WO2019109847A1 - 机械执行结构及摄影机器人 - Google Patents

机械执行结构及摄影机器人 Download PDF

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Publication number
WO2019109847A1
WO2019109847A1 PCT/CN2018/118120 CN2018118120W WO2019109847A1 WO 2019109847 A1 WO2019109847 A1 WO 2019109847A1 CN 2018118120 W CN2018118120 W CN 2018118120W WO 2019109847 A1 WO2019109847 A1 WO 2019109847A1
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WIPO (PCT)
Prior art keywords
base
mechanical
mechanical arm
arm
controller
Prior art date
Application number
PCT/CN2018/118120
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English (en)
French (fr)
Inventor
罗云富
Original Assignee
真善美创新科技有限公司
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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 WO2019109847A1 publication Critical patent/WO2019109847A1/zh

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    • 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
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • 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
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices

Definitions

  • the present application relates to the field of automation and artificial intelligence, and in particular to a mechanical execution structure and a photographic robot.
  • the present application provides a mechanical execution structure to solve the problem of photographic equipment being inconvenient to carry.
  • a mechanical execution structure is provided.
  • the mechanical execution structure includes: a mechanical arm set, an operating platform, and a base,
  • the mechanical arm set includes: a first mechanical arm, a second mechanical arm, a third mechanical arm, a fourth mechanical arm, the first mechanical arm, the second mechanical arm, the third mechanical arm, and the
  • the fourth mechanical arm is sequentially connected by a plurality of rotating fixed shafts;
  • the operating platform is provided with a mounting base and a manual operating rod;
  • the mounting base is connected to the fourth mechanical arm, and the manual operating rod is disposed on the mounting base a lower portion;
  • a storage slot is defined in the base, and a mounting seat is mounted on the storage slot, and the fixing base is connected to the first mechanical arm.
  • the base is provided with a plurality of wheel slots, and the plurality of wheel slots are mounted with a rotating sliding wheel
  • the rotating sliding wheel comprises: a first rotating sliding wheel set and a second rotating sliding wheel set
  • the wheel set includes: a set of main rotating wheels having the same turning radius; and a second rotating sliding wheel set comprising: a set of auxiliary rotating wheels having the same turning radius.
  • the manual operating lever includes a hand-held portion and a rocking arm, and the hand-held portion is coupled to the rocking arm for driving the operating platform to perform a preset displacement operation.
  • the mechanical arm set is foldably disposed in a storage slot opened in the base.
  • a photographic robot is provided.
  • the photographic robot includes: the mechanical execution structure and the control portion, the control portion is configured to control the machine mechanical execution structure to perform a preset operation;
  • the mechanical execution structure includes: an operation platform, a mechanical arm group, a base; the operating platform is connected to the base by the mechanical arm set;
  • the control part comprises: a first controller and a second controller; the first controller is configured to control the displacement of the operating platform;
  • the second controller is configured to control the mechanical arm group to rotate with the base.
  • the base is provided with: a second 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 device Mounting base and signal transmission interface.
  • 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 base is provided with: a first power source for detachably being disposed on the base; and a second circuit board, the second circuit board includes: a power controller, and a second communication module a self-balancing controller, a rotation controller, the power controller for stabilizing the mechanical arm group to perform a preset operation; the second communication module, configured to receive a second shooting control command; And a controller for controlling the displacement of the base; the rotation controller is configured to control the mechanical arm group 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 operating platform and/or the set of robot arms to rotate with the base.
  • the operating platform further includes: a plurality of motion fixing shafts and a plurality of motion fixing shafts, wherein the plurality of motion fixing shafts are configured to perform a preset displacement with the plurality of the motion wheels;
  • the mechanical arm group includes: a rotating fixed shaft and a plurality of mechanical rotating sub-arms, wherein the plurality of rotating fixed shafts are used to perform a preset action with a plurality of the mechanical rotating sub-arms.
  • FIG. 1 is a schematic view of a mechanical execution structure according to a first embodiment of the present application
  • FIG. 2 is a schematic view showing a mechanical execution structure according to a second embodiment of the present application.
