * 2017-12-07 2018-05-18 真善美创新科技有限公司 摄影机器人
CN109773793B (zh) * 2019-02-25 2022-03-25 太仓中科信息技术研究院 用于摄像机器人的碰撞检测系统及方法
CN110557568B (zh) * 2019-09-05 2021-04-09 昭世(北京)科技有限公司 一种基于人工智能模块的摄影设备结构及方法
CN112032503A (zh) * 2020-10-12 2020-12-04 陈福增 藏品影像采集装置

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