  • FIG. 3 is a schematic view showing a mechanical execution structure according to a third embodiment of the present application.
  • FIG. 4 is a schematic view of a photographic robot according to a first embodiment of the present application.
  • FIG. 5 is a schematic diagram of the interior of a photographing robot according to a first embodiment of the present application.
  • FIG. 6 is a partially enlarged schematic view of a photographing robot according to a first embodiment of the present application.
  • FIG. 7 is a schematic view showing the internal structure of a photographing robot according to a first embodiment of the present application.
  • FIG. 8 is a schematic view showing the internal structure of a photographing robot according to a second embodiment of the present application.
  • FIG. 9 is a schematic diagram showing the external structure of a photographic robot according to a second embodiment of the present application.
  • FIG. 10 is a schematic structural view of a photographing robot according to a third embodiment of the present application.
  • FIG. 11 is a schematic view showing the internal structure of a photographing robot according to a third embodiment of the present application.
  • FIG. 12 is a schematic structural view of a photographic robot according to a fourth embodiment of the present application.
  • FIG. 13 is a schematic structural view of a photographing robot according to a fifth embodiment of the present application.
  • Figure 14 is a schematic view showing the structure 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. For those skilled in the art, 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 mechanical execution structure comprising: a mechanical arm set, an operating platform and a base, the mechanical arm set comprising: a first mechanical arm 1 and a second mechanical arm 2.
  • the third robot arm 3 and the fourth robot arm 4, the first robot arm 1, the second robot arm 2, the third robot arm 3, and the fourth robot arm 4 sequentially pass multiple rotations.
  • a fixed shaft connection the operating platform is provided with a mounting base 5 and a manual operating rod 6;
  • the mounting base 5 is connected to the fourth mechanical arm 4, and the manual operating rod 6 is disposed at a lower portion of the mounting base 5;
  • a storage slot 8 is defined in the base, and a mounting seat 7 is mounted on the storage slot 8, and the fixing base 7 is connected to the first robot arm 1.
  • the mechanical arm set is foldably disposed in a storage slot opened in the base to facilitate storage of the device.
  • the first robot arm 1, the second robot arm 2, the third robot arm 3, and the fourth robot arm 4 can freely adjust the height, the position, the direction, the angle, and the like.
  • the displacement and automatic balancing can be realized by the base, so that the related preset operation can be completed without relying on the rail.
  • the base is provided with a plurality of wheel slots, and the plurality of wheel slots are mounted with a rotating sliding wheel
  • the rotating sliding wheel comprises: a first rotating sliding wheel set and a second rotating sliding wheel
  • the first rotating sliding wheel set comprises: a set of main rotating wheels (9, 10) having the same turning radius; and a second rotating sliding wheel set comprising: a set of auxiliary rotating wheels (11, 12) having the same turning radius.
  • the displacement of the device can be achieved in conjunction with the primary and secondary rotating wheels.
  • the manual operating lever 6 includes a hand-held portion 61 and a rocking arm 62.
  • the hand-held portion 61 is coupled to the rocking arm 62 for driving the operating platform to perform a preset displacement operation.
  • the swing arm 62 can be operated by the hand portion 61 to perform manual debugging.
  • the present application relates to a photographic robot including: a mechanical movement portion and a control portion, the control portion for controlling the mechanical movement portion to perform a preset operation; the mechanical movement The portion includes: an operating platform 200, a robot arm assembly 100, and a base 300; the operating platform 200 is coupled to the base 300 by the mechanical arm assembly 100; the control portion includes: a first controller 20 and a second controller The first controller 20 is configured to control the displacement of the operating platform 200; and the second controller 30 is configured to control the mechanical arm assembly 100 to rotate with the base 300.
  • the displacement of the operating platform 200 in the horizontal direction and the balancing 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 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 operating platform 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 arm assembly 100, and the six-axis is specifically a six-axis rotation and lifting for rotating.
  • the operating platform 200 of the photographic robot is provided with: a manual controller 2001 for performing a shooting preset operation by a manual method; 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 is connected to a 3D sounding function computing unit
  • an ISP Integrated System of Photography
  • 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 base in the device is provided with: a first power source 3001 for detachably being disposed on the base; and a second circuit board 3006, the second circuit
  • the 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 robot arm group to perform a preset operation;
  • the second communication module 2002 is configured to receive a second shooting control command;
  • 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/speed/steering control, and can be used to set the height, angle, rotation speed, and steering of the arm group 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 multi-motor connection, the power controller for controlling angle/speed/steering is respectively connected with a plurality of motion fixed axes above the operating platform; and the automatic balancing module and the bottom of the base Turn the fixed shaft connection.
  • 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 of the shafts (31, 32, 33, 34) in the arm and coordinate the torque and power to ensure the flexibility of the arm group so that it can move smoothly and quietly.
  • the base and the mechanical arm group are made of lightweight materials, which help the mechanical arm to move flexibly and 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 used to control the displacement of the operating platform and/or the mechanical arm group cooperates with the rotation of the base.
  • the photography robot includes a robot arm group and a smart photography 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 base can be connected to the base by a robot arm set, and the rolling axis is arranged below the base for automatic balancing.
  • the rotating shaft (31, 32, 33, 34) constitutes a plurality of sets of mechanical arm sets which are arranged above the operating platform to control the angle, the rotational speed and the steering.
  • the base has built-in battery and circuit board, and multiple motor-connected control modules, communication modules, automatic balancing modules, and angle/speed/steering control modules 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 base; the automatic balancing module is connected with the rotating shaft below the 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 programming 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 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 independently, the rolling axes are coordinated and balanced, and the movement is smooth, and the trackless setting and the stable optical system are realized.
  • the angle/speed/steering control module is used to set the height, angle, rotation speed and steering of the arm group, and the arm group 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 camera person through the application via Bluetooth, WI-FI, while controlling multiple electric motors to achieve multi-point remote control.
  • the central control system commands the photographic robot through the application via Bluetooth, WI-FI, and controls the smart photographic device to perform 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 operating platform.
  • 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 operation platform is used for the communication and power connection port, and the connection base for connecting the shooting device and the base is connected.
  • the shooting signal is transmitted to the smart photography device; by connecting the first circuit board and the second circuit board, the communication module transmits and receives information, thereby controlling the multi-motor coupling control module (cascade motor), the automatic balancing module, and the angle /Speed / steering control module, enabling smart camera equipment to control the robot arm to shoot.
  • 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-manage the lifting, angle, rotation speed, steering, and the balance of the four axes of the mechanical arm group, thereby cooperating with Shooting.
  • the operating platform in the embodiment of the present application further includes: a plurality of moving fixed axes and a plurality of moving wheels (40, 41, 42, 43), and the plurality of moving fixed axes A preset displacement is performed for engaging a plurality of the moving wheels (40, 41, 42, 43).
  • the mechanical arm set 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 base, and a plurality of moving wheels (40, 41, 42, 43) are disposed below the 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 mechanical execution structure in the embodiment of the present application adopts a combination of a mechanical arm group, an operation platform and a base, and achieves the purpose of freely rotating and moving through the operation platform and the base, thereby realizing the technical effect of conveniently carrying the photographic equipment. Furthermore, the technical problem that the photographic equipment is inconvenient to carry is solved.
  • the present application employs 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 operating platform and controlling the cooperation of the mechanical arm group is achieved.
  • the purpose of the rotation of the base is to achieve the technical effect of the automatic shooting, thereby solving the technical problem that the photographic equipment is inconvenient to carry.
  • the present application can remotely control the photographer robot through the central control system, and the technical effects of shooting automation and specialization can be obtained.

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

Abstract

一种机械执行结构，包括：机械臂组、操作平台以及底座。机械臂组包括：第一机械臂（1）、第二机械臂（2）、第三机械臂（3）、第四机械臂（4）。这些机械臂依次通过多个转动固定轴连接。操作平台设置有安装底座（5）和手动操作杆（6）。安装底座（5）与第四机械臂（4）相连，手动操作杆（6）设置于安装底座（5）下部，底座内开设有存放槽（8），存放槽（8）上安装有固定座（7），固定座（7）与第一机械臂（1）连接。机械臂组可折叠地设置于底座内开设的存放槽内，便于装置的收纳。同时，机械臂可自由调节高度、位置、方向以及角度等。通过底座能够实现位移和自动平衡，从而不需要依赖路轨即可完成相关预设操作。

Description

机械执行结构及摄影机器人 技术领域
本申请涉及自动化和人工智能领域，具体而言，涉及一种机械执行结构及摄影机器人。
背景技术
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。
然而，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，对导轨的调试较为耗时。此外，摄影器材通常不便携带，并且在使用过程中容易造成劳损。
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。
发明内容
本申请提供一种机械执行结构，以解决摄影器材不方便携带的问题。
为了实现上述目的，根据本申请的一个方面，提供了一种机械执行结构。
根据本申请机械执行结构包括：机械臂组、操作平台以及底座，
所述机械臂组包括：第一机械臂、第二机械臂、第三机械臂、第四机械臂，所述第一机械臂、所述第二机械臂、所述第三机械臂、所述第四机械臂依次通过多个转动固定轴连接；所述操作平台设置有安装底座和手动操作杆；所述安装底座与所述第四机械臂相连，所述手动操作杆设置于所述安装底座下部；所述底座内开设有存放槽，所述存放槽上安装有固定座，所述固定座与所述第一机械臂连接。
进一步地，所述底座开设有多个轮槽，多个所述轮槽安装有转动滑动轮， 所述转动滑动轮包括：第一转动滑动轮组和第二转动滑动轮组；第一转动滑动轮组，包括：转动半径相同的一组主转动轮；第二转动滑动轮组，包括：转动半径相同的一组辅转动轮。
进一步地，所述手动操作杆包括：手持部和摇动臂，所述手持部与所述摇动臂连接，用于带动所述操作平台进行预设位移操作。
进一步地，所述机械臂组可折叠地设置于所述底座内开设的存放槽内。
为了实现上述目的，根据本申请的另一方面，提供了一种摄影机器人。
根据本申请的摄影机器人包括：所述的机械执行结构和控制部，所述控制部用于控制所述机机械执行结构执行预设操作；所述机械执行结构包括：操作平台、机械臂组、底座；所述操作平台通过所述机械臂组与所述底座相连；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，用于控制所述操作平台位移；以及所述第二控制器，用于控制所述机械臂组配合所述底座转动。
进一步地，所述底座上设置有：第二控制器，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。
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。
进一步地，所述底座上设置有：第一电源，用于可拆卸地设置于所述底座；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，用于稳定所述机械臂组执行预设操作；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，用于控制所述底座位移；所述转动控制器，用于控制所述机械臂组执行预设移动操作。
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操作平台位移和/或所述机械臂组配合所述底座转动。
进一步地，所述操作平台还包括：多个运动固定轴和多和运动轮，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；所述机械臂组包括：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。
附图说明
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：
图1是是根据本申请第一实施例的机械执行结构示意图；
图2是是根据本申请第二实施例的机械执行结构示意图；
图3是是根据本申请第三实施例的机械执行结构示意图；
图4是根据本申请第一实施例的摄影机器人示意图；
图5是根据本申请第一实施例的摄影机器人内部示意图；
图6是根据本申请第一实施例的摄影机器人局部放大示意图；
图7是根据本申请第一实施例的摄影机器人内部结构示意图；
图8是根据本申请第二实施例的摄影机器人内部结构示意图；
图9是根据本申请第二实施例的摄影机器人外部结构示意图
图10是根据本申请第三实施例的摄影机器人结构示意图；
图11是根据本申请第三实施例的摄影机器人内部结构示意图；
图12是根据本申请第四实施例的摄影机器人结构示意图；
图13是根据本申请第五实施例的摄影机器人结构示意图；
图14是根据本申请第六实施例的摄影机器人结构示意图。
具体实施方式
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。
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。
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。
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。
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。
如图1至图3所示，本申请涉及一种机械执行结构，该机械执行结构包括：机械臂组、操作平台以及底座，所述机械臂组包括：第一机械臂1、第二机械臂2、第三机械臂3、第四机械臂4，所述第一机械臂1、所述第二机械臂2、所述第三机械臂3、所述第四机械臂4依次通过多个转动固定轴连接；所述操作平台设置有安装底座5和手动操作杆6；所述安装底座5与所述第四机械臂4相连，所述手动操作杆6设置于所述安装底座5下部；所述底座内开设有存放槽8，所述存放槽8上安装有固定座7，所述固定座7与所述第一机械臂1连接。作为本申请实施例中的优选，所述机械臂组可折叠地设置于所述底座内开设的存放槽内，便于装置的收纳。同时，第一机械臂1、第二机械臂2、第三机械臂3、第四机械臂4可自由调节高度、位置、方向以及角度等。通过所述底座能够实现位移和自动平衡，从而不需要依赖路轨即可完成相关预设操作。
作为本申请实施例中的优选，所述底座开设有多个轮槽，多个所述轮槽安装有转动滑动轮，所述转动滑动轮包括：第一转动滑动轮组和第二转动滑动轮组；第一转动滑动轮组，包括：转动半径相同的一组主转动轮(9，10)；第二转动滑动轮组，包括：转动半径相同的一组辅转动轮(11，12)。配合所述主转动轮和辅助转动轮可以实现装置的位移。
作为本申请实施例中的优选，所述手动操作杆6包括：手持部61和摇动臂62，所述手持部61与所述摇动臂62连接，用于带动所述操作平台进行预设位移操作。通过手持部61能够操作摇动臂62，从而进行手动调试。
如图4和图5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：操作平台200、机械臂组100、底座300；所述操作平台200通过所述机械臂组100与所述底座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，用于控制所述操作平台200位移； 以及所述第二控制器30，用于控制所述机械臂组100配合所述底座300转动。通过所述第一控制器20能够控制所述操作平台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。
作为本实施例中的优选，所述第一控制器20，还用于控制所述操作平台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臂组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。
如图6和图7所示，该摄影机器人中的所述操作平台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，用于提供所述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。
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。
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。
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。
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。
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。
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、ISP(Integrated System of Photography，摄影综合系统)与摄影/摄像设备连接。
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。
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。
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。
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。
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。
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。
如图8和图9所示，该装置中的所述底座上设置有：第一电源3001，用于可拆卸地设置于所述底座；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，用于稳定所述机械臂组执行预设操作；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，用于控制所述底座位移；所述转动控制器3004，用于控制所述机械臂组执行预设移动操作。
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。
所述动力控制器3005，可以采用多马达进行控制的方式执行。
所述转动控制器3004，用于完成角度/转速/转向控制，可以用于设置机械臂组的高度、角度、转速、转向，达至自动升降前行左右。
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操作平台的上方多个运动固定轴连接；自动平衡模块与底座下方多个转动固定轴连接。
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。
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，确保机械臂组的灵活性，使其能顺畅宁静地活动。
优选地，所述底座及机械臂组采用轻巧物料，有助机械臂灵活活动，防止下坠。
如图10和图11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操作平台位移和/或所述机械臂组配合所述底座转动。
摄影机器人包括机械臂组和智能摄影设备，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。
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。
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。
例如，可以通过机械臂组与底座相连，滚动轴设于底座的下方，可进行自动平衡。另外旋转轴(31，32，33，34)组成多组的机械臂组结构设于操作平台的上方，可控制角度、转速、转向。此外，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/转向控制模块与底座上方的转动轴连接；自动平衡模块与底座的下方的转动轴连接。
例如，可以在操作平台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编程系统。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。
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臂组的高度、角度、转速、转向，机械臂组自动升降前行左右。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。
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。
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。
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。所述操作平台上可连接相机等摄影摄像设备、智能电话、其他智能设备。
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；操作平台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。
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臂组的升降、角度、转速、转向，及四轴的高低平衡，从而配合拍摄。
如图12至图14所示，在本申请实施例中的所述操作平台还包括：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臂组包括：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。
例如，多个运动轮(40，41，42，43)与底座相连，多个运动轮(40，41，42，43)设于底座的下方，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。
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。
工业实用性
在本申请实施例中的机械执行结构，采用机械臂组、操作平台以及底座组合的方式，通过操作平台和底座，达到了自由转动和移动的目的，从而实现了方便携带摄影器材的技术效果，进而解决了摄影器材不方便携带的技术问题。
此外，本申请采用了控制部，以用于控制所述机械运动部执行预设操作，通过第一控制器和第二控制器，达到了控制所述操作平台位移和控制所述机械臂组配合所述底座转动的目的，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。
此外，本申请通过中央控制系统远程控制摄影师机器人，可以获得拍摄自动化和专业化的技术效果。

Claims (15)

  1. 一种机械执行结构，包括：机械臂组、操作平台以及底座，
    所述机械臂组包括：第一机械臂、第二机械臂、第三机械臂、第四机械臂，所述第一机械臂、所述第二机械臂、所述第三机械臂、所述第四机械臂依次通过多个转动固定轴连接；
    所述操作平台设置有安装底座和手动操作杆；所述安装底座与所述第四机械臂相连，所述手动操作杆设置于所述安装底座下部；
    所述底座内开设有存放槽，所述存放槽上安装有固定座，所述固定座与所述第一机械臂连接。
  2. 根据权利要求1所述的机械执行结构，其中，所述底座开设有多个轮槽，多个所述轮槽安装有转动滑动轮，所述转动滑动轮包括：第一转动滑动轮组和第二转动滑动轮组；
    第一转动滑动轮组，包括：转动半径相同的一组主转动轮；
    第二转动滑动轮组，包括：转动半径相同的一组辅转动轮。
  3. 根据权利要求1所述的机械执行结构，其中，所述手动操作杆包括：手持部和摇动臂，
    所述手持部与所述摇动臂连接，用于带动所述操作平台进行预设位移操作。
  4. 根据权利要求1所述的机械执行结构，其中，所述机械臂组可折叠地设置于所述底座内开设的存放槽内。
  5. 一种摄影机器人，包括：机械执行结构和控制部，其中，所述机械执行结构为权利要求1至4任意一项所述的机械执行结构，所述控制部用于控制所述机械执行结构执行预设操作；
    所述机械执行结构包括：操作平台、机械臂组、底座；所述操作平台通过 所述机械臂组与所述底座相连；
    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，用于控制所述操作平台位移；以及
    所述第二控制器，用于控制所述机械臂组配合所述底座转动。
  6. 根据权利要求5所述的摄影机器人，其中，所述底座上设置有：
    第二控制器，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，用于提供智能设备的安装底座和信号传输接口。
  7. 根据权利要求6所述的摄影机器人，其中，还包括：智能摄影设备，所述智能摄影设备包括：
    第一传感器，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。
  8. 根据权利要求6所述的摄影机器人，其中，所述底座上设置有：
    第一电源，用于可拆卸地设置于所述底座；
    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，用于稳定所述机械臂组执行预设操作；
    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，用于控制所述底座位移；
    所述转动控制器，用于控制所述机械臂组执行预设移动操作。
  9. 根据权利要求5所述的摄影机器人，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操作平台位移和/或所述机械臂组配合所述底座转动。
  10. 根据权利要求5任一项所述的摄影机器人，其中，
    所述操作平台还包括：多个运动固定轴和多和运动轮，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；
    所述机械臂组包括：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。
  11. 一种机械执行结构，包括：机械臂、操作平台以及底座，
    所述操作平台设置有安装底座和操作杆；所述安装底座与所述机械臂的一端连接，所述操作杆与所述安装底座连接；
    所述底座开设有存放槽，并且所述底座与所述机械臂的另一端连接。
  12. 根据权利要求11所述的机械执行结构，其中，所述机械臂包括：多个子机械臂，所述子机械臂之间通过固定轴可转动地连接；
    所述存放槽中设有固定座，并且所述底座经由所述固定座与所述机械臂的另一端连接。
  13. 根据权利要求11所述的机械执行结构，其中，所述机械臂包括：四 个子机械臂，并且所述子机械臂通过折叠可以设置在所述存放槽中。
  14. 根据权利要求11所述的机械执行结构，其中，所述底座中设有多个可以转动的滑动轮，并且所述滑动轮包括：转动半径相同的主转动轮以及转动半径相同的辅助转动轮。
  15. 根据权利要求11所述的机械执行结构，其中，所述操作杆包括：手持部和摇动臂，所述手持部与所述摇动臂连接，用于带动所述操作平台进行移动。
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